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"total_area": 9.94843169835534, + "navigable_points": 56 + } + } +} \ No newline at end of file diff --git a/current_works/work_42_2/2050/relational_accuracy_report.txt b/current_works/work_42_2/2050/relational_accuracy_report.txt new file mode 100644 index 0000000000000000000000000000000000000000..009edb81c5b732a9dc5ac6043caececa3679ae85 --- /dev/null +++ b/current_works/work_42_2/2050/relational_accuracy_report.txt @@ -0,0 +1,17 @@ +=========================================================================== + RELATIONAL ACCURACY EVALUATION REPORT + Source Path: /Volumes/ExternalSSD/current_works/work_42_2/2050/physcene_collision_resolved.json + Evaluated Scenes: 370 / 370 +=========================================================================== + Total Accuracy (Micro-Average): 95.89% + Means of Means (Macro-Average): 85.91% +--------------------------------------------------------------------------- + Category Breakdown: + - Left / Right (L/R) : 98.63% (Left: 98.42%, Right: 98.84%) + - Front / Behind (F/B) : 99.30% (Front: 99.32%, Behind: 99.27%) + - Bigger / Smaller (Bi/Sm) : 95.22% (Bigger: 95.60%, Smaller: 94.83%) + - Taller / Shorter (Ta/Sh) : 96.91% (Taller: 97.11%, Shorter: 96.71%) + - Standing On : 98.32% + - Close By : 72.07% + - Symmetrical To : 40.95% +=========================================================================== diff --git a/current_works/work_42_2/extracted/2050/debug_bbox.txt b/current_works/work_42_2/extracted/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc21e5a393b470d2910b7db5a693762f6a1ab307 --- /dev/null +++ b/current_works/work_42_2/extracted/2050/debug_bbox.txt @@ -0,0 +1,11029 @@ + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0079, Room Outer Loss: 0.2223, Walkable Loss: 0.5242 (Center Penalty: 0.5242), Relational Loss: 0.0230 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.085 1.038 0.330 -2.419 0.000 -0.988 -0.12° +nightstand 0.561 0.554 0.131 -0.107 -0.012 -1.158 0.16° +chair 0.420 0.438 0.460 -2.203 -0.004 -0.614 -89.89° +bed 1.814 1.454 1.927 -1.084 -0.009 -0.211 -0.09° +cabinet 0.824 1.026 0.401 -2.163 0.002 1.223 -179.98° +lamp 0.719 0.869 0.704 -1.248 1.946 0.068 -0.02° +wardrobe 3.038 2.357 0.566 0.510 -0.005 0.754 -90.20° +floor 5.900 0.001 2.913 -0.939 -0.002 0.341 0.08° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.420, 0.438, 0.021] + !! OVERLAP: table <-> bed depth=[0.114, 1.038, 0.330] + !! OVERLAP: table <-> floor depth=[1.085, 0.001, 0.293] + !! OVERLAP: nightstand <-> bed depth=[0.210, 0.554, 0.082] + !! OVERLAP: nightstand <-> floor depth=[0.561, 0.001, 0.023] + !! OVERLAP: chair <-> floor depth=[0.420, 0.001, 0.460] + !! OVERLAP: bed <-> wardrobe depth=[0.832, 1.454, 0.282] + !! OVERLAP: bed <-> floor depth=[1.814, 0.001, 1.869] + !! OVERLAP: cabinet <-> floor depth=[0.824, 0.001, 0.401] + !! OVERLAP: wardrobe <-> floor depth=[3.020, 0.001, 0.566] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0832, Room Outer Loss: 0.0000, Walkable Loss: 1.0016 (Center Penalty: 1.0016), Relational Loss: 0.0163 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.491 1.262 1.527 -0.303 0.004 -0.156 -91.85° +wardrobe 1.768 2.393 0.338 0.103 0.005 -1.284 0.36° +wardrobe 2.276 2.275 0.288 -0.143 -0.001 -1.095 -0.07° +nightstand 0.093 0.668 0.474 0.869 -0.010 1.788 -89.81° +nightstand 0.234 0.587 0.381 0.926 0.004 -0.946 -90.27° +tv_stand 2.392 0.452 0.506 -1.429 0.001 0.537 89.97° +floor 3.942 0.014 4.655 -0.887 -0.006 0.870 0.30° +_scene_ 0.073 -0.000 0.025 -5.668 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.815, 0.452, 0.324] + !! OVERLAP: bed <-> floor depth=[1.491, 0.014, 1.527] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.768, 2.275, 0.124] + !! OVERLAP: wardrobe <-> nightstand depth=[0.179, 0.587, 0.022] + !! OVERLAP: wardrobe <-> floor depth=[1.768, 0.014, 0.338] + !! OVERLAP: wardrobe <-> nightstand depth=[0.186, 0.587, 0.187] + !! OVERLAP: wardrobe <-> floor depth=[2.276, 0.014, 0.288] + !! OVERLAP: nightstand <-> floor depth=[0.093, 0.014, 0.474] + !! OVERLAP: nightstand <-> floor depth=[0.234, 0.014, 0.381] + !! OVERLAP: tv_stand <-> floor depth=[2.392, 0.014, 0.506] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0276, Walkable Loss: 1.6156 (Center Penalty: 1.6156), Relational Loss: 0.0201 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.418 1.146 2.084 0.729 -0.018 0.566 -89.97° +nightstand 0.424 0.526 0.471 1.224 0.001 1.495 -89.98° +nightstand 0.404 0.495 0.382 1.246 0.004 -1.207 -90.06° +lamp 0.578 0.769 0.548 0.373 2.134 0.530 0.36° +floor 2.943 -0.000 3.366 0.004 0.001 0.020 -0.01° +_scene_ 0.071 0.002 0.020 -5.665 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.424, 0.526, 0.349] + !! OVERLAP: bed <-> floor depth=[1.418, -0.000, 2.084] + !! OVERLAP: nightstand <-> floor depth=[0.424, -0.000, 0.444] + !! OVERLAP: nightstand <-> floor depth=[0.404, -0.000, 0.382] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0349, Room Outer Loss: 0.1756, Walkable Loss: 0.3672 (Center Penalty: 0.3672), Relational Loss: 0.0094 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.646 1.064 1.551 -1.048 0.022 -0.079 0.33° +chair 0.763 0.896 0.720 -1.277 0.003 1.460 135.72° +nightstand 0.772 0.761 0.393 -1.618 0.000 -0.893 -0.03° +table 0.529 0.522 0.559 -1.694 -0.004 1.683 0.37° +wardrobe 0.936 2.193 0.463 0.809 0.005 -0.643 -90.43° +lamp 0.552 0.476 0.406 -0.722 2.449 0.889 -0.35° +floor 3.598 -0.046 3.927 -0.514 -0.008 1.050 2.74° +_scene_ 0.072 0.000 0.023 -5.671 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.639, 0.761, 0.157] + !! OVERLAP: bed <-> floor depth=[1.646, -0.046, 1.551] + !! OVERLAP: chair <-> table depth=[0.230, 0.522, 0.416] + !! OVERLAP: chair <-> floor depth=[0.763, -0.046, 0.720] + !! OVERLAP: nightstand <-> floor depth=[0.772, -0.046, 0.217] + !! OVERLAP: table <-> floor depth=[0.529, -0.046, 0.559] + !! OVERLAP: wardrobe <-> floor depth=[0.936, -0.046, 0.463] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0244, Walkable Loss: 1.1325 (Center Penalty: 1.1325), Relational Loss: 0.0613 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.755 2.227 2.145 -0.720 -0.005 0.418 89.74° +cabinet 1.166 0.947 0.389 -0.859 0.003 -1.720 0.01° +table 0.957 1.590 0.616 0.956 0.001 1.278 -90.39° +lamp 0.178 0.755 0.314 0.105 0.589 1.630 0.12° +lamp 0.795 0.825 0.784 -0.268 1.792 0.854 0.05° +nightstand 0.474 0.647 0.347 -1.340 0.002 1.547 90.05° +nightstand 0.513 0.716 0.475 -1.214 -0.000 -1.088 89.96° +floor 3.134 -0.007 4.657 -0.142 0.014 0.429 0.30° +_scene_ 0.070 0.001 0.024 -5.674 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> lamp depth=[0.141, 0.755, 0.017] + !! OVERLAP: bed <-> nightstand depth=[0.474, 0.647, 0.117] + !! OVERLAP: bed <-> floor depth=[1.755, -0.007, 2.145] + !! OVERLAP: cabinet <-> floor depth=[1.166, -0.007, 0.374] + !! OVERLAP: table <-> floor depth=[0.947, -0.007, 0.616] + !! OVERLAP: nightstand <-> floor depth=[0.474, -0.007, 0.347] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.007, 0.475] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.0234, Room Outer Loss: 0.1656, Walkable Loss: 1.7654 (Center Penalty: 1.7654), Relational Loss: 0.0078 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.358 0.965 1.783 0.390 0.001 0.311 -179.90° +nightstand 0.460 0.603 0.498 -1.013 0.003 -0.391 -0.02° +nightstand 0.360 0.555 0.209 1.109 -0.005 0.627 90.14° +wardrobe 1.514 2.214 0.548 -1.448 -0.011 -0.201 89.88° +desk 1.126 1.187 0.476 1.465 0.002 0.342 -90.13° +floor 4.067 0.000 2.616 -0.018 -0.002 -0.009 -0.06° +_scene_ 0.062 0.002 0.013 -5.671 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.139, 0.555, 0.209] + !! OVERLAP: bed <-> desk depth=[0.166, 0.965, 0.476] + !! OVERLAP: bed <-> floor depth=[1.358, 0.000, 1.783] + !! OVERLAP: nightstand <-> wardrobe depth=[0.460, 0.603, 0.333] + !! OVERLAP: nightstand <-> floor depth=[0.460, 0.000, 0.498] + !! OVERLAP: nightstand <-> desk depth=[0.360, 0.555, 0.058] + !! OVERLAP: nightstand <-> floor depth=[0.360, 0.000, 0.209] + !! OVERLAP: wardrobe <-> floor depth=[1.361, 0.000, 0.548] + !! OVERLAP: desk <-> floor depth=[1.113, 0.000, 0.476] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0024, Walkable Loss: 0.7416 (Center Penalty: 0.7416), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.766 0.770 1.824 -0.588 0.001 -1.202 0.27° +wardrobe 1.703 2.490 0.426 0.761 0.018 0.091 -178.04° +lamp 0.576 0.518 0.580 -0.143 2.008 -0.850 0.53° +floor 2.893 -0.010 3.948 0.163 0.001 -0.913 -0.06° +_scene_ 0.059 0.001 0.017 -5.674 -0.003 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.766, -0.010, 1.824] + !! OVERLAP: wardrobe <-> floor depth=[1.701, -0.010, 0.426] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0747, Walkable Loss: 0.6815 (Center Penalty: 0.6815), Relational Loss: 0.0202 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.803 0.857 2.104 -0.816 0.001 0.456 90.01° +wardrobe 1.764 2.248 0.488 -0.854 -0.003 -1.016 0.09° +nightstand 0.521 0.627 0.436 -1.559 0.000 1.667 90.07° +tv_stand 1.009 0.525 0.468 1.289 0.026 0.450 -89.55° +lamp 0.844 0.811 0.816 -0.152 1.868 0.693 -0.06° +floor 3.891 0.011 4.553 -0.145 0.011 1.091 -0.37° +_scene_ 0.069 -0.002 0.022 -5.669 -0.005 -5.714 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.419, 0.627, 0.058] + !! OVERLAP: bed <-> floor depth=[1.803, 0.011, 2.104] + !! OVERLAP: wardrobe <-> floor depth=[1.764, 0.011, 0.414] + !! OVERLAP: nightstand <-> floor depth=[0.521, 0.011, 0.436] + !! OVERLAP: tv_stand <-> floor depth=[1.009, 0.011, 0.468] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.0541, Room Outer Loss: 0.0082, Walkable Loss: 1.7992 (Center Penalty: 1.7992), Relational Loss: 0.0042 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.451 0.497 0.445 -0.936 0.001 -1.506 0.03° +bookshelf 2.172 2.245 0.475 -0.385 -0.022 -1.099 89.58° +table 0.805 1.274 0.353 -1.096 0.001 1.132 89.88° +bed 1.770 0.808 2.023 0.051 0.018 0.574 90.23° +lamp 0.516 0.595 0.432 0.318 2.510 -0.851 -0.16° +chair 0.446 0.846 0.519 0.954 0.003 -1.039 -90.01° +floor 3.026 -0.001 3.396 -0.002 0.001 -0.022 -0.01° +_scene_ 0.064 0.003 0.032 -5.668 -0.004 -5.714 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> bookshelf depth=[0.451, 0.497, 0.053] + !! OVERLAP: chair <-> floor depth=[0.451, -0.001, 0.437] + !! OVERLAP: bookshelf <-> floor depth=[2.172, -0.001, 0.475] + !! OVERLAP: table <-> bed depth=[0.141, 0.808, 0.353] + !! OVERLAP: table <-> floor depth=[0.805, -0.001, 0.353] + !! OVERLAP: bed <-> floor depth=[1.770, -0.001, 2.023] + !! OVERLAP: chair <-> floor depth=[0.446, -0.001, 0.519] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0153, Room Outer Loss: 0.0000, Walkable Loss: 2.3106 (Center Penalty: 2.3106), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.269 1.447 2.351 -0.684 0.007 0.287 89.72° +table 0.424 0.443 0.398 -1.219 0.003 1.082 89.70° +table 0.562 0.610 0.545 -1.003 -0.000 -1.263 0.12° +lamp 0.743 0.807 0.842 -0.062 2.154 -0.092 0.00° +floor 2.873 -0.001 3.422 -0.010 0.003 -0.063 -0.09° +_scene_ 0.118 0.001 0.151 -5.545 0.000 -5.604 -57.57° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.312, 0.443, 0.398] + !! OVERLAP: bed <-> floor depth=[1.269, -0.001, 2.351] + !! OVERLAP: table <-> floor depth=[0.424, -0.001, 0.398] + !! OVERLAP: table <-> floor depth=[0.562, -0.001, 0.545] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1717, Walkable Loss: 0.4973 (Center Penalty: 0.4973), Relational Loss: 0.0421 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.604 0.647 1.836 -0.694 0.011 0.657 89.93° +nightstand 0.484 0.816 0.427 -1.297 -0.001 -0.530 89.93° +nightstand 0.401 0.705 0.489 -1.301 0.001 1.979 90.20° +wardrobe 2.412 2.578 0.392 -0.376 0.018 -1.110 -0.17° +tv_stand 1.214 0.467 0.306 1.087 0.001 0.884 -90.54° +lamp 0.656 0.915 0.690 -0.112 1.853 0.995 -0.13° +floor 3.278 -0.024 4.644 0.139 0.001 1.066 -0.19° +_scene_ 0.068 -0.000 0.020 -5.675 -0.006 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.604, -0.024, 1.836] + !! OVERLAP: nightstand <-> floor depth=[0.445, -0.024, 0.427] + !! OVERLAP: nightstand <-> floor depth=[0.400, -0.024, 0.489] + !! OVERLAP: wardrobe <-> floor depth=[2.330, -0.024, 0.342] + !! OVERLAP: tv_stand <-> floor depth=[1.214, -0.024, 0.306] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.0600, Walkable Loss: 1.0414 (Center Penalty: 1.0414), Relational Loss: 0.0638 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.819 1.036 2.058 -0.477 -0.001 -0.435 0.06° +nightstand 0.518 0.593 0.454 -1.660 0.000 -1.262 0.01° +nightstand 0.455 0.597 0.375 0.606 -0.000 -1.374 0.29° +lamp 0.681 0.566 0.675 -0.711 2.535 -0.115 -0.08° +floor 4.320 0.015 2.807 -0.837 -0.009 -0.098 0.01° +_scene_ 0.066 0.001 0.018 -5.669 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.055, 0.597, 0.277] + !! OVERLAP: bed <-> floor depth=[1.819, 0.015, 2.058] + !! OVERLAP: nightstand <-> floor depth=[0.518, 0.015, 0.454] + !! OVERLAP: nightstand <-> floor depth=[0.455, 0.015, 0.315] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0009, Room Outer Loss: 0.0533, Walkable Loss: 1.5810 (Center Penalty: 1.5810), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.578 0.797 1.525 -0.374 -0.001 -0.669 89.98° +nightstand 0.557 0.494 0.596 -1.428 0.001 -0.253 89.94° +desk 0.942 1.256 0.533 1.315 0.002 -0.100 -89.81° +lamp 0.371 0.431 0.246 -0.793 2.259 -0.326 90.37° +floor 3.469 0.001 3.078 -0.002 0.001 -0.041 -0.02° +_scene_ 0.069 0.001 0.023 -5.663 -0.004 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.013, 0.494, 0.596] + !! OVERLAP: bed <-> floor depth=[1.578, 0.001, 1.525] + !! OVERLAP: nightstand <-> floor depth=[0.557, 0.001, 0.596] + !! OVERLAP: desk <-> floor depth=[0.889, 0.001, 0.533] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0365, Walkable Loss: 1.3212 (Center Penalty: 1.3212), Relational Loss: 0.0225 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.139 1.289 2.572 1.074 0.018 -0.199 -88.83° +nightstand 0.477 0.816 0.433 1.549 -0.001 0.761 -89.92° +chair 1.168 0.585 0.720 0.263 -0.000 -1.439 -89.93° +wardrobe 1.153 2.315 0.472 1.086 -0.000 1.295 -179.97° +tv_stand 1.554 0.516 0.381 -1.044 0.001 -0.963 90.04° +lamp 0.430 0.408 0.459 -0.032 2.062 1.247 -0.01° +lamp 0.601 0.138 0.620 0.143 2.550 -0.963 -0.30° +floor 3.592 -0.000 3.835 0.011 0.000 0.035 -0.02° +_scene_ 0.064 -0.001 0.018 -5.675 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.332, 0.816, 0.433] + !! OVERLAP: bed <-> chair depth=[0.342, 0.585, 0.406] + !! OVERLAP: bed <-> wardrobe depth=[1.134, 1.289, 0.028] + !! OVERLAP: bed <-> floor depth=[1.139, -0.000, 2.572] + !! OVERLAP: nightstand <-> floor depth=[0.477, -0.000, 0.433] + !! OVERLAP: chair <-> tv_stand depth=[0.054, 0.516, 0.075] + !! OVERLAP: chair <-> floor depth=[1.168, -0.000, 0.720] + !! OVERLAP: wardrobe <-> floor depth=[1.153, -0.000, 0.472] + !! OVERLAP: tv_stand <-> floor depth=[1.518, -0.000, 0.381] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0100, Room Outer Loss: 0.1217, Walkable Loss: 0.7404 (Center Penalty: 0.7404), Relational Loss: 0.0342 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.730 1.786 2.202 0.007 0.002 -0.929 -0.45° +nightstand 0.260 0.615 0.165 -0.934 -0.009 -1.447 -0.30° +nightstand 0.499 0.553 0.505 1.250 0.001 -1.404 0.02° +wardrobe 1.879 2.328 0.283 0.461 -0.006 0.749 179.68° +lamp 0.792 1.256 0.739 0.344 1.586 -0.871 0.50° +floor 3.129 0.065 3.121 0.498 0.000 -0.792 0.36° +_scene_ 0.072 -0.001 0.022 -5.668 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.054, 0.615, 0.165] + !! OVERLAP: bed <-> floor depth=[1.730, 0.065, 2.202] + !! OVERLAP: nightstand <-> floor depth=[0.260, 0.065, 0.165] + !! OVERLAP: nightstand <-> floor depth=[0.499, 0.065, 0.505] + !! OVERLAP: wardrobe <-> floor depth=[1.879, 0.065, 0.161] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.0056, Room Outer Loss: 0.0576, Walkable Loss: 1.0893 (Center Penalty: 1.0893), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.604 1.070 2.165 -0.654 -0.001 -0.374 89.89° +nightstand 0.283 0.559 0.305 -1.298 -0.008 0.604 90.11° +nightstand 0.373 0.526 0.373 -1.428 -0.004 -1.257 90.06° +tv_stand 1.609 0.388 0.300 1.473 -0.001 -0.304 -90.18° +lamp 0.805 0.705 0.929 -0.410 1.815 -0.641 -0.04° +chair 1.412 0.816 0.855 0.891 -0.006 -0.036 89.81° +floor 3.911 -0.020 3.327 0.398 -0.003 -0.771 -0.17° +_scene_ 0.070 0.000 0.024 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.283, 0.559, 0.257] + !! OVERLAP: bed <-> nightstand depth=[0.214, 0.526, 0.373] + !! OVERLAP: bed <-> floor depth=[1.604, -0.020, 2.165] + !! OVERLAP: nightstand <-> floor depth=[0.283, -0.020, 0.305] + !! OVERLAP: nightstand <-> floor depth=[0.316, -0.020, 0.373] + !! OVERLAP: tv_stand <-> chair depth=[0.928, 0.388, 0.300] + !! OVERLAP: tv_stand <-> floor depth=[1.609, -0.020, 0.300] + !! OVERLAP: chair <-> floor depth=[1.412, -0.020, 0.855] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0682, Walkable Loss: 1.4861 (Center Penalty: 1.4861), Relational Loss: 0.0278 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.767 1.021 1.989 0.524 -0.002 -0.383 -90.00° +wardrobe 2.004 2.415 0.443 0.354 0.001 2.138 -179.96° +nightstand 0.553 0.498 0.522 1.066 0.006 0.946 -90.00° +nightstand 0.518 0.626 0.461 0.926 0.001 -1.559 -89.90° +lamp 0.777 0.747 0.319 0.821 1.810 1.000 -0.00° +lamp 0.318 0.770 0.300 0.913 1.738 -1.312 0.02° +floor 2.775 -0.001 4.578 -0.018 0.000 0.040 -0.01° +_scene_ 0.071 0.000 0.024 -5.673 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.518, 0.626, 0.050] + !! OVERLAP: bed <-> floor depth=[1.729, -0.001, 1.989] + !! OVERLAP: wardrobe <-> floor depth=[2.004, -0.001, 0.413] + !! OVERLAP: nightstand <-> floor depth=[0.553, -0.001, 0.522] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.001, 0.461] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7215 (Center Penalty: 0.7215), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.127 1.029 2.070 -0.736 0.000 0.437 -179.68° +tv_stand 2.462 0.589 0.499 -0.662 -0.000 -1.270 0.01° +wardrobe 1.047 2.266 0.489 0.962 -0.006 0.788 -90.26° +lamp 0.675 0.812 0.482 -0.746 1.849 0.563 179.89° +floor 4.657 0.001 3.552 -0.782 -0.003 -0.272 -0.11° +_scene_ 0.073 0.002 0.022 -5.670 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.127, 0.001, 2.070] + !! OVERLAP: tv_stand <-> floor depth=[2.462, 0.001, 0.499] + !! OVERLAP: wardrobe <-> floor depth=[1.047, 0.001, 0.489] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0006, Room Outer Loss: 0.0000, Walkable Loss: 1.6642 (Center Penalty: 1.6642), Relational Loss: 0.0691 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.849 2.135 0.352 0.790 0.009 0.473 -90.55° +bed 1.548 0.989 2.121 -0.811 0.003 -0.114 89.82° +nightstand 0.456 0.479 0.411 -1.343 -0.001 -1.179 90.07° +nightstand 0.601 0.457 0.440 -1.397 0.001 0.957 90.03° +lamp 0.618 0.923 0.603 -0.868 1.644 0.112 0.08° +floor 3.458 -0.002 3.605 0.005 -0.000 0.027 -0.04° +_scene_ 0.065 0.000 0.017 -5.673 -0.006 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.098, 0.989, 0.352] + !! OVERLAP: wardrobe <-> floor depth=[1.849, -0.002, 0.352] + !! OVERLAP: bed <-> nightstand depth=[0.456, 0.479, 0.202] + !! OVERLAP: bed <-> nightstand depth=[0.488, 0.457, 0.210] + !! OVERLAP: bed <-> floor depth=[1.548, -0.002, 2.121] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.002, 0.411] + !! OVERLAP: nightstand <-> floor depth=[0.601, -0.002, 0.440] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0168, Room Outer Loss: 0.0184, Walkable Loss: 1.2443 (Center Penalty: 1.2443), Relational Loss: 0.0630 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.662 0.667 1.119 1.066 -0.000 -0.224 -89.86° +bed 1.840 1.064 2.388 -0.909 -0.002 0.296 89.92° +nightstand 0.560 0.702 0.453 -1.526 0.002 -1.269 89.99° +nightstand 0.568 0.563 0.439 -1.558 0.004 1.420 90.03° +floor 3.728 -0.003 4.473 0.015 -0.001 -0.068 0.01° +_scene_ 0.082 -0.000 0.027 -5.667 -0.005 -5.709 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.644, -0.003, 1.119] + !! OVERLAP: bed <-> nightstand depth=[0.556, 0.563, 0.290] + !! OVERLAP: bed <-> floor depth=[1.840, -0.003, 2.388] + !! OVERLAP: nightstand <-> floor depth=[0.560, -0.003, 0.453] + !! OVERLAP: nightstand <-> floor depth=[0.568, -0.003, 0.439] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9154 (Center Penalty: 0.9154), Relational Loss: 0.0606 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.551 0.866 1.949 -0.339 -0.006 0.562 89.59° +nightstand 0.335 0.691 0.401 -0.833 -0.004 -0.845 90.13° +nightstand 0.255 0.709 0.299 -0.967 -0.002 1.544 89.92° +lamp 0.888 0.845 0.565 0.120 1.806 0.888 -0.09° +floor 2.918 0.003 4.454 0.343 -0.013 0.784 0.42° +_scene_ 0.070 -0.000 0.019 -5.672 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.255, 0.709, 0.142] + !! OVERLAP: bed <-> floor depth=[1.551, 0.003, 1.949] + !! OVERLAP: nightstand <-> floor depth=[0.335, 0.003, 0.401] + !! OVERLAP: nightstand <-> floor depth=[0.255, 0.003, 0.299] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3343 (Center Penalty: 0.3343), Relational Loss: 0.0096 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.778 0.803 1.903 -0.589 0.006 1.284 90.60° +nightstand 0.317 0.568 0.337 -0.995 -0.009 1.899 90.06° +lamp 0.543 1.033 0.154 0.250 1.825 1.053 -0.33° +wardrobe 3.006 2.608 0.460 0.549 -0.002 -1.149 0.04° +floor 3.485 -0.002 4.323 0.582 0.016 0.718 0.33° +_scene_ 0.068 0.002 0.018 -5.670 -0.002 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.141, 0.568, 0.337] + !! OVERLAP: bed <-> floor depth=[0.778, -0.002, 1.903] + !! OVERLAP: nightstand <-> floor depth=[0.317, -0.002, 0.337] + !! OVERLAP: wardrobe <-> floor depth=[3.006, -0.002, 0.460] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6722 (Center Penalty: 0.6722), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.504 0.482 0.567 0.069 2.407 -0.935 -0.28° +bed 2.163 1.179 2.027 -0.008 0.011 -0.906 -90.58° +bookshelf 3.362 2.501 0.342 -0.716 -0.000 1.430 179.83° +wardrobe 1.565 1.900 0.401 -1.503 0.015 -0.725 90.08° +floor 3.698 0.032 4.522 -0.773 -0.016 0.103 -0.25° +_scene_ 0.070 0.000 0.022 -5.669 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.369, 1.179, 0.401] + !! OVERLAP: bed <-> floor depth=[2.163, 0.032, 2.027] + !! OVERLAP: bookshelf <-> floor depth=[3.362, 0.032, 0.342] + !! OVERLAP: wardrobe <-> floor depth=[1.565, 0.032, 0.401] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1295, Walkable Loss: 1.0540 (Center Penalty: 1.0540), Relational Loss: 0.0261 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.942 2.336 0.681 1.161 -0.000 -0.750 -89.85° +bed 1.605 0.934 2.070 -0.248 0.002 -0.508 -0.21° +table 0.917 1.288 0.445 -1.661 -0.001 -1.200 0.01° +chair 0.499 0.478 0.544 -1.500 0.000 -0.559 179.88° +lamp 0.567 0.608 0.549 -0.853 2.070 -0.043 0.08° +floor 4.445 -0.005 2.854 -0.720 -0.010 -0.379 0.03° +_scene_ 0.061 0.002 0.017 -5.675 -0.003 -5.716 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.813, -0.005, 0.681] + !! OVERLAP: bed <-> floor depth=[1.605, -0.005, 2.070] + !! OVERLAP: table <-> floor depth=[0.917, -0.005, 0.445] + !! OVERLAP: chair <-> floor depth=[0.499, -0.005, 0.544] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3223 (Center Penalty: 1.3223), Relational Loss: 0.0290 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.090 0.928 1.037 -0.085 1.981 -0.899 -0.07° +bed 1.216 1.287 2.181 0.836 0.030 -0.579 -90.04° +table 0.284 0.644 0.398 1.199 -0.005 -1.450 -89.47° +floor 3.205 -0.004 4.061 -0.012 -0.000 0.001 -0.02° +_scene_ 0.055 0.005 0.013 -5.656 -0.004 -5.725 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.284, 0.644, 0.398] + !! OVERLAP: bed <-> floor depth=[1.216, -0.004, 2.181] + !! OVERLAP: table <-> floor depth=[0.284, -0.004, 0.398] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0072, Room Outer Loss: 0.0368, Walkable Loss: 0.7426 (Center Penalty: 0.7426), Relational Loss: 0.0408 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.705 1.028 2.056 -0.517 0.002 -0.643 -0.01° +nightstand 0.308 0.525 0.365 0.635 -0.001 -1.402 0.11° +nightstand 0.505 0.537 0.479 -1.602 0.000 -1.366 -0.00° +wardrobe 1.104 2.311 0.361 0.742 0.045 -0.757 -90.35° +lamp 1.063 0.914 0.881 -0.880 1.884 -0.262 -0.12° +floor 4.260 0.023 2.972 -0.873 -0.012 -0.281 -0.26° +_scene_ 0.071 0.001 0.023 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.020, 0.537, 0.479] + !! OVERLAP: bed <-> wardrobe depth=[0.146, 1.028, 0.361] + !! OVERLAP: bed <-> floor depth=[1.705, 0.023, 2.056] + !! OVERLAP: nightstand <-> floor depth=[0.308, 0.023, 0.365] + !! OVERLAP: nightstand <-> floor depth=[0.505, 0.023, 0.479] + !! OVERLAP: wardrobe <-> floor depth=[1.067, 0.023, 0.361] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.0231, Room Outer Loss: 0.0180, Walkable Loss: 0.6013 (Center Penalty: 0.6013), Relational Loss: 0.0207 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.145 0.532 0.330 1.060 -0.005 -0.524 -0.21° +bed 1.372 0.968 2.127 0.343 -0.010 -0.780 -0.33° +lamp 0.839 0.906 0.884 0.603 1.749 -0.550 0.22° +floor 2.456 0.006 2.981 0.283 -0.027 -1.225 0.10° +_scene_ 0.072 -0.000 0.020 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.042, 0.532, 0.330] + !! OVERLAP: nightstand <-> floor depth=[0.145, 0.006, 0.330] + !! OVERLAP: bed <-> floor depth=[1.372, 0.006, 2.109] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0174, Room Outer Loss: 0.3366, Walkable Loss: 0.7135 (Center Penalty: 0.7135), Relational Loss: 0.0101 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.367 1.107 2.418 -0.845 -0.002 -0.308 90.07° +wardrobe 1.681 2.269 0.395 -0.821 0.003 1.382 -179.98° +nightstand 0.512 0.530 0.410 -1.283 0.001 0.917 89.86° +table 0.621 0.991 0.503 0.741 -0.001 -0.824 -90.45° +chair 0.748 0.465 0.276 0.571 0.004 -1.110 89.96° +floor 3.087 0.005 3.430 -0.655 -0.002 -0.252 0.02° +_scene_ 0.066 0.001 0.019 -5.671 -0.006 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.501, 0.530, 0.189] + !! OVERLAP: bed <-> floor depth=[1.367, 0.005, 2.418] + !! OVERLAP: wardrobe <-> floor depth=[1.681, 0.005, 0.279] + !! OVERLAP: nightstand <-> floor depth=[0.512, 0.005, 0.410] + !! OVERLAP: table <-> chair depth=[0.515, 0.465, 0.103] + !! OVERLAP: table <-> floor depth=[0.458, 0.005, 0.503] + !! OVERLAP: chair <-> floor depth=[0.691, 0.005, 0.276] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0033, Room Outer Loss: 0.0933, Walkable Loss: 1.0551 (Center Penalty: 1.0551), Relational Loss: 0.0264 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.902 2.533 0.551 0.495 0.020 -0.762 -89.28° +nightstand 0.679 0.677 0.398 -1.394 0.001 -1.431 0.02° +nightstand 0.170 0.692 -0.050 -0.030 0.005 -1.311 0.98° +bed 2.088 0.610 1.819 -0.881 -0.008 -0.351 -0.13° +lamp 0.153 1.219 0.163 -0.656 1.495 -0.270 0.16° +floor 4.130 0.011 3.082 -0.712 -0.007 -0.309 -0.11° +_scene_ 0.066 0.001 0.022 -5.671 -0.005 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.620, 0.610, 0.551] + !! OVERLAP: wardrobe <-> floor depth=[1.809, 0.011, 0.551] + !! OVERLAP: nightstand <-> bed depth=[0.679, 0.610, 0.028] + !! OVERLAP: nightstand <-> floor depth=[0.679, 0.011, 0.398] + !! OVERLAP: nightstand <-> floor depth=[0.170, 0.011, -0.050] + !! OVERLAP: bed <-> floor depth=[2.088, 0.011, 1.819] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0087, Room Outer Loss: 0.0321, Walkable Loss: 1.6164 (Center Penalty: 1.6164), Relational Loss: 0.0452 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.712 1.010 2.181 0.613 0.000 -0.547 -0.05° +nightstand 0.377 0.752 0.502 1.534 -0.003 -1.270 0.09° +cabinet 1.068 1.469 0.513 0.123 0.002 1.350 -179.92° +wardrobe 1.358 2.252 0.639 -1.086 -0.009 -0.684 89.99° +nightstand 0.580 0.764 0.306 -0.806 0.002 -1.465 0.00° +chair 0.583 0.777 0.567 1.288 0.006 0.986 -148.49° +lamp 1.040 0.959 0.493 0.506 1.826 0.608 -0.09° +floor 3.460 -0.002 3.325 -0.003 0.001 -0.018 -0.02° +_scene_ 0.068 -0.000 0.021 -5.675 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.123, 0.752, 0.502] + !! OVERLAP: bed <-> floor depth=[1.712, -0.002, 2.181] + !! OVERLAP: nightstand <-> floor depth=[0.377, -0.002, 0.502] + !! OVERLAP: cabinet <-> floor depth=[1.068, -0.002, 0.513] + !! OVERLAP: wardrobe <-> floor depth=[1.326, -0.002, 0.639] + !! OVERLAP: nightstand <-> floor depth=[0.580, -0.002, 0.306] + !! OVERLAP: chair <-> floor depth=[0.583, -0.002, 0.567] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0180, Room Outer Loss: 0.0233, Walkable Loss: 1.6947 (Center Penalty: 1.6947), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.722 0.983 2.136 -0.636 0.006 -0.256 90.09° +nightstand 0.399 0.482 0.364 -1.268 0.001 0.685 90.03° +nightstand 0.462 0.599 0.298 -1.260 0.004 -1.423 90.19° +lamp 0.698 1.031 0.668 0.434 2.072 -0.660 0.26° +floor 3.042 -0.001 3.101 -0.008 0.001 0.002 0.00° +_scene_ 0.062 -0.000 0.016 -5.669 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.399, 0.482, 0.309] + !! OVERLAP: bed <-> nightstand depth=[0.462, 0.599, 0.050] + !! OVERLAP: bed <-> floor depth=[1.722, -0.001, 2.136] + !! OVERLAP: nightstand <-> floor depth=[0.399, -0.001, 0.364] + !! OVERLAP: nightstand <-> floor depth=[0.462, -0.001, 0.275] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0067, Room Outer Loss: 0.1064, Walkable Loss: 1.2036 (Center Penalty: 1.2036), Relational Loss: 0.0182 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.631 0.461 0.647 0.624 2.444 -0.357 -0.03° +wardrobe 1.522 2.407 0.506 -1.227 0.053 -0.794 90.49° +bed 1.802 1.220 2.213 0.680 0.044 -0.128 0.38° +nightstand 0.483 0.661 0.519 1.373 0.000 -1.418 0.02° +nightstand 0.547 0.589 0.533 -0.623 0.001 -1.504 -0.08° +floor 3.576 -0.006 3.479 -0.094 0.002 -0.629 -0.16° +_scene_ 0.069 -0.000 0.023 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.416, -0.006, 0.506] + !! OVERLAP: bed <-> nightstand depth=[0.450, 0.661, 0.076] + !! OVERLAP: bed <-> floor depth=[1.802, -0.006, 2.213] + !! OVERLAP: nightstand <-> floor depth=[0.483, -0.006, 0.519] + !! OVERLAP: nightstand <-> floor depth=[0.547, -0.006, 0.533] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4457 (Center Penalty: 0.4457), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.229 0.983 2.059 -0.762 0.010 0.373 -91.21° +wardrobe 1.394 2.028 0.554 0.267 -0.003 -1.707 0.18° +lamp 0.751 0.099 0.553 -0.680 2.478 0.854 -1.03° +floor 3.454 0.001 4.359 -0.700 0.025 -0.772 -0.32° +_scene_ 0.086 -0.004 0.098 -5.607 -0.004 -5.668 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.229, 0.001, 2.059] + !! OVERLAP: wardrobe <-> floor depth=[1.394, 0.001, 0.554] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4757 (Center Penalty: 1.4757), Relational Loss: 0.0354 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.481 1.142 2.219 -0.664 -0.000 0.316 89.94° +lamp 0.907 1.036 0.453 -0.135 1.752 1.120 -0.01° +nightstand 0.439 0.566 0.411 -0.961 0.002 -0.693 89.96° +floor 2.826 -0.004 3.173 -0.014 -0.000 -0.028 -0.03° +_scene_ 0.066 0.004 0.021 -5.657 -0.005 -5.702 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.439, 0.566, 0.306] + !! OVERLAP: bed <-> floor depth=[1.481, -0.004, 2.219] + !! OVERLAP: nightstand <-> floor depth=[0.439, -0.004, 0.411] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0010, Room Outer Loss: 0.2119, Walkable Loss: 0.7615 (Center Penalty: 0.7615), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.570 1.107 2.302 0.680 -0.001 -0.597 -89.98° +wardrobe 1.555 2.326 0.299 0.889 -0.001 0.933 -179.96° +table 0.424 0.546 0.351 1.463 0.001 0.585 -90.17° +cabinet 0.680 1.699 0.555 -0.919 -0.005 -1.620 90.17° +lamp 0.761 0.941 0.692 -0.060 1.663 -0.695 0.19° +table 0.540 0.566 0.510 1.444 0.002 -1.721 -90.12° +floor 2.898 0.020 3.782 0.265 -0.020 -0.946 -0.51° +_scene_ 0.067 0.000 0.016 -5.670 -0.004 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.214, 0.546, 0.145] + !! OVERLAP: bed <-> table depth=[0.291, 0.566, 0.282] + !! OVERLAP: bed <-> floor depth=[1.570, 0.020, 2.302] + !! OVERLAP: wardrobe <-> floor depth=[1.555, 0.020, 0.162] + !! OVERLAP: table <-> floor depth=[0.424, 0.020, 0.351] + !! OVERLAP: cabinet <-> floor depth=[0.605, 0.020, 0.555] + !! OVERLAP: table <-> floor depth=[0.540, 0.020, 0.510] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0676, Walkable Loss: 0.8262 (Center Penalty: 0.8262), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.550 0.678 1.737 -0.531 -0.013 0.711 89.92° +lamp 1.039 0.884 0.051 0.352 1.934 0.813 -179.79° +wardrobe 2.873 2.433 0.540 0.130 -0.010 -0.962 0.17° +floor 3.076 -0.016 3.934 0.171 -0.004 0.803 -0.04° +_scene_ 0.040 0.009 0.005 -5.658 -0.004 -5.716 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.550, -0.016, 1.737] + !! OVERLAP: wardrobe <-> floor depth=[2.873, -0.016, 0.472] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0116, Room Outer Loss: 0.0550, Walkable Loss: 0.7827 (Center Penalty: 0.7827), Relational Loss: 0.0236 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.229 0.744 0.496 1.499 0.001 -1.040 -89.94° +lamp 0.389 0.519 0.357 0.293 2.141 0.963 -0.29° +lamp 1.004 0.925 0.897 1.227 1.688 1.807 -89.87° +lamp 1.315 1.128 0.819 1.403 1.422 -1.070 0.03° +chair 0.466 0.864 0.517 0.739 0.001 -1.085 89.88° +bed 2.066 0.765 2.161 0.656 -0.000 0.678 -90.04° +wardrobe 2.295 2.258 0.454 0.460 -0.003 -1.612 -0.05° +tv_stand 1.822 0.659 0.517 -0.737 -0.002 1.126 90.27° +nightstand 0.384 0.505 0.439 1.663 0.001 1.679 -90.17° +floor 3.728 -0.008 5.026 0.271 0.004 0.603 -0.08° +_scene_ 0.075 0.001 0.021 -5.672 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.087, 0.744, 0.462] + !! OVERLAP: desk <-> floor depth=[1.229, -0.008, 0.496] + !! OVERLAP: lamp <-> wardrobe depth=[0.862, 0.268, 0.095] + !! OVERLAP: chair <-> floor depth=[0.466, -0.008, 0.517] + !! OVERLAP: bed <-> tv_stand depth=[0.550, 0.659, 0.517] + !! OVERLAP: bed <-> nightstand depth=[0.218, 0.505, 0.299] + !! OVERLAP: bed <-> floor depth=[2.066, -0.008, 2.161] + !! OVERLAP: wardrobe <-> floor depth=[2.295, -0.008, 0.454] + !! OVERLAP: tv_stand <-> floor depth=[1.767, -0.008, 0.517] + !! OVERLAP: nightstand <-> floor depth=[0.384, -0.008, 0.439] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5423 (Center Penalty: 1.5423), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.627 2.780 0.405 -0.274 -0.001 -1.231 0.02° +lamp 0.912 0.650 0.839 0.256 1.911 0.687 -0.01° +bed 1.501 1.165 2.034 -0.823 0.004 0.456 -179.87° +chair 0.634 0.664 0.610 1.402 -0.000 0.945 -97.24° +floor 3.914 -0.003 3.169 0.075 -0.000 -0.037 -0.01° +_scene_ 0.067 0.002 0.029 -5.633 -0.004 -5.683 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.627, -0.003, 0.405] + !! OVERLAP: bed <-> floor depth=[1.501, -0.003, 2.034] + !! OVERLAP: chair <-> floor depth=[0.634, -0.003, 0.610] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0051, Room Outer Loss: 0.1636, Walkable Loss: 0.8545 (Center Penalty: 0.8545), Relational Loss: 0.0274 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.092 0.880 2.156 0.590 0.001 0.421 -179.97° +wardrobe 1.154 2.226 0.466 -1.063 0.009 0.835 89.40° +nightstand 0.326 0.386 0.177 1.568 0.003 1.358 179.84° +nightstand 0.360 0.381 0.171 -0.593 0.003 1.404 179.94° +tv_stand 1.796 0.561 0.448 0.497 0.001 -1.340 0.00° +lamp 0.507 0.185 0.521 0.790 2.419 -0.060 0.07° +floor 4.865 -0.003 3.210 0.936 -0.015 -0.121 0.71° +_scene_ 0.070 -0.000 0.019 -5.672 -0.005 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.231, 0.386, 0.177] + !! OVERLAP: bed <-> nightstand depth=[0.042, 0.381, 0.171] + !! OVERLAP: bed <-> floor depth=[2.092, -0.003, 2.141] + !! OVERLAP: wardrobe <-> floor depth=[1.011, -0.003, 0.466] + !! OVERLAP: nightstand <-> floor depth=[0.326, -0.003, 0.177] + !! OVERLAP: nightstand <-> floor depth=[0.360, -0.003, 0.165] + !! OVERLAP: tv_stand <-> floor depth=[1.796, -0.003, 0.448] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0031, Walkable Loss: 1.0241 (Center Penalty: 1.0241), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.477 1.025 2.284 -0.319 0.016 0.200 89.89° +nightstand 0.392 0.622 0.277 -0.867 -0.003 1.378 89.63° +nightstand 0.431 0.580 0.434 -0.923 0.003 -1.203 90.09° +floor 3.428 -0.009 4.497 0.579 -0.011 -0.588 -0.23° +_scene_ 0.060 0.008 0.011 -5.659 -0.004 -5.715 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.386, 0.622, 0.104] + !! OVERLAP: bed <-> floor depth=[1.477, -0.009, 2.284] + !! OVERLAP: nightstand <-> floor depth=[0.392, -0.009, 0.277] + !! OVERLAP: nightstand <-> floor depth=[0.427, -0.009, 0.434] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0696, Walkable Loss: 0.8919 (Center Penalty: 0.8919), Relational Loss: 0.0415 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.856 1.044 2.111 -0.495 -0.051 0.682 89.48° +table 0.294 0.480 0.264 -0.816 -0.006 1.275 90.32° +table 0.281 0.505 0.308 -0.962 -0.003 -0.658 90.00° +lamp 0.456 0.973 0.476 -0.481 1.672 0.576 -0.12° +floor 2.924 -0.009 3.267 0.428 -0.001 0.713 -0.53° +_scene_ 0.055 0.037 0.078 -5.492 -0.004 -5.493 -58.19° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.254, 0.480, 0.264] + !! OVERLAP: bed <-> floor depth=[0.856, -0.009, 2.111] + !! OVERLAP: table <-> floor depth=[0.294, -0.009, 0.264] + !! OVERLAP: table <-> floor depth=[0.212, -0.009, 0.308] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0159, Walkable Loss: 1.4644 (Center Penalty: 1.4644), Relational Loss: 0.0494 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.302 1.548 1.938 0.757 0.010 -0.447 -90.60° +nightstand 0.438 0.510 0.451 1.289 0.001 0.848 -90.09° +nightstand 0.352 0.596 0.282 1.270 0.002 -1.340 -89.97° +lamp 0.838 0.524 0.775 0.227 2.325 -0.811 0.04° +floor 2.992 -0.001 3.680 -0.004 -0.000 0.014 -0.03° +_scene_ 0.072 -0.000 0.021 -5.667 -0.004 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.315, 0.596, 0.217] + !! OVERLAP: bed <-> floor depth=[1.302, -0.001, 1.938] + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.001, 0.451] + !! OVERLAP: nightstand <-> floor depth=[0.352, -0.001, 0.282] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0083, Room Outer Loss: 0.0833, Walkable Loss: 1.0056 (Center Penalty: 1.0056), Relational Loss: 0.0287 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.163 2.102 0.348 0.730 -0.020 0.747 -90.20° +bed 1.556 1.373 1.367 -0.827 0.027 0.329 179.81° +nightstand 0.497 0.531 0.165 0.325 -0.002 0.899 179.64° +nightstand 0.216 0.504 0.148 -1.491 -0.001 0.946 179.38° +lamp 0.743 0.830 0.664 -0.729 1.900 -0.159 0.24° +floor 3.899 0.004 3.222 -0.641 0.004 -0.633 -0.03° +_scene_ 0.071 0.001 0.024 -5.671 -0.004 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.425, 0.531, 0.104] + !! OVERLAP: wardrobe <-> floor depth=[1.160, 0.004, 0.348] + !! OVERLAP: bed <-> nightstand depth=[0.216, 0.504, 0.141] + !! OVERLAP: bed <-> floor depth=[1.556, 0.004, 1.333] + !! OVERLAP: nightstand <-> floor depth=[0.497, 0.004, 0.161] + !! OVERLAP: nightstand <-> floor depth=[0.216, 0.004, 0.107] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2212 (Center Penalty: 1.2212), Relational Loss: 0.0198 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.065 0.935 1.884 0.571 0.006 -0.678 -90.48° +wardrobe 2.676 2.423 0.650 0.009 0.001 1.517 -179.99° +nightstand 0.448 0.557 0.461 0.817 -0.001 -1.467 -90.37° +floor 3.195 -0.004 4.121 -0.003 0.000 -0.004 -0.02° +_scene_ 0.078 0.001 0.019 -5.667 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.448, 0.557, 0.384] + !! OVERLAP: bed <-> floor depth=[1.065, -0.004, 1.884] + !! OVERLAP: wardrobe <-> floor depth=[2.676, -0.004, 0.650] + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.004, 0.461] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0084, Room Outer Loss: 0.1332, Walkable Loss: 0.7577 (Center Penalty: 0.7577), Relational Loss: 0.0320 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.128 0.951 0.204 0.353 1.749 0.760 -0.38° +bed 1.661 1.195 2.188 0.120 0.015 0.838 -90.09° +nightstand 0.074 0.543 0.279 0.737 -0.004 -0.795 -91.09° +nightstand 0.249 0.583 0.700 0.602 -0.023 1.730 -89.74° +wardrobe 1.868 2.494 0.363 -0.050 -0.013 -0.997 -0.29° +shelf 0.954 1.761 0.491 -1.271 0.003 1.727 89.90° +floor 3.383 0.008 4.170 -0.801 0.010 0.979 0.24° +_scene_ 0.069 0.000 0.017 -5.669 -0.005 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.249, 0.583, 0.552] + !! OVERLAP: bed <-> floor depth=[1.601, 0.008, 2.188] + !! OVERLAP: nightstand <-> wardrobe depth=[0.074, 0.543, 0.119] + !! OVERLAP: nightstand <-> floor depth=[0.074, 0.008, 0.279] + !! OVERLAP: nightstand <-> floor depth=[0.249, 0.008, 0.700] + !! OVERLAP: wardrobe <-> floor depth=[1.868, 0.008, 0.290] + !! OVERLAP: shelf <-> floor depth=[0.954, 0.008, 0.491] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8940 (Center Penalty: 0.8940), Relational Loss: 0.0101 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.550 1.068 0.922 0.771 1.318 -0.060 -0.08° +bed 1.682 1.539 1.837 0.687 -0.052 0.706 0.32° +wardrobe 0.971 1.933 0.652 0.254 -0.025 -1.117 91.43° +floor 3.269 0.004 3.564 0.698 -0.007 0.035 0.18° +_scene_ 0.058 0.002 0.033 -5.591 -0.003 -5.671 -57.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.682, 0.004, 1.837] + !! OVERLAP: wardrobe <-> floor depth=[0.971, 0.004, 0.652] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0207, Room Outer Loss: 0.0000, Walkable Loss: 0.2942 (Center Penalty: 0.2942), Relational Loss: 0.0120 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.234 1.228 1.658 0.553 0.018 -1.146 0.04° +nightstand 0.483 0.693 0.363 0.946 -0.000 -1.847 0.09° +nightstand 0.507 0.629 0.381 -0.289 0.001 -1.616 -0.01° +wardrobe 0.970 1.867 0.471 -1.172 0.001 -0.966 89.92° +lamp 0.489 0.169 0.498 0.834 2.481 -0.685 -0.04° +lamp 0.383 0.499 0.334 -1.266 2.293 0.911 0.02° +floor 4.214 -0.005 4.122 -0.890 0.001 -0.456 0.00° +_scene_ 0.063 0.000 0.019 -5.675 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.466, 0.693, 0.310] + !! OVERLAP: bed <-> nightstand depth=[0.029, 0.629, 0.381] + !! OVERLAP: bed <-> floor depth=[1.234, -0.005, 1.658] + !! OVERLAP: nightstand <-> floor depth=[0.483, -0.005, 0.363] + !! OVERLAP: nightstand <-> floor depth=[0.507, -0.005, 0.381] + !! OVERLAP: wardrobe <-> floor depth=[0.970, -0.005, 0.471] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0016, Room Outer Loss: 0.0000, Walkable Loss: 0.8735 (Center Penalty: 0.8735), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.291 1.018 2.014 0.334 0.001 -0.538 -0.26° +nightstand 0.549 0.611 0.455 1.393 -0.002 -1.762 0.24° +nightstand 0.647 0.590 0.520 -1.210 0.001 -1.332 -0.03° +lamp 0.271 0.645 0.321 0.667 2.222 -0.361 -0.28° +floor 3.523 -0.045 3.301 0.052 0.001 -1.056 -0.17° +_scene_ 0.064 0.001 0.028 -5.666 -0.004 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.361, 0.611, 0.011] + !! OVERLAP: bed <-> floor depth=[2.291, -0.045, 2.014] + !! OVERLAP: nightstand <-> floor depth=[0.549, -0.045, 0.455] + !! OVERLAP: nightstand <-> floor depth=[0.647, -0.045, 0.520] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2512, Walkable Loss: 0.3840 (Center Penalty: 0.3840), Relational Loss: 0.0197 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.852 0.927 1.783 0.237 -0.030 1.185 -0.72° +desk 1.466 0.704 0.566 -0.942 -0.000 0.900 -179.94° +nightstand 0.363 0.430 0.360 0.973 0.000 0.915 -90.34° +wardrobe 0.615 2.071 0.673 1.089 -0.020 0.409 -89.81° +wardrobe 0.280 2.249 0.399 1.034 -0.025 -0.201 -89.97° +floor 3.829 -0.051 3.298 -0.755 -0.062 0.785 1.07° +_scene_ 0.064 0.000 0.022 -5.672 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.852, -0.051, 1.783] + !! OVERLAP: desk <-> floor depth=[1.466, -0.051, 0.566] + !! OVERLAP: nightstand <-> wardrobe depth=[0.363, 0.430, 0.010] + !! OVERLAP: nightstand <-> floor depth=[0.363, -0.051, 0.360] + !! OVERLAP: wardrobe <-> floor depth=[0.378, -0.051, 0.673] + !! OVERLAP: wardrobe <-> floor depth=[0.266, -0.051, 0.399] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6747 (Center Penalty: 0.6747), Relational Loss: 0.0288 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.765 1.313 1.887 0.623 -0.000 0.522 -90.05° +table 0.421 0.490 0.451 1.284 0.000 -0.594 -90.08° +table 0.521 0.524 0.510 1.254 0.001 1.668 -89.94° +wardrobe 1.526 1.945 0.308 0.703 -0.007 -0.985 -0.19° +lamp 0.644 0.134 0.599 0.936 2.461 0.314 0.32° +chair 0.741 0.776 0.742 -1.005 0.005 0.187 52.93° +floor 3.106 -0.027 4.596 0.065 0.012 1.148 -0.09° +_scene_ 0.070 0.004 0.022 -5.664 -0.004 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.421, 0.490, 0.053] + !! OVERLAP: bed <-> table depth=[0.512, 0.524, 0.052] + !! OVERLAP: bed <-> floor depth=[1.765, -0.027, 1.887] + !! OVERLAP: table <-> floor depth=[0.421, -0.027, 0.451] + !! OVERLAP: table <-> floor depth=[0.521, -0.027, 0.510] + !! OVERLAP: wardrobe <-> floor depth=[1.526, -0.027, 0.308] + !! OVERLAP: chair <-> floor depth=[0.741, -0.027, 0.742] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.1382, Walkable Loss: 0.5361 (Center Penalty: 0.5361), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.246 1.099 1.884 0.421 -0.014 0.679 88.85° +cabinet 1.163 0.806 0.290 1.094 -0.007 -1.129 -1.68° +nightstand 0.217 0.670 0.394 -0.684 -0.017 1.700 90.03° +nightstand 0.299 0.668 0.277 -0.723 -0.003 -1.016 89.61° +lamp 0.501 0.207 0.476 1.019 2.239 -0.247 0.08° +floor 3.378 -0.014 3.925 0.926 -0.026 0.570 1.24° +_scene_ 0.068 0.004 0.018 -5.665 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.127, 0.670, 0.118] + !! OVERLAP: bed <-> floor depth=[2.246, -0.014, 1.884] + !! OVERLAP: cabinet <-> floor depth=[1.163, -0.014, 0.290] + !! OVERLAP: nightstand <-> floor depth=[0.188, -0.014, 0.394] + !! OVERLAP: nightstand <-> floor depth=[0.190, -0.014, 0.277] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0247, Room Outer Loss: 0.0204, Walkable Loss: 0.5785 (Center Penalty: 0.5785), Relational Loss: 0.0160 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.802 0.917 1.152 -1.453 0.021 -0.134 -1.36° +nightstand 0.527 0.332 0.269 -0.813 -0.013 0.236 -1.75° +nightstand 0.572 0.490 0.056 -2.113 -0.009 -0.749 -0.47° +wardrobe 1.527 2.496 0.410 1.013 0.011 0.688 -89.86° +lamp 0.486 0.214 0.393 -0.968 2.294 0.273 0.33° +floor 4.611 0.025 3.226 -0.485 -0.012 0.857 -0.13° +_scene_ 0.062 0.001 0.025 -5.671 -0.005 -5.717 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.525, 0.332, 0.269] + !! OVERLAP: bed <-> floor depth=[1.802, 0.025, 1.152] + !! OVERLAP: nightstand <-> floor depth=[0.527, 0.025, 0.269] + !! OVERLAP: nightstand <-> floor depth=[0.572, 0.025, 0.036] + !! OVERLAP: wardrobe <-> floor depth=[1.527, 0.025, 0.410] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0192, Room Outer Loss: 0.1605, Walkable Loss: 0.5367 (Center Penalty: 0.5367), Relational Loss: 0.0349 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.690 1.219 1.812 -0.595 -0.001 0.803 179.50° +nightstand 0.472 0.513 0.360 -1.313 0.001 1.512 179.89° +nightstand 0.457 0.517 0.333 0.961 0.005 1.549 -179.97° +tv_stand 1.889 0.684 0.394 -1.241 -0.000 -1.563 -0.05° +tv_stand 1.906 0.738 0.461 -0.519 0.001 -1.162 -0.02° +wardrobe 0.975 2.448 0.448 0.869 -0.034 1.000 -89.51° +lamp 0.516 0.637 0.479 -0.858 1.937 0.075 0.08° +floor 4.519 0.033 3.547 -1.064 0.003 -0.046 0.51° +_scene_ 0.069 -0.000 0.023 -5.675 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.364, 0.513, 0.360] + !! OVERLAP: bed <-> floor depth=[1.690, 0.033, 1.812] + !! OVERLAP: nightstand <-> floor depth=[0.472, 0.033, 0.360] + !! OVERLAP: nightstand <-> floor depth=[0.457, 0.033, 0.333] + !! OVERLAP: tv_stand <-> tv_stand depth=[1.175, 0.684, 0.027] + !! OVERLAP: tv_stand <-> floor depth=[1.889, 0.033, 0.394] + !! OVERLAP: tv_stand <-> floor depth=[1.906, 0.033, 0.461] + !! OVERLAP: wardrobe <-> floor depth=[0.815, 0.033, 0.448] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 1.5739 (Center Penalty: 1.5739), Relational Loss: 0.0331 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.792 1.166 2.376 0.726 -0.008 0.233 -90.01° +nightstand 0.558 0.479 0.377 0.929 0.002 -1.482 0.01° +wardrobe 2.128 2.188 0.610 0.412 0.000 -0.993 0.03° +table 0.637 0.946 0.387 -1.362 0.001 0.466 89.92° +nightstand 0.483 0.520 0.439 0.299 0.002 1.396 0.04° +lamp 0.856 0.741 0.865 0.018 1.761 -1.169 -0.02° +lamp 0.741 0.844 0.737 0.260 2.018 1.149 0.00° +floor 3.352 -0.001 3.649 -0.009 0.000 -0.008 -0.00° +_scene_ 0.071 -0.000 0.023 -5.672 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.646, 1.166, 0.268] + !! OVERLAP: bed <-> nightstand depth=[0.483, 0.520, 0.244] + !! OVERLAP: bed <-> floor depth=[1.792, -0.001, 2.376] + !! OVERLAP: nightstand <-> wardrobe depth=[0.558, 0.479, 0.004] + !! OVERLAP: nightstand <-> floor depth=[0.558, -0.001, 0.377] + !! OVERLAP: wardrobe <-> floor depth=[2.128, -0.001, 0.610] + !! OVERLAP: table <-> floor depth=[0.637, -0.001, 0.387] + !! OVERLAP: nightstand <-> floor depth=[0.483, -0.001, 0.439] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6419 (Center Penalty: 0.6419), Relational Loss: 0.0272 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.539 1.064 2.112 -0.900 0.012 -0.336 89.77° +nightstand 0.388 0.484 0.315 -1.180 0.001 0.778 90.06° +wardrobe 1.642 2.431 0.279 -0.546 0.011 1.284 -179.56° +nightstand 0.436 0.469 0.360 -1.146 0.002 -1.362 89.96° +lamp 0.833 0.691 0.461 -0.125 1.997 -0.837 0.46° +floor 2.870 -0.000 4.038 -0.674 0.030 -0.583 -0.32° +_scene_ 0.076 -0.000 0.037 -5.665 -0.001 -5.721 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.388, 0.484, 0.099] + !! OVERLAP: bed <-> nightstand depth=[0.436, 0.469, 0.210] + !! OVERLAP: bed <-> floor depth=[1.539, -0.000, 2.112] + !! OVERLAP: nightstand <-> floor depth=[0.388, -0.000, 0.315] + !! OVERLAP: wardrobe <-> floor depth=[1.642, -0.000, 0.279] + !! OVERLAP: nightstand <-> floor depth=[0.436, -0.000, 0.360] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0163, Room Outer Loss: 0.0000, Walkable Loss: 1.5168 (Center Penalty: 1.5168), Relational Loss: 0.0222 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.925 2.251 1.494 -0.142 -0.030 0.774 90.14° +nightstand 0.362 0.596 0.399 -1.016 0.004 1.353 -179.96° +lamp 0.548 1.109 0.689 -0.279 1.552 -0.849 -0.67° +wardrobe 1.654 2.047 0.629 -0.104 -0.001 -1.349 0.04° +floor 2.525 0.003 3.306 -0.018 0.002 -0.043 -0.03° +_scene_ 0.069 0.001 0.021 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.269, 0.596, 0.367] + !! OVERLAP: bed <-> floor depth=[1.925, 0.003, 1.494] + !! OVERLAP: nightstand <-> floor depth=[0.362, 0.003, 0.399] + !! OVERLAP: lamp <-> wardrobe depth=[0.548, 0.025, 0.159] + !! OVERLAP: wardrobe <-> floor depth=[1.654, 0.003, 0.629] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.0000, Walkable Loss: 1.3430 (Center Penalty: 1.3430), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.830 2.555 0.603 -0.695 -0.000 1.760 -179.75° +bed 1.824 1.188 2.356 -0.565 0.002 -0.578 89.84° +table 0.427 0.493 0.428 -1.317 0.001 1.172 89.97° +table 0.435 0.568 0.458 -1.344 0.002 -1.678 90.05° +lamp 0.866 0.967 0.952 0.163 2.294 -1.137 -1.18° +floor 3.230 -0.002 4.316 -0.004 0.002 -0.028 -0.02° +_scene_ 0.071 0.000 0.020 -5.673 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.830, -0.002, 0.603] + !! OVERLAP: bed <-> table depth=[0.351, 0.568, 0.307] + !! OVERLAP: bed <-> floor depth=[1.824, -0.002, 2.356] + !! OVERLAP: table <-> floor depth=[0.427, -0.002, 0.428] + !! OVERLAP: table <-> floor depth=[0.435, -0.002, 0.458] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0051, Room Outer Loss: 0.1799, Walkable Loss: 0.4203 (Center Penalty: 0.4203), Relational Loss: 0.0229 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.232 0.811 1.622 1.108 -0.029 -0.507 -90.03° +nightstand 0.372 0.714 0.265 1.388 0.002 0.370 -90.03° +wardrobe 2.644 2.386 0.194 0.894 0.006 0.830 179.63° +tv_stand 1.153 0.433 0.532 0.120 -0.001 -1.271 88.85° +lamp 0.677 0.646 0.257 0.321 1.936 -0.802 -0.31° +floor 2.926 0.069 3.035 1.041 -0.005 -0.730 0.87° +_scene_ 0.075 0.001 0.025 -5.666 -0.003 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.372, 0.714, 0.067] + !! OVERLAP: bed <-> tv_stand depth=[0.204, 0.433, 0.312] + !! OVERLAP: bed <-> floor depth=[1.232, 0.069, 1.622] + !! OVERLAP: nightstand <-> floor depth=[0.372, 0.069, 0.265] + !! OVERLAP: wardrobe <-> floor depth=[2.638, 0.069, 0.055] + !! OVERLAP: tv_stand <-> floor depth=[1.119, 0.069, 0.532] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.3184, Walkable Loss: 0.2937 (Center Penalty: 0.2937), Relational Loss: 0.0488 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.310 2.429 0.507 -1.393 -0.001 -0.213 90.05° +bed 1.137 1.100 1.625 1.026 0.033 -0.425 -179.08° +nightstand 0.724 0.581 0.337 1.685 -0.003 0.763 -179.93° +nightstand 0.521 0.439 0.198 -1.492 0.005 0.874 179.73° +cabinet 1.385 1.214 0.414 0.612 0.003 -1.488 0.09° +cabinet 1.199 1.134 0.419 -0.577 0.001 -1.811 0.04° +shelf 0.361 1.542 0.337 1.901 -0.001 -0.988 -130.92° +floor 4.886 -0.045 3.567 0.027 0.009 -0.925 -0.03° +_scene_ 0.083 0.001 0.023 -5.659 -0.005 -5.701 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.179, -0.045, 0.507] + !! OVERLAP: bed <-> floor depth=[1.137, -0.045, 1.625] + !! OVERLAP: nightstand <-> floor depth=[0.724, -0.045, 0.264] + !! OVERLAP: nightstand <-> floor depth=[0.521, -0.045, 0.084] + !! OVERLAP: cabinet <-> cabinet depth=[0.103, 1.134, 0.093] + !! OVERLAP: cabinet <-> floor depth=[1.385, -0.045, 0.414] + !! OVERLAP: cabinet <-> floor depth=[1.199, -0.045, 0.419] + !! OVERLAP: shelf <-> floor depth=[0.361, -0.045, 0.337] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3151 (Center Penalty: 1.3151), Relational Loss: 0.0385 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.598 1.166 1.953 0.569 0.019 0.520 -90.04° +wardrobe 1.637 2.255 0.551 0.433 0.000 -1.448 0.02° +nightstand 0.220 0.551 0.322 1.041 -0.002 1.561 -90.71° +floor 2.905 -0.002 3.725 -0.007 -0.000 0.016 -0.02° +_scene_ 0.070 0.001 0.019 -5.674 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.220, 0.551, 0.097] + !! OVERLAP: bed <-> floor depth=[1.598, -0.002, 1.953] + !! OVERLAP: wardrobe <-> floor depth=[1.637, -0.002, 0.551] + !! OVERLAP: nightstand <-> floor depth=[0.220, -0.002, 0.322] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0016, Room Outer Loss: 0.1687, Walkable Loss: 0.2894 (Center Penalty: 0.2894), Relational Loss: 0.0114 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.453 2.505 0.627 -1.111 0.050 -0.558 2.28° +lamp 0.664 0.641 0.574 -0.460 2.253 0.914 -0.48° +bed 1.350 0.939 2.033 -0.487 -0.012 1.007 179.81° +nightstand 0.235 0.607 0.364 0.777 -0.001 1.315 179.76° +nightstand 0.501 0.462 0.374 -1.389 0.002 1.542 179.99° +lamp 0.104 0.815 0.142 0.755 1.092 1.439 0.08° +floor 3.163 -0.107 3.828 -0.779 0.012 1.116 0.79° +_scene_ 0.068 0.001 0.018 -5.674 -0.005 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.453, -0.107, 0.553] + !! OVERLAP: bed <-> nightstand depth=[0.024, 0.462, 0.374] + !! OVERLAP: bed <-> floor depth=[1.350, -0.107, 2.033] + !! OVERLAP: nightstand <-> floor depth=[0.143, -0.107, 0.364] + !! OVERLAP: nightstand <-> floor depth=[0.501, -0.107, 0.374] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7453 (Center Penalty: 0.7453), Relational Loss: 0.0347 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.653 1.071 2.136 -0.441 0.001 0.698 89.99° +wardrobe 1.240 1.897 0.355 -0.466 -0.018 -1.184 -0.38° +nightstand 0.185 0.443 0.379 -1.241 -0.003 -0.477 89.59° +nightstand 0.331 0.519 0.382 -1.168 -0.002 1.820 89.96° +lamp 0.455 0.202 0.441 -0.199 2.392 0.952 -0.22° +floor 3.201 -0.001 4.310 0.234 -0.013 0.774 -0.58° +_scene_ 0.073 0.000 0.022 -5.669 -0.005 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.119, 0.443, 0.083] + !! OVERLAP: bed <-> nightstand depth=[0.265, 0.519, 0.137] + !! OVERLAP: bed <-> floor depth=[1.653, -0.001, 2.136] + !! OVERLAP: wardrobe <-> floor depth=[1.240, -0.001, 0.355] + !! OVERLAP: nightstand <-> floor depth=[0.185, -0.001, 0.379] + !! OVERLAP: nightstand <-> floor depth=[0.331, -0.001, 0.382] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0343, Walkable Loss: 0.2817 (Center Penalty: 0.2817), Relational Loss: 0.0223 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.814 2.051 1.453 1.151 -0.032 0.152 -90.40° +nightstand 0.568 0.651 0.454 1.533 0.001 -0.624 -90.06° +nightstand 0.456 0.533 0.288 1.554 0.002 0.963 -89.95° +cabinet 0.402 0.531 0.346 1.425 -0.002 -1.636 -0.01° +cabinet 0.303 0.650 0.215 -0.974 0.001 -1.362 63.66° +floor 3.514 -0.011 3.807 0.319 -0.004 -0.831 -0.27° +_scene_ 0.039 0.012 0.028 -5.673 -0.007 -5.706 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.309, 0.651, 0.177] + !! OVERLAP: bed <-> nightstand depth=[0.232, 0.533, 0.060] + !! OVERLAP: bed <-> floor depth=[0.814, -0.011, 1.453] + !! OVERLAP: nightstand <-> floor depth=[0.568, -0.011, 0.454] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.011, 0.254] + !! OVERLAP: cabinet <-> floor depth=[0.402, -0.011, 0.346] + !! OVERLAP: cabinet <-> floor depth=[0.303, -0.011, 0.215] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0053, Room Outer Loss: 0.1013, Walkable Loss: 0.9042 (Center Penalty: 0.9042), Relational Loss: 0.0394 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.629 1.181 2.147 0.525 -0.001 -0.878 -0.05° +nightstand 0.439 0.507 0.392 -0.517 0.001 -1.536 -0.04° +nightstand 0.476 0.527 0.410 1.557 0.003 -1.484 -0.00° +wardrobe 1.074 2.520 0.194 -0.608 0.011 -0.887 90.05° +tv_stand 1.719 1.828 0.250 0.422 -0.008 1.174 -179.98° +lamp 0.477 0.662 0.482 0.741 2.106 -0.132 -0.10° +floor 3.380 0.003 3.445 0.617 0.012 -0.453 1.17° +_scene_ 0.069 -0.001 0.020 -5.677 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.020, 0.527, 0.410] + !! OVERLAP: bed <-> wardrobe depth=[0.219, 1.181, 0.194] + !! OVERLAP: bed <-> floor depth=[1.629, 0.003, 2.147] + !! OVERLAP: nightstand <-> floor depth=[0.439, 0.003, 0.392] + !! OVERLAP: nightstand <-> floor depth=[0.476, 0.003, 0.410] + !! OVERLAP: wardrobe <-> floor depth=[1.002, 0.003, 0.194] + !! OVERLAP: tv_stand <-> floor depth=[1.719, 0.003, 0.221] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0131, Room Outer Loss: 0.0000, Walkable Loss: 0.4517 (Center Penalty: 0.4517), Relational Loss: 0.0036 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.885 1.364 2.373 -0.132 -0.009 -1.007 90.05° +nightstand 0.192 0.482 0.194 -0.912 0.005 1.056 89.86° +nightstand 0.209 0.503 0.230 -0.341 -0.009 -1.518 89.29° +lamp 0.636 0.258 0.609 0.233 2.386 -0.876 0.00° +floor 3.463 -0.044 3.977 0.707 0.017 -0.796 -1.17° +_scene_ 0.068 0.000 0.020 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.209, 0.503, 0.230] + !! OVERLAP: bed <-> floor depth=[0.885, -0.044, 2.373] + !! OVERLAP: nightstand <-> floor depth=[0.192, -0.044, 0.194] + !! OVERLAP: nightstand <-> floor depth=[0.209, -0.044, 0.230] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0352, Walkable Loss: 0.5653 (Center Penalty: 0.5653), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.431 2.105 0.524 0.469 0.002 0.920 -179.87° +bed 2.200 1.056 2.087 0.260 0.001 -0.899 -90.12° +lamp 0.634 0.418 0.621 0.275 2.161 -1.036 -0.06° +floor 2.809 -0.001 4.165 0.040 0.004 -0.936 0.06° +_scene_ 0.068 0.003 0.020 -5.659 -0.004 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.431, -0.001, 0.489] + !! OVERLAP: bed <-> floor depth=[2.200, -0.001, 2.087] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0250, Room Outer Loss: 0.0280, Walkable Loss: 1.4509 (Center Penalty: 1.4509), Relational Loss: 0.0478 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.347 0.522 0.348 1.464 0.001 -1.234 -0.06° +desk 1.287 1.535 0.529 -0.205 -0.000 -1.381 -0.02° +wardrobe 1.675 2.381 0.527 -0.914 0.045 -0.289 91.66° +lamp 0.166 0.565 0.262 -0.252 1.671 0.850 0.60° +bed 1.141 0.910 1.902 0.957 -0.031 -0.653 0.02° +floor 3.427 -0.003 3.296 -0.010 0.000 -0.048 -0.01° +_scene_ 0.068 -0.001 0.022 -5.670 -0.005 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.236, 0.522, 0.348] + !! OVERLAP: nightstand <-> floor depth=[0.347, -0.003, 0.348] + !! OVERLAP: desk <-> bed depth=[0.052, 0.910, 0.487] + !! OVERLAP: desk <-> floor depth=[1.287, -0.003, 0.529] + !! OVERLAP: wardrobe <-> floor depth=[1.647, -0.003, 0.527] + !! OVERLAP: bed <-> floor depth=[1.141, -0.003, 1.902] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0079, Room Outer Loss: 0.0197, Walkable Loss: 0.5898 (Center Penalty: 0.5898), Relational Loss: 0.0293 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.526 1.076 2.139 0.942 0.012 0.364 -90.09° +wardrobe 1.169 2.375 0.615 -1.042 0.003 0.422 89.93° +nightstand 0.569 0.608 0.322 1.472 0.004 -0.826 -89.89° +nightstand 0.430 0.560 0.397 1.551 0.000 1.269 -90.12° +lamp 1.182 0.891 0.735 0.398 1.778 0.725 -0.22° +floor 3.677 0.018 4.076 -0.087 -0.002 1.022 -0.68° +_scene_ 0.070 0.000 0.021 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.517, 0.608, 0.040] + !! OVERLAP: bed <-> nightstand depth=[0.369, 0.560, 0.364] + !! OVERLAP: bed <-> floor depth=[1.526, 0.018, 2.139] + !! OVERLAP: wardrobe <-> floor depth=[1.169, 0.018, 0.615] + !! OVERLAP: nightstand <-> floor depth=[0.564, 0.018, 0.322] + !! OVERLAP: nightstand <-> floor depth=[0.416, 0.018, 0.397] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2598, Walkable Loss: 0.6300 (Center Penalty: 0.6300), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.394 2.165 0.542 -0.172 0.002 -1.395 -0.06° +bed 1.671 1.443 2.048 0.413 0.002 0.667 -89.85° +nightstand 0.282 0.658 0.400 1.159 0.011 -0.907 -90.28° +nightstand 0.363 0.640 0.475 1.194 -0.012 1.940 -90.41° +floor 3.362 0.011 4.750 -0.459 -0.016 0.618 -0.87° +_scene_ 0.072 0.002 0.025 -5.663 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.394, 0.011, 0.542] + !! OVERLAP: bed <-> floor depth=[1.644, 0.011, 2.048] + !! OVERLAP: nightstand <-> floor depth=[0.203, 0.011, 0.400] + !! OVERLAP: nightstand <-> floor depth=[0.209, 0.011, 0.475] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0045, Room Outer Loss: 0.1322, Walkable Loss: 0.8532 (Center Penalty: 0.8532), Relational Loss: 0.0381 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.743 0.669 0.470 -0.767 2.133 -0.290 -0.06° +wardrobe 0.637 2.565 0.265 0.775 -0.018 0.366 -90.00° +bed 1.645 0.840 1.458 -0.998 -0.008 -0.078 179.09° +nightstand 0.388 0.496 0.191 -1.560 0.014 0.683 -179.89° +nightstand 0.441 0.496 0.100 0.603 0.023 0.783 179.54° +floor 3.834 -0.055 2.878 -0.897 0.011 -0.663 -0.06° +_scene_ 0.067 -0.000 0.016 -5.676 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.564, -0.055, 0.265] + !! OVERLAP: bed <-> nightstand depth=[0.388, 0.496, 0.063] + !! OVERLAP: bed <-> floor depth=[1.645, -0.055, 1.458] + !! OVERLAP: nightstand <-> floor depth=[0.388, -0.055, 0.188] + !! OVERLAP: nightstand <-> floor depth=[0.441, -0.055, 0.043] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1216, Walkable Loss: 1.7366 (Center Penalty: 1.7366), Relational Loss: 0.0350 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.326 0.497 0.420 0.893 0.011 -0.233 -90.10° +bed 1.205 1.004 1.871 -0.753 -0.005 0.312 90.74° +nightstand 0.562 0.560 0.453 -1.140 0.001 1.229 90.03° +nightstand 0.546 0.532 0.485 -1.086 0.001 -0.603 90.07° +lamp 0.469 0.529 0.158 0.527 2.329 0.658 -0.50° +floor 2.900 0.001 3.159 -0.015 0.000 0.012 -0.01° +_scene_ 0.065 0.002 0.022 -5.670 -0.006 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.205, 0.001, 0.420] + !! OVERLAP: bed <-> nightstand depth=[0.496, 0.560, 0.245] + !! OVERLAP: bed <-> nightstand depth=[0.542, 0.532, 0.263] + !! OVERLAP: bed <-> floor depth=[1.205, 0.001, 1.871] + !! OVERLAP: nightstand <-> floor depth=[0.562, 0.001, 0.453] + !! OVERLAP: nightstand <-> floor depth=[0.546, 0.001, 0.485] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0019, Walkable Loss: 1.6503 (Center Penalty: 1.6503), Relational Loss: 0.0626 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.345 0.969 1.910 -0.755 -0.004 -0.276 90.04° +nightstand 0.397 0.454 0.344 -1.267 0.001 -1.185 89.87° +desk 1.615 1.471 0.330 0.608 -0.001 -1.131 -90.91° +lamp 0.625 0.327 0.621 -0.368 2.363 -0.622 0.69° +floor 3.819 -0.002 2.657 -0.082 -0.001 -0.027 0.00° +_scene_ 0.070 0.000 0.023 -5.668 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.359, 0.454, 0.218] + !! OVERLAP: bed <-> desk depth=[0.117, 0.969, 0.266] + !! OVERLAP: bed <-> floor depth=[1.345, -0.002, 1.910] + !! OVERLAP: nightstand <-> floor depth=[0.397, -0.002, 0.342] + !! OVERLAP: desk <-> floor depth=[1.615, -0.002, 0.330] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0228, Walkable Loss: 0.7462 (Center Penalty: 0.7462), Relational Loss: 0.0236 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.683 1.303 2.075 -0.962 -0.001 -0.568 89.94° +wardrobe 1.958 2.197 0.357 -0.773 0.016 1.056 -179.91° +nightstand 0.595 0.740 0.418 -1.279 0.003 -1.671 89.99° +nightstand 0.417 0.655 0.349 -1.375 0.002 0.521 90.06° +tv_stand 1.417 0.598 0.463 0.915 -0.001 -0.542 -90.51° +lamp 0.702 0.509 0.335 0.066 2.027 -0.896 -0.29° +floor 3.504 0.008 4.019 -0.151 0.004 -0.745 -0.15° +_scene_ 0.070 0.000 0.021 -5.671 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.595, 0.740, 0.144] + !! OVERLAP: bed <-> nightstand depth=[0.417, 0.655, 0.123] + !! OVERLAP: bed <-> floor depth=[1.683, 0.008, 2.075] + !! OVERLAP: wardrobe <-> floor depth=[1.958, 0.008, 0.357] + !! OVERLAP: nightstand <-> floor depth=[0.595, 0.008, 0.418] + !! OVERLAP: nightstand <-> floor depth=[0.417, 0.008, 0.349] + !! OVERLAP: tv_stand <-> floor depth=[1.394, 0.008, 0.463] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7597 (Center Penalty: 0.7597), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.639 0.993 1.946 0.687 0.001 0.459 179.91° +cabinet 1.217 1.098 0.504 -1.277 0.001 -1.264 -0.00° +wardrobe 1.473 2.323 0.489 -1.047 0.006 1.264 -179.95° +chair 0.799 0.697 0.647 -1.224 0.006 0.390 -29.22° +lamp 0.292 0.548 0.291 0.870 2.231 0.042 -0.04° +floor 4.719 0.001 3.262 -0.840 -0.005 0.055 0.26° +_scene_ 0.080 0.001 0.019 -5.691 -0.006 -5.710 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.639, 0.001, 1.946] + !! OVERLAP: cabinet <-> floor depth=[1.217, 0.001, 0.504] + !! OVERLAP: wardrobe <-> floor depth=[1.473, 0.001, 0.489] + !! OVERLAP: chair <-> floor depth=[0.799, 0.001, 0.647] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0070, Room Outer Loss: 0.1637, Walkable Loss: 0.4415 (Center Penalty: 0.4415), Relational Loss: 0.0153 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.380 1.098 2.106 -0.870 0.004 0.748 89.89° +wardrobe 0.882 1.996 0.400 -1.128 0.006 -0.935 0.40° +wardrobe 1.095 1.967 0.216 -0.649 -0.005 -1.214 0.38° +tv_stand 2.232 0.661 0.529 0.931 0.007 0.753 -90.06° +nightstand 0.370 0.517 0.393 -1.538 -0.001 -0.215 90.12° +floor 3.756 0.020 4.368 0.005 0.003 0.811 -0.35° +_scene_ 0.075 -0.001 0.023 -5.671 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.006, 0.661, 0.529] + !! OVERLAP: bed <-> nightstand depth=[0.206, 0.517, 0.287] + !! OVERLAP: bed <-> floor depth=[1.380, 0.020, 2.106] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.509, 1.967, 0.029] + !! OVERLAP: wardrobe <-> floor depth=[0.882, 0.020, 0.400] + !! OVERLAP: wardrobe <-> floor depth=[1.095, 0.020, 0.216] + !! OVERLAP: tv_stand <-> floor depth=[2.068, 0.020, 0.529] + !! OVERLAP: nightstand <-> floor depth=[0.370, 0.020, 0.393] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0282, Room Outer Loss: 0.0081, Walkable Loss: 0.6256 (Center Penalty: 0.6256), Relational Loss: 0.0167 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.152 0.928 1.804 -0.388 0.015 -0.953 90.69° +nightstand 0.192 0.606 0.191 -0.790 -0.032 -0.333 90.66° +wardrobe 1.099 1.899 0.020 0.669 -0.018 0.959 178.88° +nightstand 0.342 0.445 0.359 -0.768 -0.001 -1.589 89.92° +floor 2.943 -0.031 3.442 0.516 -0.008 -0.720 0.23° +_scene_ 0.070 0.001 0.019 -5.670 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.192, 0.606, 0.191] + !! OVERLAP: bed <-> nightstand depth=[0.342, 0.445, 0.359] + !! OVERLAP: bed <-> floor depth=[1.144, -0.031, 1.804] + !! OVERLAP: nightstand <-> floor depth=[0.192, -0.031, 0.191] + !! OVERLAP: wardrobe <-> floor depth=[1.099, -0.031, 0.020] + !! OVERLAP: nightstand <-> floor depth=[0.342, -0.031, 0.359] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0271, Room Outer Loss: 0.0000, Walkable Loss: 1.5699 (Center Penalty: 1.5699), Relational Loss: 0.0290 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.521 0.823 0.418 1.137 0.011 -0.275 -90.70° +lamp 0.859 0.804 0.823 0.059 2.019 0.117 0.07° +bed 1.811 1.333 2.202 -0.829 -0.004 -0.324 89.95° +nightstand 0.505 0.525 0.377 -1.526 0.001 -1.409 90.01° +nightstand 0.538 0.489 0.367 -1.463 0.007 0.863 90.09° +table 0.654 1.196 0.237 -1.268 0.003 1.091 89.97° +wardrobe 2.363 2.317 0.343 -0.438 -0.003 -2.190 0.13° +desk 1.906 0.680 0.938 0.464 0.003 0.715 -93.38° +floor 3.437 0.004 4.687 -0.296 0.010 -1.047 -0.42° +_scene_ 0.071 0.000 0.022 -5.671 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.521, 0.004, 0.418] + !! OVERLAP: bed <-> nightstand depth=[0.461, 0.525, 0.205] + !! OVERLAP: bed <-> nightstand depth=[0.538, 0.489, 0.098] + !! OVERLAP: bed <-> desk depth=[0.565, 0.680, 0.531] + !! OVERLAP: bed <-> floor depth=[1.811, 0.004, 2.202] + !! OVERLAP: nightstand <-> floor depth=[0.505, 0.004, 0.377] + !! OVERLAP: nightstand <-> table depth=[0.401, 0.489, 0.074] + !! OVERLAP: nightstand <-> floor depth=[0.538, 0.004, 0.367] + !! OVERLAP: table <-> floor depth=[0.654, 0.004, 0.237] + !! OVERLAP: wardrobe <-> floor depth=[2.363, 0.004, 0.343] + !! OVERLAP: desk <-> floor depth=[1.906, 0.004, 0.938] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0097, Room Outer Loss: 0.0000, Walkable Loss: 0.8139 (Center Penalty: 0.8139), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.033 1.313 2.202 0.711 -0.001 -0.191 -90.14° +nightstand 0.423 0.469 0.393 1.383 0.001 1.012 -90.04° +lamp 0.946 0.921 0.598 0.544 2.044 0.490 89.56° +floor 3.323 -0.030 2.930 0.999 -0.014 0.129 1.48° +_scene_ 0.068 0.001 0.019 -5.673 -0.006 -5.718 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.423, 0.469, 0.094] + !! OVERLAP: bed <-> floor depth=[2.033, -0.030, 2.202] + !! OVERLAP: nightstand <-> floor depth=[0.423, -0.030, 0.393] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.0499, Walkable Loss: 2.0052 (Center Penalty: 2.0052), Relational Loss: 0.0614 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.115 1.509 2.168 -0.784 -0.030 0.156 90.60° +wardrobe 2.110 2.149 0.544 -0.310 0.001 1.333 -179.96° +nightstand 0.529 0.582 0.488 -1.052 0.000 -1.161 90.01° +tv_stand 1.884 0.992 0.388 0.488 0.012 -0.514 -89.42° +lamp 0.534 0.479 0.527 0.156 2.010 0.728 -0.29° +floor 2.753 0.002 3.347 0.003 0.001 -0.017 -0.02° +_scene_ 0.067 0.001 0.024 -5.673 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.115, 1.509, 0.179] + !! OVERLAP: bed <-> nightstand depth=[0.529, 0.582, 0.012] + !! OVERLAP: bed <-> tv_stand depth=[0.228, 0.992, 0.388] + !! OVERLAP: bed <-> floor depth=[1.115, 0.002, 2.168] + !! OVERLAP: wardrobe <-> floor depth=[2.110, 0.002, 0.544] + !! OVERLAP: nightstand <-> floor depth=[0.529, 0.002, 0.488] + !! OVERLAP: tv_stand <-> floor depth=[1.834, 0.002, 0.388] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0170, Room Outer Loss: 0.0214, Walkable Loss: 0.8081 (Center Penalty: 0.8081), Relational Loss: 0.0317 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.326 1.274 2.263 -0.323 0.004 0.935 89.93° +table 0.420 0.512 0.695 -1.535 -0.005 1.656 0.02° +table 0.559 0.528 0.518 -1.350 -0.000 -0.506 90.03° +wardrobe 0.942 2.022 0.366 -1.064 -0.001 -1.309 -0.13° +wardrobe 0.884 2.049 0.235 -0.393 -0.002 -1.158 -0.12° +lamp 0.557 0.138 0.484 -0.095 2.573 0.892 -0.03° +lamp 1.350 1.066 1.333 -0.803 1.482 1.695 0.08° +floor 2.808 -0.027 4.488 -0.319 -0.007 0.600 -0.31° +_scene_ 0.064 -0.001 0.019 -5.673 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.162, 0.512, 0.695] + !! OVERLAP: bed <-> floor depth=[2.326, -0.027, 2.263] + !! OVERLAP: table <-> floor depth=[0.399, -0.027, 0.695] + !! OVERLAP: table <-> floor depth=[0.559, -0.027, 0.518] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.242, 2.022, 0.149] + !! OVERLAP: wardrobe <-> floor depth=[0.942, -0.027, 0.366] + !! OVERLAP: wardrobe <-> floor depth=[0.884, -0.027, 0.235] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.0531, Room Outer Loss: 0.0734, Walkable Loss: 0.9064 (Center Penalty: 0.9064), Relational Loss: 0.0196 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.066 1.184 2.243 -0.334 0.066 0.749 -89.78° +nightstand 0.356 0.614 0.305 1.071 -0.004 1.989 -89.87° +nightstand 0.216 0.715 0.367 1.097 -0.005 0.305 -90.45° +wardrobe 1.545 2.145 0.248 -0.314 -0.006 -0.827 -0.15° +wardrobe 1.499 2.065 0.253 -0.430 -0.006 -0.965 0.12° +lamp 0.855 1.014 0.861 0.107 1.732 0.983 0.02° +floor 2.673 0.070 4.184 -0.127 0.005 1.035 -1.12° +_scene_ 0.068 0.000 0.022 -5.675 -0.004 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.066, 0.070, 2.243] + !! OVERLAP: nightstand <-> floor depth=[0.317, 0.070, 0.305] + !! OVERLAP: nightstand <-> floor depth=[0.216, 0.070, 0.367] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.407, 2.065, 0.112] + !! OVERLAP: wardrobe <-> floor depth=[1.545, 0.070, 0.248] + !! OVERLAP: wardrobe <-> floor depth=[1.499, 0.070, 0.219] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1222, Walkable Loss: 0.7134 (Center Penalty: 0.7134), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.231 1.623 1.786 0.494 0.001 -0.295 -90.38° +wardrobe 1.380 2.166 0.609 -0.866 -0.001 -1.283 0.04° +desk 1.652 0.718 0.619 -1.544 0.000 0.654 90.02° +chair 0.466 0.594 0.480 -0.970 -0.004 0.458 -89.02° +floor 3.926 -0.018 3.051 -0.976 0.008 -0.525 0.25° +_scene_ 0.064 0.001 0.024 -5.670 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.109, -0.018, 1.786] + !! OVERLAP: wardrobe <-> floor depth=[1.380, -0.018, 0.609] + !! OVERLAP: desk <-> chair depth=[0.466, 0.594, 0.354] + !! OVERLAP: desk <-> floor depth=[1.652, -0.018, 0.619] + !! OVERLAP: chair <-> floor depth=[0.466, -0.018, 0.480] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.7969, Walkable Loss: 0.9688 (Center Penalty: 0.9688), Relational Loss: 0.0341 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.676 1.059 2.025 0.384 0.001 -0.680 -90.47° +table 0.302 0.545 0.115 1.029 0.002 0.287 -90.13° +wardrobe 1.050 2.298 0.076 0.709 0.021 0.462 -179.93° +lamp 0.636 0.964 0.608 -0.115 1.777 -0.759 0.17° +floor 2.974 0.079 2.995 -0.335 -0.003 -1.311 -0.01° +_scene_ 0.061 0.001 0.017 -5.666 -0.002 -5.718 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.302, 0.545, 0.103] + !! OVERLAP: bed <-> floor depth=[1.606, 0.079, 1.878] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0346, Room Outer Loss: 0.0933, Walkable Loss: 1.5876 (Center Penalty: 1.5876), Relational Loss: 0.0268 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.804 0.996 1.978 0.775 0.002 -0.027 179.83° +wardrobe 1.219 2.160 0.603 -1.298 0.002 -0.132 90.00° +desk 1.457 0.796 0.599 0.969 0.001 1.184 179.89° +lamp 0.841 0.186 0.707 0.553 2.364 0.630 -0.41° +floor 3.622 -0.001 3.026 -0.004 0.000 -0.004 0.00° +_scene_ 0.057 0.001 0.015 -5.671 -0.005 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.436, 0.796, 0.077] + !! OVERLAP: bed <-> floor depth=[1.804, -0.001, 1.978] + !! OVERLAP: wardrobe <-> floor depth=[1.126, -0.001, 0.603] + !! OVERLAP: desk <-> floor depth=[1.457, -0.001, 0.599] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.1871, Walkable Loss: 0.7670 (Center Penalty: 0.7670), Relational Loss: 0.0239 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.862 1.317 2.163 -0.635 0.020 0.352 89.85° +nightstand 0.525 0.580 0.454 -1.293 0.001 1.990 90.09° +nightstand 0.529 0.596 0.399 -1.358 0.002 -0.914 90.00° +tv_stand 1.214 0.491 0.273 1.035 0.002 0.627 -89.86° +wardrobe 1.225 2.291 0.278 -0.790 -0.000 -1.419 0.13° +wardrobe 1.114 2.293 0.210 -0.067 0.004 -1.274 -0.23° +lamp 0.082 0.941 0.061 -1.517 1.118 -0.842 0.02° +lamp 0.222 0.778 0.177 -1.390 1.033 1.660 0.02° +lamp 0.787 0.922 0.576 -0.198 1.952 1.021 0.27° +chair 0.603 0.657 0.574 -0.278 -0.005 2.044 156.08° +table 0.690 0.518 0.596 0.457 0.002 2.081 90.08° +floor 3.077 0.040 5.120 -0.058 -0.010 0.896 -0.06° +_scene_ 0.071 -0.001 0.022 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.472, 0.596, 0.014] + !! OVERLAP: bed <-> floor depth=[1.862, 0.040, 2.163] + !! OVERLAP: nightstand <-> floor depth=[0.525, 0.040, 0.454] + !! OVERLAP: nightstand <-> floor depth=[0.503, 0.040, 0.399] + !! OVERLAP: tv_stand <-> floor depth=[1.053, 0.040, 0.273] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.446, 2.288, 0.099] + !! OVERLAP: wardrobe <-> floor depth=[1.225, 0.040, 0.278] + !! OVERLAP: wardrobe <-> floor depth=[1.114, 0.040, 0.210] + !! OVERLAP: chair <-> floor depth=[0.603, 0.040, 0.574] + !! OVERLAP: table <-> floor depth=[0.690, 0.040, 0.596] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0529, Walkable Loss: 0.9010 (Center Penalty: 0.9010), Relational Loss: 0.0500 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.070 0.756 1.931 -0.703 0.004 -0.445 90.07° +lamp 0.558 0.724 0.506 -0.410 1.979 -0.631 89.87° +wardrobe 0.675 2.351 0.372 0.474 0.048 -0.684 -89.20° +floor 3.062 -0.000 3.294 -0.773 0.034 -0.823 -0.30° +_scene_ 0.023 0.004 0.004 -5.582 -0.007 -5.649 -57.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.196, 0.756, 0.372] + !! OVERLAP: bed <-> floor depth=[2.070, -0.000, 1.931] + !! OVERLAP: wardrobe <-> floor depth=[0.622, -0.000, 0.372] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0784, Walkable Loss: 1.3595 (Center Penalty: 1.3595), Relational Loss: 0.0641 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.494 0.575 0.465 -0.935 0.002 -1.145 0.03° +bed 1.492 1.217 2.002 0.670 -0.016 -0.282 -0.37° +nightstand 0.534 0.618 0.415 1.707 0.001 -0.729 -89.73° +wardrobe 1.093 2.520 0.513 -1.586 0.005 -0.464 90.16° +floor 4.303 0.012 2.706 0.047 -0.001 0.026 0.04° +_scene_ 0.071 0.001 0.022 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.494, 0.012, 0.415] + !! OVERLAP: bed <-> floor depth=[1.492, 0.012, 2.002] + !! OVERLAP: nightstand <-> floor depth=[0.534, 0.012, 0.415] + !! OVERLAP: wardrobe <-> floor depth=[1.064, 0.012, 0.513] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0149, Room Outer Loss: 0.1536, Walkable Loss: 0.6542 (Center Penalty: 0.6542), Relational Loss: 0.0256 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.765 1.296 2.118 -0.884 0.008 -0.160 89.73° +nightstand 0.502 0.485 0.409 -1.491 0.000 -1.323 90.03° +wardrobe 1.573 2.518 0.252 -0.942 -0.031 1.177 -179.45° +wardrobe 1.188 2.491 0.758 0.579 0.007 -1.281 -89.80° +chair 0.423 0.761 0.946 1.023 0.002 -0.353 -90.47° +lamp 0.777 0.782 0.776 -0.951 2.129 -0.480 -0.52° +nightstand 0.529 0.447 0.441 -1.437 0.001 0.960 90.00° +floor 3.940 0.031 3.418 -0.843 -0.017 -0.198 -0.86° +_scene_ 0.070 0.000 0.022 -5.675 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.502, 0.485, 0.100] + !! OVERLAP: bed <-> wardrobe depth=[0.014, 1.296, 0.317] + !! OVERLAP: bed <-> nightstand depth=[0.529, 0.447, 0.159] + !! OVERLAP: bed <-> floor depth=[1.765, 0.031, 2.118] + !! OVERLAP: nightstand <-> floor depth=[0.502, 0.031, 0.409] + !! OVERLAP: wardrobe <-> nightstand depth=[0.529, 0.447, 0.129] + !! OVERLAP: wardrobe <-> floor depth=[1.573, 0.031, 0.252] + !! OVERLAP: wardrobe <-> floor depth=[1.142, 0.031, 0.758] + !! OVERLAP: chair <-> floor depth=[0.315, 0.031, 0.946] + !! OVERLAP: nightstand <-> floor depth=[0.529, 0.031, 0.441] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6642 (Center Penalty: 0.6642), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.301 1.100 1.849 -0.980 0.026 0.207 90.70° +desk 1.190 0.926 0.553 -1.075 0.004 -1.404 -179.96° +chair 0.531 0.931 0.484 -0.787 -0.003 -0.796 -179.89° +lamp 0.691 0.208 0.646 -0.605 2.373 0.485 0.39° +floor 3.297 0.002 4.244 -0.199 0.007 -0.960 -1.70° +_scene_ 0.066 0.000 0.017 -5.669 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.531, 0.931, 0.163] + !! OVERLAP: bed <-> floor depth=[1.301, 0.002, 1.849] + !! OVERLAP: desk <-> floor depth=[1.190, 0.002, 0.553] + !! OVERLAP: chair <-> floor depth=[0.531, 0.002, 0.484] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0056, Room Outer Loss: 0.2670, Walkable Loss: 0.8290 (Center Penalty: 0.8290), Relational Loss: 0.0229 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.264 1.178 1.134 0.841 -0.023 -0.179 178.68° +nightstand 0.741 0.597 0.071 0.475 -0.011 -0.748 -179.61° +nightstand 0.353 0.546 0.148 1.280 0.000 0.480 179.90° +wardrobe 1.107 2.257 0.604 -1.668 0.006 -0.383 89.43° +lamp 0.502 0.634 0.069 0.531 2.087 -0.690 0.13° +floor 4.028 -0.038 2.837 -0.054 -0.000 -0.978 0.04° +_scene_ 0.072 -0.000 0.022 -5.670 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.637, 0.597, 0.033] + !! OVERLAP: bed <-> floor depth=[1.264, -0.038, 1.134] + !! OVERLAP: nightstand <-> floor depth=[0.741, -0.038, 0.071] + !! OVERLAP: nightstand <-> floor depth=[0.353, -0.038, 0.035] + !! OVERLAP: wardrobe <-> floor depth=[0.954, -0.038, 0.604] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5905 (Center Penalty: 0.5905), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.636 0.769 2.025 -0.670 0.001 -0.529 0.10° +cabinet 0.543 0.895 0.265 -0.954 0.002 1.391 179.95° +nightstand 0.502 0.639 0.467 0.903 0.002 -1.147 0.17° +nightstand 0.576 0.706 0.513 -1.796 -0.001 -1.291 -0.09° +lamp 0.799 0.486 0.603 -0.831 2.239 0.332 -0.07° +floor 4.411 0.004 3.300 -0.992 0.009 -0.053 -0.39° +_scene_ 0.068 0.001 0.021 -5.671 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.636, 0.004, 2.025] + !! OVERLAP: cabinet <-> floor depth=[0.543, 0.004, 0.265] + !! OVERLAP: nightstand <-> floor depth=[0.502, 0.004, 0.467] + !! OVERLAP: nightstand <-> floor depth=[0.576, 0.004, 0.513] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.0096, Room Outer Loss: 0.0278, Walkable Loss: 0.5327 (Center Penalty: 0.5327), Relational Loss: 0.0250 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.300 1.207 0.409 -1.305 0.002 0.889 179.97° +nightstand 0.647 0.469 0.221 -1.221 -0.004 -1.062 -0.22° +bed 1.824 0.774 1.614 -0.948 0.021 -0.224 -0.25° +nightstand 0.204 0.503 0.138 0.915 -0.001 -1.127 0.21° +wardrobe 1.387 2.320 0.528 0.356 0.013 -0.797 -93.34° +floor 4.032 0.034 2.815 -0.995 -0.013 0.037 0.50° +_scene_ 0.070 -0.001 0.028 -5.672 -0.005 -5.716 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.300, 0.034, 0.409] + !! OVERLAP: nightstand <-> bed depth=[0.647, 0.469, 0.079] + !! OVERLAP: nightstand <-> floor depth=[0.647, 0.034, 0.221] + !! OVERLAP: bed <-> wardrobe depth=[0.301, 0.774, 0.498] + !! OVERLAP: bed <-> floor depth=[1.824, 0.034, 1.614] + !! OVERLAP: nightstand <-> wardrobe depth=[0.204, 0.503, 0.002] + !! OVERLAP: nightstand <-> floor depth=[0.204, 0.034, 0.138] + !! OVERLAP: wardrobe <-> floor depth=[1.359, 0.034, 0.528] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6689 (Center Penalty: 0.6689), Relational Loss: 0.0165 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.963 1.130 0.465 -1.373 0.004 0.306 89.94° +cabinet 0.962 1.047 0.421 -1.303 0.001 -1.422 90.08° +bed 2.200 0.738 2.341 0.803 0.000 -0.657 -89.93° +lamp 0.433 0.754 0.433 0.873 1.824 -0.470 -0.01° +lamp 0.480 0.774 0.497 0.915 2.268 -1.276 -0.02° +lamp 0.142 0.850 0.151 -1.181 1.918 0.877 -90.14° +floor 3.775 -0.027 3.797 0.021 0.001 -0.702 -0.03° +_scene_ 0.065 0.003 0.019 -5.673 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.963, -0.027, 0.465] + !! OVERLAP: cabinet <-> floor depth=[0.962, -0.027, 0.421] + !! OVERLAP: bed <-> floor depth=[2.200, -0.027, 2.341] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0135, Walkable Loss: 1.7539 (Center Penalty: 1.7539), Relational Loss: 0.0431 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.590 0.281 0.622 0.694 2.475 0.018 -0.14° +bed 1.506 1.106 1.922 0.562 -0.005 -0.470 -0.17° +nightstand 0.488 0.627 0.406 -0.749 -0.004 -1.195 0.04° +nightstand 0.571 0.638 0.528 1.603 0.002 -1.125 0.04° +wardrobe 1.611 2.654 0.197 -1.223 -0.002 -0.816 90.39° +floor 4.023 -0.003 3.142 -0.003 0.000 0.021 -0.01° +_scene_ 0.063 -0.000 0.016 -5.673 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.506, -0.003, 1.922] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.003, 0.406] + !! OVERLAP: nightstand <-> floor depth=[0.571, -0.003, 0.528] + !! OVERLAP: wardrobe <-> floor depth=[1.597, -0.003, 0.197] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7553 (Center Penalty: 1.7553), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.633 1.662 1.962 -0.729 -0.004 -0.251 89.99° +lamp 0.519 0.571 0.680 -0.597 2.007 0.455 0.10° +wardrobe 1.119 2.372 0.683 1.016 -0.001 0.008 -90.08° +floor 3.216 0.001 3.180 -0.008 0.000 0.000 -0.03° +_scene_ 0.045 0.004 0.006 -5.664 -0.006 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.633, 0.001, 1.962] + !! OVERLAP: wardrobe <-> floor depth=[1.119, 0.001, 0.683] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0212, Room Outer Loss: 0.0041, Walkable Loss: 0.6561 (Center Penalty: 0.6561), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.811 1.214 2.233 -0.523 0.003 -0.267 89.96° +nightstand 0.342 0.599 0.518 -1.124 0.001 -1.275 90.17° +nightstand 0.292 0.823 0.213 -1.184 -0.003 0.699 90.09° +lamp 0.340 0.321 0.454 1.096 2.550 0.137 0.33° +chair 0.373 0.829 0.461 2.109 0.018 -0.520 -31.09° +tv_stand 1.921 0.519 0.418 1.820 0.000 0.295 -90.16° +floor 4.970 -0.065 3.203 1.061 0.005 -0.691 -0.33° +_scene_ 0.065 0.000 0.020 -5.675 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.342, 0.599, 0.368] + !! OVERLAP: bed <-> nightstand depth=[0.292, 0.823, 0.213] + !! OVERLAP: bed <-> floor depth=[1.807, -0.065, 2.233] + !! OVERLAP: nightstand <-> floor depth=[0.342, -0.065, 0.518] + !! OVERLAP: nightstand <-> floor depth=[0.292, -0.065, 0.213] + !! OVERLAP: chair <-> floor depth=[0.373, -0.065, 0.461] + !! OVERLAP: tv_stand <-> floor depth=[1.921, -0.065, 0.418] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0051, Room Outer Loss: 0.0000, Walkable Loss: 0.5512 (Center Penalty: 0.5512), Relational Loss: 0.0386 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.702 2.507 0.180 -0.659 0.018 1.061 -179.68° +bed 1.873 0.852 1.992 -0.770 -0.001 -0.510 90.02° +nightstand 0.586 0.536 0.414 -1.550 0.002 -1.652 90.04° +nightstand 0.478 0.593 0.406 -1.553 0.001 0.707 90.02° +lamp 0.617 0.140 0.681 0.026 2.567 -0.852 -0.07° +floor 3.646 0.009 4.455 -0.557 0.002 -0.947 0.37° +_scene_ 0.068 -0.001 0.020 -5.663 -0.004 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.702, 0.009, 0.180] + !! OVERLAP: bed <-> nightstand depth=[0.450, 0.536, 0.061] + !! OVERLAP: bed <-> floor depth=[1.873, 0.009, 1.992] + !! OVERLAP: nightstand <-> floor depth=[0.586, 0.009, 0.414] + !! OVERLAP: nightstand <-> floor depth=[0.478, 0.009, 0.406] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7355 (Center Penalty: 0.7355), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.736 0.921 1.849 0.480 -0.005 0.746 179.94° +tv_stand 2.822 0.775 0.597 0.485 -0.004 -1.282 0.13° +lamp 0.597 0.715 0.625 0.732 2.106 0.295 0.08° +nightstand 0.416 0.497 0.364 1.618 0.002 1.480 179.96° +nightstand 0.265 0.439 0.334 -0.669 -0.002 1.389 179.68° +floor 3.782 -0.020 3.794 0.871 -0.004 0.155 0.14° +_scene_ 0.079 0.001 0.011 -5.668 -0.006 -5.704 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.736, -0.020, 1.849] + !! OVERLAP: tv_stand <-> floor depth=[2.822, -0.020, 0.597] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.020, 0.364] + !! OVERLAP: nightstand <-> floor depth=[0.265, -0.020, 0.334] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5140 (Center Penalty: 0.5140), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.932 1.454 2.311 0.425 0.000 0.980 179.91° +lamp 0.809 0.944 0.798 0.586 1.737 0.815 -0.17° +wardrobe 1.558 2.114 0.537 0.541 -0.001 -1.315 0.10° +floor 3.537 0.006 4.220 0.710 0.001 0.408 0.33° +_scene_ 0.069 0.005 0.026 -5.670 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.932, 0.006, 2.311] + !! OVERLAP: wardrobe <-> floor depth=[1.558, 0.006, 0.537] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0113, Room Outer Loss: 0.0726, Walkable Loss: 0.5233 (Center Penalty: 0.5233), Relational Loss: 0.0008 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.975 0.683 0.566 1.240 0.006 -0.867 -0.04° +chair 0.361 0.653 0.348 1.909 0.008 -0.712 90.00° +wardrobe 0.564 2.172 0.542 -1.425 0.014 -0.310 90.63° +cabinet 0.670 1.050 0.380 1.898 0.003 1.626 179.98° +nightstand 0.979 0.817 0.371 -1.009 0.006 -0.873 0.09° +bed 1.589 1.043 2.159 0.283 0.013 0.920 0.61° +lamp 0.544 0.328 0.608 0.962 2.322 0.216 -0.07° +floor 5.230 -0.006 3.083 0.818 -0.004 0.464 0.25° +_scene_ 0.070 0.001 0.027 -5.669 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.361, 0.653, 0.301] + !! OVERLAP: desk <-> floor depth=[1.975, -0.006, 0.493] + !! OVERLAP: chair <-> floor depth=[0.361, -0.006, 0.348] + !! OVERLAP: wardrobe <-> floor depth=[0.564, -0.006, 0.542] + !! OVERLAP: cabinet <-> floor depth=[0.670, -0.006, 0.380] + !! OVERLAP: nightstand <-> floor depth=[0.979, -0.006, 0.371] + !! OVERLAP: bed <-> floor depth=[1.589, -0.006, 2.159] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0577, Walkable Loss: 0.6969 (Center Penalty: 0.6969), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.027 1.023 1.889 0.771 0.005 -0.747 89.39° +nightstand 0.335 0.551 0.379 -0.616 -0.004 -1.406 90.21° +nightstand 0.201 0.521 0.242 -0.617 -0.026 1.194 89.48° +lamp 0.839 0.837 0.796 0.369 1.755 -0.569 -0.13° +floor 3.138 -0.025 3.709 0.742 -0.009 -0.598 -0.42° +_scene_ 0.070 0.001 0.018 -5.673 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.027, -0.025, 1.889] + !! OVERLAP: nightstand <-> floor depth=[0.335, -0.025, 0.379] + !! OVERLAP: nightstand <-> floor depth=[0.201, -0.025, 0.184] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0073, Room Outer Loss: 0.0000, Walkable Loss: 0.5779 (Center Penalty: 0.5779), Relational Loss: 0.0149 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.997 1.337 2.100 0.798 0.002 -0.841 0.09° +nightstand 0.435 0.462 0.491 -0.364 -0.001 -1.451 -0.12° +table 0.879 1.058 0.545 1.487 0.000 1.682 179.97° +chair 0.642 0.382 0.573 1.148 0.001 1.091 0.01° +wardrobe 0.776 2.200 0.329 -0.694 -0.007 -1.107 89.69° +lamp 0.695 0.118 0.752 0.912 2.349 0.101 0.03° +floor 3.801 0.011 4.046 0.800 -0.006 0.088 0.01° +_scene_ 0.070 0.000 0.020 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.055, 0.462, 0.491] + !! OVERLAP: bed <-> floor depth=[1.997, 0.011, 2.100] + !! OVERLAP: nightstand <-> wardrobe depth=[0.275, 0.462, 0.066] + !! OVERLAP: nightstand <-> floor depth=[0.435, 0.011, 0.491] + !! OVERLAP: table <-> floor depth=[0.879, 0.011, 0.545] + !! OVERLAP: chair <-> floor depth=[0.642, 0.011, 0.573] + !! OVERLAP: wardrobe <-> floor depth=[0.776, 0.011, 0.329] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0029, Room Outer Loss: 0.0283, Walkable Loss: 1.7849 (Center Penalty: 1.7849), Relational Loss: 0.0297 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.922 1.452 2.059 0.204 -0.000 -0.637 -0.03° +nightstand 0.552 0.665 0.376 -0.995 0.003 -1.470 0.00° +nightstand 0.373 0.684 0.403 1.339 0.001 -1.334 -0.02° +shelf 0.550 1.075 0.265 -1.272 -0.000 1.403 179.97° +tv_stand 1.967 0.577 0.517 0.680 0.004 1.422 179.95° +lamp 0.731 0.529 0.726 0.673 2.142 -0.217 0.03° +floor 3.690 -0.001 3.360 -0.017 0.001 -0.028 -0.02° +_scene_ 0.076 -0.001 0.029 -5.666 -0.003 -5.709 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.038, 0.665, 0.376] + !! OVERLAP: bed <-> nightstand depth=[0.011, 0.684, 0.403] + !! OVERLAP: bed <-> floor depth=[1.922, -0.001, 2.059] + !! OVERLAP: nightstand <-> floor depth=[0.552, -0.001, 0.376] + !! OVERLAP: nightstand <-> floor depth=[0.373, -0.001, 0.403] + !! OVERLAP: shelf <-> floor depth=[0.550, -0.001, 0.265] + !! OVERLAP: tv_stand <-> floor depth=[1.967, -0.001, 0.488] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0062, Room Outer Loss: 0.2139, Walkable Loss: 0.6116 (Center Penalty: 0.6116), Relational Loss: 0.0615 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.801 0.827 0.818 0.012 1.740 0.833 -0.21° +bed 1.989 1.056 1.467 -0.812 0.013 0.163 -0.24° +nightstand 0.059 0.458 0.312 -1.883 -0.032 0.334 -1.84° +chair 0.201 0.559 0.368 1.568 -0.000 -0.276 -167.25° +table 0.542 1.721 0.207 1.373 0.015 -0.289 -87.04° +floor 4.652 -0.018 3.039 -0.099 0.006 1.112 0.46° +_scene_ 0.066 0.001 0.022 -5.674 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.989, -0.018, 1.305] + !! OVERLAP: nightstand <-> floor depth=[0.059, -0.018, 0.312] + !! OVERLAP: chair <-> table depth=[0.177, 0.559, 0.207] + !! OVERLAP: chair <-> floor depth=[0.201, -0.018, 0.316] + !! OVERLAP: table <-> floor depth=[0.542, -0.018, 0.207] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0051, Room Outer Loss: 0.1170, Walkable Loss: 1.1764 (Center Penalty: 1.1764), Relational Loss: 0.0276 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.359 1.217 0.906 -0.754 -0.012 -0.681 0.61° +nightstand 0.460 0.820 0.118 0.127 -0.008 -1.090 0.95° +nightstand 0.352 0.805 0.258 -1.717 -0.009 -0.915 0.09° +chair 1.260 0.534 0.647 -0.633 -0.001 0.959 -0.13° +lamp 0.804 0.768 0.439 -0.935 2.095 0.144 -0.09° +wardrobe 0.740 2.419 0.462 -0.596 -0.114 0.125 -90.74° +floor 3.912 0.004 3.067 -0.707 -0.020 0.451 0.71° +_scene_ 0.068 0.001 0.023 -5.677 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.029, 0.820, 0.103] + !! OVERLAP: bed <-> floor depth=[1.359, 0.004, 0.855] + !! OVERLAP: nightstand <-> floor depth=[0.460, 0.004, 0.052] + !! OVERLAP: nightstand <-> floor depth=[0.352, 0.004, 0.258] + !! OVERLAP: chair <-> floor depth=[1.260, 0.004, 0.647] + !! OVERLAP: wardrobe <-> floor depth=[0.740, 0.004, 0.462] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.1063, Walkable Loss: 0.7347 (Center Penalty: 0.7347), Relational Loss: 0.0296 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.794 0.778 2.032 0.440 0.000 0.700 -90.01° +wardrobe 1.666 2.370 0.422 0.486 -0.004 -0.808 0.04° +nightstand 0.303 0.528 0.355 1.203 0.001 -0.465 -90.10° +nightstand 0.337 0.498 0.433 1.184 0.000 1.677 -89.94° +lamp 0.549 0.219 0.612 0.042 2.304 1.016 -0.16° +tv_stand 1.660 0.624 0.347 -1.176 0.011 0.543 90.26° +floor 3.274 -0.015 4.126 -0.263 -0.010 1.009 0.14° +_scene_ 0.071 0.000 0.025 -5.670 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.285, 0.528, 0.029] + !! OVERLAP: bed <-> nightstand depth=[0.321, 0.498, 0.256] + !! OVERLAP: bed <-> tv_stand depth=[0.111, 0.624, 0.347] + !! OVERLAP: bed <-> floor depth=[1.794, -0.015, 2.032] + !! OVERLAP: wardrobe <-> nightstand depth=[0.268, 0.528, 0.045] + !! OVERLAP: wardrobe <-> floor depth=[1.666, -0.015, 0.422] + !! OVERLAP: nightstand <-> floor depth=[0.303, -0.015, 0.355] + !! OVERLAP: nightstand <-> floor depth=[0.337, -0.015, 0.433] + !! OVERLAP: tv_stand <-> floor depth=[1.553, -0.015, 0.347] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0006, Room Outer Loss: 0.1274, Walkable Loss: 0.5220 (Center Penalty: 0.5220), Relational Loss: 0.0526 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.776 2.274 0.255 -1.369 -0.002 -0.759 89.96° +bed 0.868 1.201 1.295 0.716 -0.047 -0.237 1.44° +nightstand 0.248 0.447 0.245 1.145 0.011 -1.001 -0.05° +nightstand 0.474 0.488 0.381 -0.996 -0.000 -0.777 0.02° +floor 4.283 -0.148 3.159 -0.794 -0.026 0.583 -1.24° +_scene_ 0.071 0.001 0.019 -5.665 -0.005 -5.710 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.474, 0.488, 0.255] + !! OVERLAP: wardrobe <-> floor depth=[1.776, -0.148, 0.255] + !! OVERLAP: bed <-> nightstand depth=[0.129, 0.447, 0.006] + !! OVERLAP: bed <-> floor depth=[0.868, -0.148, 1.295] + !! OVERLAP: nightstand <-> floor depth=[0.248, -0.148, 0.118] + !! OVERLAP: nightstand <-> floor depth=[0.474, -0.148, 0.381] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0188, Room Outer Loss: 0.4393, Walkable Loss: 0.8327 (Center Penalty: 0.8327), Relational Loss: 0.0140 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.361 1.302 2.252 -0.522 0.008 -0.445 89.63° +nightstand 0.336 0.551 0.288 -1.087 0.023 0.849 90.50° +wardrobe 1.484 2.572 0.354 -0.463 -0.006 0.840 179.76° +chair 0.696 0.884 0.706 -0.910 -0.004 -1.624 -9.50° +tv_stand 1.354 0.480 0.344 1.483 -0.001 -0.742 -90.00° +lamp 0.555 0.125 0.581 0.049 2.440 -0.850 -0.12° +floor 3.648 0.067 4.381 0.698 -0.017 -1.196 -0.61° +_scene_ 0.070 -0.000 0.021 -5.673 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.361, 1.302, 0.018] + !! OVERLAP: bed <-> chair depth=[0.640, 0.884, 0.300] + !! OVERLAP: bed <-> floor depth=[1.285, 0.067, 2.252] + !! OVERLAP: nightstand <-> wardrobe depth=[0.285, 0.551, 0.288] + !! OVERLAP: nightstand <-> floor depth=[0.207, 0.067, 0.288] + !! OVERLAP: wardrobe <-> floor depth=[1.405, 0.067, 0.331] + !! OVERLAP: chair <-> floor depth=[0.564, 0.067, 0.706] + !! OVERLAP: tv_stand <-> floor depth=[1.354, 0.067, 0.344] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3067 (Center Penalty: 0.3067), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.461 0.629 1.850 0.263 0.071 -1.301 -89.55° +wardrobe 2.641 2.452 0.420 -0.045 -0.005 0.962 -179.98° +chair 0.423 1.042 0.487 -0.140 -0.006 -1.946 -125.67° +floor 2.951 -0.031 4.507 0.020 0.009 -1.028 -0.02° +_scene_ 0.041 0.017 0.035 -5.528 -0.004 -5.611 -57.99° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.040, 0.629, 0.487] + !! OVERLAP: bed <-> floor depth=[0.461, -0.031, 1.850] + !! OVERLAP: wardrobe <-> floor depth=[2.641, -0.031, 0.420] + !! OVERLAP: chair <-> floor depth=[0.423, -0.031, 0.487] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0369, Walkable Loss: 1.6091 (Center Penalty: 1.6091), Relational Loss: 0.0288 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.479 1.151 1.617 0.776 -0.002 -0.524 0.22° +nightstand 0.459 0.664 0.323 -0.209 -0.001 -1.136 0.08° +wardrobe 3.021 2.570 0.590 -0.689 0.008 0.697 90.36° +nightstand 0.595 0.562 0.423 1.672 0.002 -1.200 0.06° +lamp 0.817 0.816 0.766 0.802 2.192 0.334 -0.17° +floor 4.462 -0.002 2.709 0.004 -0.001 -0.020 -0.06° +_scene_ 0.068 0.000 0.021 -5.673 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.141, 0.562, 0.344] + !! OVERLAP: bed <-> floor depth=[1.479, -0.002, 1.617] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.002, 0.323] + !! OVERLAP: wardrobe <-> floor depth=[3.021, -0.002, 0.590] + !! OVERLAP: nightstand <-> floor depth=[0.595, -0.002, 0.386] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5001 (Center Penalty: 0.5001), Relational Loss: 0.0583 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.390 0.544 0.345 1.037 -0.002 -1.597 0.15° +nightstand 0.527 0.538 0.456 -1.492 0.000 -1.540 0.00° +lamp 0.964 1.011 1.081 -0.716 2.023 -0.499 0.08° +bed 1.852 1.118 2.237 -0.245 -0.002 -0.941 -0.15° +floor 4.514 -0.006 3.881 -0.908 0.002 -0.440 -0.02° +_scene_ 0.069 0.001 0.026 -5.669 0.001 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.390, -0.006, 0.345] + !! OVERLAP: nightstand <-> floor depth=[0.527, -0.006, 0.456] + !! OVERLAP: bed <-> floor depth=[1.852, -0.006, 2.237] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0012, Room Outer Loss: 0.0240, Walkable Loss: 0.7853 (Center Penalty: 0.7853), Relational Loss: 0.0492 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.310 0.644 0.188 1.540 0.003 1.530 -90.12° +nightstand 0.325 0.652 0.263 1.544 0.001 -0.656 0.00° +nightstand 0.459 0.839 0.335 -1.107 -0.002 -0.513 0.28° +bed 1.654 1.117 2.149 0.630 0.005 0.469 0.42° +wardrobe 0.902 2.536 0.752 -1.242 -0.004 0.115 89.39° +lamp 0.912 0.864 0.876 0.287 2.036 0.795 -0.32° +floor 3.946 -0.036 3.389 0.290 0.003 0.920 0.48° +_scene_ 0.071 0.000 0.024 -5.673 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> bed depth=[0.072, 0.644, 0.107] + !! OVERLAP: shelf <-> floor depth=[0.310, -0.036, 0.188] + !! OVERLAP: nightstand <-> bed depth=[0.075, 0.652, 0.081] + !! OVERLAP: nightstand <-> floor depth=[0.325, -0.036, 0.249] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.036, 0.335] + !! OVERLAP: bed <-> floor depth=[1.654, -0.036, 2.149] + !! OVERLAP: wardrobe <-> floor depth=[0.892, -0.036, 0.752] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0689, Walkable Loss: 0.6036 (Center Penalty: 0.6036), Relational Loss: 0.0064 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.282 0.767 2.118 -0.842 0.001 -0.553 89.85° +wardrobe 2.050 2.448 0.831 1.181 -0.006 -0.324 -90.08° +lamp 0.526 0.738 0.546 -0.514 1.931 -0.848 179.84° +floor 4.258 0.007 3.978 0.008 -0.010 -0.795 0.24° +_scene_ 0.053 0.001 0.008 -5.685 -0.005 -5.719 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.143, 0.767, 0.831] + !! OVERLAP: bed <-> floor depth=[2.282, 0.007, 2.118] + !! OVERLAP: wardrobe <-> floor depth=[1.981, 0.007, 0.831] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0145, Room Outer Loss: 0.0166, Walkable Loss: 0.6531 (Center Penalty: 0.6531), Relational Loss: 0.0277 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.056 1.118 0.320 -2.174 -0.002 -1.097 0.04° +nightstand 0.499 0.579 0.372 0.325 0.000 -1.068 0.09° +chair 0.455 0.466 0.486 -2.436 -0.004 -0.638 -89.79° +bed 1.872 1.394 2.176 -1.173 -0.003 -0.054 0.03° +cabinet 0.744 1.063 0.422 -2.214 0.001 1.521 179.99° +lamp 0.858 0.937 0.843 -1.243 1.913 -0.012 -0.00° +wardrobe 2.820 2.291 0.583 0.584 0.003 0.447 -90.19° +floor 5.952 0.009 3.111 -0.999 -0.001 0.226 0.06° +_scene_ 0.077 0.000 0.020 -5.671 -0.003 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.462, 1.118, 0.205] + !! OVERLAP: table <-> floor depth=[1.056, 0.009, 0.320] + !! OVERLAP: nightstand <-> floor depth=[0.499, 0.009, 0.372] + !! OVERLAP: chair <-> floor depth=[0.455, 0.009, 0.486] + !! OVERLAP: bed <-> wardrobe depth=[0.589, 1.394, 0.583] + !! OVERLAP: bed <-> floor depth=[1.872, 0.009, 2.176] + !! OVERLAP: cabinet <-> floor depth=[0.744, 0.009, 0.422] + !! OVERLAP: wardrobe <-> floor depth=[2.803, 0.009, 0.583] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0504, Room Outer Loss: 0.6233, Walkable Loss: 0.4579 (Center Penalty: 0.4579), Relational Loss: 0.0332 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.983 1.657 0.180 1.445 0.008 0.617 -179.89° +bed 1.765 1.637 2.156 0.434 -0.000 -0.727 0.25° +nightstand 0.510 0.569 0.497 -0.976 0.004 -1.295 0.04° +nightstand 0.493 0.634 0.421 1.500 0.001 -1.316 0.06° +lamp 0.560 1.486 0.671 -0.457 1.129 -0.938 -0.23° +wardrobe 1.771 2.397 0.618 -1.239 0.010 -0.556 89.62° +floor 3.781 -0.037 3.037 -0.067 -0.032 -1.155 0.02° +_scene_ 0.073 0.001 0.024 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.063, 0.634, 0.421] + !! OVERLAP: bed <-> lamp depth=[0.271, 0.432, 0.671] + !! OVERLAP: bed <-> wardrobe depth=[0.095, 1.637, 0.618] + !! OVERLAP: bed <-> floor depth=[1.765, -0.037, 2.156] + !! OVERLAP: nightstand <-> floor depth=[0.510, -0.037, 0.497] + !! OVERLAP: nightstand <-> floor depth=[0.493, -0.037, 0.421] + !! OVERLAP: lamp <-> wardrobe depth=[0.384, 0.823, 0.263] + !! OVERLAP: wardrobe <-> floor depth=[1.604, -0.037, 0.618] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0034, Room Outer Loss: 0.0000, Walkable Loss: 0.5457 (Center Penalty: 0.5457), Relational Loss: 0.0204 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.517 2.121 2.053 -0.973 -0.011 0.712 90.08° +nightstand 0.450 0.456 0.371 -1.588 0.001 -0.238 90.00° +nightstand 0.444 0.500 0.462 -1.405 0.002 1.716 90.05° +tv_stand 1.301 0.634 0.559 0.598 0.006 0.833 -90.22° +lamp 0.663 0.977 0.665 -0.339 1.602 1.091 -0.07° +wardrobe 1.900 2.402 0.392 -0.773 -0.005 -1.161 0.06° +floor 3.573 -0.001 4.373 -0.413 0.003 0.696 -0.03° +_scene_ 0.068 -0.000 0.023 -5.667 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.368, 0.456, 0.262] + !! OVERLAP: bed <-> nightstand depth=[0.444, 0.500, 0.254] + !! OVERLAP: bed <-> floor depth=[1.517, -0.001, 2.053] + !! OVERLAP: nightstand <-> floor depth=[0.450, -0.001, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.444, -0.001, 0.462] + !! OVERLAP: tv_stand <-> floor depth=[1.301, -0.001, 0.559] + !! OVERLAP: wardrobe <-> floor depth=[1.900, -0.001, 0.392] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3838 (Center Penalty: 0.3838), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.891 0.893 2.382 0.329 0.001 1.301 179.96° +wardrobe 1.605 2.263 0.535 -1.866 -0.002 -1.260 0.03° +tv_stand 1.912 0.540 0.434 0.212 0.002 -1.435 0.02° +table 0.493 1.143 0.414 -0.905 0.003 1.861 89.95° +table 0.494 1.228 0.333 1.843 0.004 1.714 -90.17° +lamp 1.061 0.944 1.075 0.075 1.680 1.091 0.06° +floor 4.828 -0.014 5.072 -0.287 -0.001 0.782 -0.33° +_scene_ 0.075 0.001 0.021 -5.672 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.891, -0.014, 2.382] + !! OVERLAP: wardrobe <-> floor depth=[1.605, -0.014, 0.535] + !! OVERLAP: tv_stand <-> floor depth=[1.912, -0.014, 0.434] + !! OVERLAP: table <-> floor depth=[0.493, -0.014, 0.414] + !! OVERLAP: table <-> floor depth=[0.494, -0.014, 0.333] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0246, Walkable Loss: 1.5206 (Center Penalty: 1.5206), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.251 1.337 1.730 0.035 -0.013 -0.900 -89.88° +cabinet 1.380 0.911 0.525 0.554 0.002 1.597 179.78° +nightstand 0.538 0.769 0.424 1.148 0.002 -1.486 -90.22° +nightstand 0.697 0.708 0.589 1.043 -0.000 1.014 -90.02° +lamp 0.462 0.199 0.490 0.494 2.380 -0.591 -0.08° +floor 2.825 -0.003 3.835 -0.020 -0.000 -0.009 -0.02° +_scene_ 0.063 0.000 0.017 -5.670 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.282, 0.769, 0.424] + !! OVERLAP: bed <-> floor depth=[2.251, -0.003, 1.730] + !! OVERLAP: cabinet <-> floor depth=[1.380, -0.003, 0.525] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.003, 0.424] + !! OVERLAP: nightstand <-> floor depth=[0.697, -0.003, 0.589] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0055, Room Outer Loss: 0.0000, Walkable Loss: 1.3082 (Center Penalty: 1.3082), Relational Loss: 0.0444 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.603 2.373 0.559 -0.185 0.009 -1.921 -0.03° +bed 1.853 0.965 1.919 -0.775 -0.004 0.572 89.88° +nightstand 0.469 0.507 0.345 -1.397 0.001 -0.972 90.03° +nightstand 0.409 0.508 0.374 -1.293 0.000 1.644 90.03° +lamp 0.959 0.227 0.825 -0.595 2.166 0.768 -0.74° +floor 3.484 -0.001 4.480 -0.038 0.001 -0.010 -0.04° +_scene_ 0.069 -0.001 0.019 -5.667 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.603, -0.001, 0.559] + !! OVERLAP: bed <-> nightstand depth=[0.409, 0.508, 0.074] + !! OVERLAP: bed <-> floor depth=[1.853, -0.001, 1.919] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.001, 0.345] + !! OVERLAP: nightstand <-> floor depth=[0.409, -0.001, 0.374] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0026, Room Outer Loss: 0.0703, Walkable Loss: 2.0522 (Center Penalty: 2.0522), Relational Loss: 0.0454 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.761 0.956 1.810 0.297 0.014 0.445 -179.67° +lamp 0.706 0.318 0.435 -0.148 2.355 -0.623 0.09° +wardrobe 1.765 2.419 0.438 -1.204 -0.001 0.514 89.84° +nightstand 0.348 0.648 0.326 -0.817 0.004 1.204 179.91° +nightstand 0.549 0.654 0.365 1.433 0.002 1.084 179.97° +floor 4.031 -0.002 2.853 -0.001 -0.001 -0.009 -0.05° +_scene_ 0.071 -0.001 0.021 -5.678 -0.004 -5.720 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.262, 0.956, 0.438] + !! OVERLAP: bed <-> nightstand depth=[0.020, 0.654, 0.365] + !! OVERLAP: bed <-> floor depth=[1.761, -0.002, 1.810] + !! OVERLAP: wardrobe <-> floor depth=[1.695, -0.002, 0.438] + !! OVERLAP: nightstand <-> floor depth=[0.348, -0.002, 0.326] + !! OVERLAP: nightstand <-> floor depth=[0.549, -0.002, 0.365] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0680, Walkable Loss: 1.2631 (Center Penalty: 1.2631), Relational Loss: 0.0125 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.764 1.034 1.941 0.409 0.001 -0.576 0.06° +table 1.151 1.102 0.238 0.151 0.010 -1.672 0.08° +wardrobe 1.893 2.084 0.497 -1.170 -0.002 0.299 90.01° +lamp 0.600 0.511 0.590 0.296 2.229 -0.608 0.04° +chair 0.444 0.683 0.404 -0.791 0.012 -0.839 -155.06° +bookshelf 0.511 1.634 0.288 0.918 -0.004 0.834 -179.88° +floor 3.433 0.001 3.372 -0.494 0.013 -0.571 0.41° +_scene_ 0.070 -0.001 0.018 -5.671 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.249, 1.034, 0.344] + !! OVERLAP: bed <-> floor depth=[1.696, 0.001, 1.941] + !! OVERLAP: table <-> floor depth=[1.151, 0.001, 0.238] + !! OVERLAP: wardrobe <-> floor depth=[1.893, 0.001, 0.497] + !! OVERLAP: chair <-> floor depth=[0.444, 0.001, 0.404] + !! OVERLAP: bookshelf <-> floor depth=[0.511, 0.001, 0.288] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0172, Room Outer Loss: 0.0090, Walkable Loss: 1.7766 (Center Penalty: 1.7766), Relational Loss: 0.0192 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.958 2.518 0.297 -1.199 -0.004 0.730 89.76° +bed 2.135 0.702 2.204 0.475 -0.001 0.527 -180.00° +nightstand 0.489 0.766 0.450 1.686 0.000 1.420 179.94° +nightstand 0.453 0.813 0.368 -1.324 0.001 1.452 179.95° +cabinet 1.491 0.904 0.410 0.151 0.001 -1.455 -0.03° +table 0.473 1.669 0.315 2.032 -0.002 -1.170 -44.09° +lamp 0.509 0.818 0.495 -1.193 1.366 1.254 -0.01° +lamp 0.773 0.907 0.636 1.620 1.109 1.295 -0.11° +lamp 0.618 0.122 0.537 0.677 2.321 -0.084 0.02° +floor 4.555 -0.001 3.378 0.082 -0.000 -0.053 0.04° +_scene_ 0.079 -0.001 0.016 -5.678 -0.006 -5.720 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.372, 0.702, 0.297] + !! OVERLAP: wardrobe <-> floor depth=[1.958, -0.001, 0.297] + !! OVERLAP: bed <-> nightstand depth=[0.102, 0.702, 0.434] + !! OVERLAP: bed <-> floor depth=[2.135, -0.001, 2.204] + !! OVERLAP: nightstand <-> floor depth=[0.489, -0.001, 0.441] + !! OVERLAP: nightstand <-> floor depth=[0.453, -0.001, 0.367] + !! OVERLAP: cabinet <-> floor depth=[1.491, -0.001, 0.410] + !! OVERLAP: table <-> floor depth=[0.473, -0.001, 0.315] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0557, Walkable Loss: 0.6832 (Center Penalty: 0.6832), Relational Loss: 0.0448 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.349 0.509 0.369 1.289 0.000 -0.407 -90.14° +lamp 0.895 0.596 0.718 0.105 1.996 0.997 -0.11° +bed 2.033 1.204 2.377 0.641 -0.002 0.828 -90.07° +wardrobe 1.636 2.301 0.582 0.619 0.004 -0.930 0.14° +floor 3.078 0.002 3.872 0.087 -0.000 0.739 0.03° +_scene_ 0.073 0.000 0.021 -5.666 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.349, 0.509, 0.138] + !! OVERLAP: nightstand <-> floor depth=[0.349, 0.002, 0.369] + !! OVERLAP: bed <-> floor depth=[2.002, 0.002, 2.377] + !! OVERLAP: wardrobe <-> floor depth=[1.636, 0.002, 0.557] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1198, Walkable Loss: 0.4148 (Center Penalty: 0.4148), Relational Loss: 0.0002 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.922 0.798 2.089 0.788 -0.001 -0.869 0.03° +tv_stand 1.882 0.590 0.179 0.774 0.007 1.106 -179.84° +wardrobe 1.208 2.365 0.415 -0.883 0.033 -0.879 90.62° +lamp 0.343 0.901 0.331 0.705 1.754 -0.692 0.03° +floor 3.977 -0.036 3.906 0.551 0.043 -0.827 0.42° +_scene_ 0.070 0.003 0.023 -5.668 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.922, -0.036, 2.089] + !! OVERLAP: tv_stand <-> floor depth=[1.882, -0.036, 0.109] + !! OVERLAP: wardrobe <-> floor depth=[1.158, -0.036, 0.415] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0072, Room Outer Loss: 0.0000, Walkable Loss: 1.5432 (Center Penalty: 1.5432), Relational Loss: 0.0191 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.955 0.972 0.959 -0.618 2.173 -0.460 0.05° +wardrobe 1.253 1.689 0.388 0.416 0.000 1.375 -179.99° +bed 1.956 0.870 1.928 -0.067 0.002 -0.865 0.04° +nightstand 0.479 0.452 0.399 -1.236 0.002 -1.613 -0.02° +nightstand 0.379 0.453 0.289 0.976 -0.001 -1.695 0.02° +floor 3.174 -0.002 3.825 -0.002 0.001 -0.007 -0.01° +_scene_ 0.067 0.000 0.018 -5.672 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.253, -0.002, 0.388] + !! OVERLAP: bed <-> nightstand depth=[0.048, 0.452, 0.399] + !! OVERLAP: bed <-> nightstand depth=[0.125, 0.453, 0.279] + !! OVERLAP: bed <-> floor depth=[1.956, -0.002, 1.928] + !! OVERLAP: nightstand <-> floor depth=[0.479, -0.002, 0.399] + !! OVERLAP: nightstand <-> floor depth=[0.379, -0.002, 0.289] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0865, Walkable Loss: 0.8964 (Center Penalty: 0.8964), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.447 1.916 2.051 0.481 -0.021 -0.849 -89.91° +wardrobe 0.759 1.593 0.361 0.605 -0.001 -1.923 0.02° +lamp 0.565 0.341 0.599 -0.028 2.407 -0.705 -0.09° +desk 1.557 0.746 0.742 1.104 -0.001 0.957 -89.89° +floor 2.598 0.036 3.804 0.496 -0.007 -0.509 0.27° +_scene_ 0.077 -0.000 0.022 -5.670 -0.005 -5.708 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.759, 1.593, 0.132] + !! OVERLAP: bed <-> floor depth=[1.447, 0.036, 2.051] + !! OVERLAP: wardrobe <-> floor depth=[0.759, 0.036, 0.361] + !! OVERLAP: desk <-> floor depth=[1.470, 0.036, 0.742] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6872 (Center Penalty: 0.6872), Relational Loss: 0.0085 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.632 1.346 2.217 0.880 -0.019 -0.509 -90.04° +table 0.442 0.770 0.511 0.993 0.001 -1.101 -90.48° +lamp 0.278 0.452 0.375 0.734 2.240 0.086 -0.17° +floor 2.966 -0.004 3.902 -0.117 0.001 -0.870 0.43° +_scene_ 0.053 0.008 0.008 -5.617 -0.006 -5.682 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.424, 0.770, 0.511] + !! OVERLAP: bed <-> floor depth=[0.632, -0.004, 2.217] + !! OVERLAP: table <-> floor depth=[0.442, -0.004, 0.511] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.0010, Walkable Loss: 0.7581 (Center Penalty: 0.7581), Relational Loss: 0.0176 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.657 0.811 0.651 -0.156 1.988 1.023 -0.15° +wardrobe 0.996 2.204 0.240 0.510 0.002 -1.694 0.09° +wardrobe 1.255 2.089 0.468 1.103 -0.004 -1.254 0.16° +bed 1.941 1.250 2.259 0.525 -0.000 0.735 -89.91° +nightstand 0.496 0.486 0.458 1.422 -0.000 -0.700 -90.13° +nightstand 0.505 0.575 0.467 1.411 0.001 1.984 -90.12° +cabinet 0.900 0.734 0.376 -1.356 0.006 0.955 90.02° +chair 0.527 0.794 0.284 -1.440 -0.008 -1.183 39.77° +table 0.420 0.469 0.389 -1.149 0.008 -0.792 13.66° +floor 3.607 -0.008 5.056 -0.001 -0.003 0.670 0.08° +_scene_ 0.071 0.000 0.020 -5.672 -0.006 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.996, -0.008, 0.240] + !! OVERLAP: wardrobe <-> floor depth=[1.255, -0.008, 0.468] + !! OVERLAP: bed <-> nightstand depth=[0.337, 0.575, 0.115] + !! OVERLAP: bed <-> floor depth=[1.941, -0.008, 2.259] + !! OVERLAP: nightstand <-> floor depth=[0.496, -0.008, 0.458] + !! OVERLAP: nightstand <-> floor depth=[0.505, -0.008, 0.467] + !! OVERLAP: cabinet <-> floor depth=[0.899, -0.008, 0.376] + !! OVERLAP: chair <-> floor depth=[0.527, -0.008, 0.284] + !! OVERLAP: table <-> floor depth=[0.420, -0.008, 0.389] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0161, Room Outer Loss: 0.6046, Walkable Loss: 1.0334 (Center Penalty: 1.0334), Relational Loss: 0.0311 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.206 2.500 0.367 0.735 0.022 -0.678 -90.74° +bed 1.633 1.163 1.935 -0.626 0.000 -0.241 0.44° +nightstand 0.462 0.600 0.394 -1.741 -0.003 -1.013 0.01° +nightstand 0.359 0.597 0.097 0.084 -0.001 -0.953 0.85° +lamp 0.801 1.130 0.869 -0.833 1.507 0.176 -0.02° +floor 4.081 0.000 2.967 -0.989 -0.003 0.433 1.11° +_scene_ 0.072 -0.000 0.023 -5.665 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.058, 1.163, 0.367] + !! OVERLAP: wardrobe <-> floor depth=[0.919, 0.000, 0.367] + !! OVERLAP: bed <-> nightstand depth=[0.285, 0.597, 0.097] + !! OVERLAP: bed <-> floor depth=[1.633, 0.000, 1.776] + !! OVERLAP: nightstand <-> floor depth=[0.462, 0.000, 0.235] + !! OVERLAP: nightstand <-> floor depth=[0.359, 0.000, 0.097] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0646, Walkable Loss: 0.6124 (Center Penalty: 0.6124), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.130 0.912 2.076 -0.747 0.001 -0.632 -0.03° +wardrobe 0.838 2.450 0.712 0.845 0.001 -0.970 -90.38° +table 0.964 1.137 0.570 -1.602 0.001 1.436 179.98° +lamp 0.624 0.479 0.639 -0.429 2.269 -0.611 -0.06° +floor 4.341 -0.023 4.415 -0.972 -0.004 0.451 0.05° +_scene_ 0.073 -0.000 0.019 -5.673 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.130, -0.023, 2.076] + !! OVERLAP: wardrobe <-> floor depth=[0.773, -0.023, 0.712] + !! OVERLAP: table <-> floor depth=[0.964, -0.023, 0.570] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7845 (Center Penalty: 1.7845), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.717 1.094 0.720 0.357 1.661 0.614 -0.02° +bed 1.976 0.992 2.229 0.374 -0.004 0.542 -90.11° +wardrobe 1.429 2.014 0.437 0.320 -0.000 -1.864 0.03° +floor 2.882 -0.001 4.384 -0.006 0.000 -0.007 0.00° +_scene_ 0.060 -0.001 0.024 -5.661 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.976, -0.001, 2.229] + !! OVERLAP: wardrobe <-> floor depth=[1.429, -0.001, 0.437] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0424, Room Outer Loss: 0.0000, Walkable Loss: 1.6310 (Center Penalty: 1.6310), Relational Loss: 0.0480 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.385 1.202 1.664 -0.637 -0.007 -0.380 -179.90° +nightstand 0.329 0.430 0.298 -1.429 0.000 1.097 179.91° +desk 1.086 1.063 0.557 1.282 0.001 0.969 179.97° +chair 0.418 0.699 0.530 1.517 0.000 0.427 -23.69° +wardrobe 1.257 2.057 0.498 -1.118 0.004 0.801 89.29° +lamp 0.704 0.194 0.601 -0.620 2.304 -0.531 0.01° +floor 3.967 0.002 2.594 -0.015 -0.002 0.029 0.00° +_scene_ 0.070 -0.000 0.022 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.385, 0.002, 1.664] + !! OVERLAP: nightstand <-> wardrobe depth=[0.329, 0.430, 0.102] + !! OVERLAP: nightstand <-> floor depth=[0.329, 0.002, 0.298] + !! OVERLAP: desk <-> chair depth=[0.418, 0.699, 0.002] + !! OVERLAP: desk <-> floor depth=[1.086, 0.002, 0.557] + !! OVERLAP: chair <-> floor depth=[0.418, 0.002, 0.530] + !! OVERLAP: wardrobe <-> floor depth=[1.257, 0.002, 0.498] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0041, Room Outer Loss: 0.0000, Walkable Loss: 0.4631 (Center Penalty: 0.4631), Relational Loss: 0.0327 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.581 1.270 0.425 0.663 0.001 -0.910 -89.94° +table 0.542 1.104 0.689 0.709 -0.031 0.960 -90.64° +nightstand 0.540 0.614 0.437 -1.813 0.004 -1.651 90.02° +chair 1.074 0.475 0.405 -0.771 0.002 -0.962 89.89° +bed 1.373 1.407 1.983 -1.278 0.006 0.194 89.95° +nightstand 0.596 0.678 0.384 -1.887 0.002 1.228 90.00° +chair 0.591 0.828 0.597 -0.436 -0.001 1.499 90.00° +floor 3.810 -0.009 4.554 -0.850 0.006 0.023 0.14° +_scene_ 0.070 0.000 0.021 -5.671 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.581, -0.009, 0.425] + !! OVERLAP: table <-> floor depth=[0.542, -0.009, 0.689] + !! OVERLAP: nightstand <-> floor depth=[0.540, -0.009, 0.437] + !! OVERLAP: chair <-> bed depth=[0.716, 0.475, 0.037] + !! OVERLAP: chair <-> floor depth=[1.074, -0.009, 0.405] + !! OVERLAP: bed <-> nightstand depth=[0.376, 0.678, 0.150] + !! OVERLAP: bed <-> floor depth=[1.373, -0.009, 1.983] + !! OVERLAP: nightstand <-> floor depth=[0.596, -0.009, 0.384] + !! OVERLAP: chair <-> floor depth=[0.591, -0.009, 0.597] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4438 (Center Penalty: 1.4438), Relational Loss: 0.0180 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.903 1.319 2.169 -0.250 0.002 0.870 179.93° +nightstand 0.450 0.520 0.405 1.540 -0.000 1.521 179.91° +nightstand 0.400 0.592 0.374 -1.408 0.000 1.633 179.89° +table 0.761 1.033 0.471 1.367 -0.000 -1.229 0.10° +chair 0.642 0.436 0.647 -0.209 -0.005 -0.797 0.06° +floor 3.719 -0.001 3.926 -0.067 -0.000 0.010 0.00° +_scene_ 0.071 0.003 0.019 -5.664 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.903, -0.001, 2.169] + !! OVERLAP: nightstand <-> floor depth=[0.450, -0.001, 0.405] + !! OVERLAP: nightstand <-> floor depth=[0.400, -0.001, 0.374] + !! OVERLAP: table <-> floor depth=[0.761, -0.001, 0.471] + !! OVERLAP: chair <-> floor depth=[0.642, -0.001, 0.647] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0345, Walkable Loss: 0.6545 (Center Penalty: 0.6545), Relational Loss: 0.0550 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.195 1.178 2.363 0.561 0.038 0.618 -90.68° +nightstand 0.290 0.473 0.276 1.049 0.006 -0.678 -89.74° +lamp 0.669 0.944 0.676 0.140 1.789 0.796 0.25° +floor 2.960 0.021 3.877 -0.320 0.017 1.044 0.96° +_scene_ 0.070 0.000 0.020 -5.665 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.254, 0.473, 0.023] + !! OVERLAP: bed <-> floor depth=[1.195, 0.021, 2.363] + !! OVERLAP: nightstand <-> floor depth=[0.255, 0.021, 0.276] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0017, Room Outer Loss: 0.3981, Walkable Loss: 0.7373 (Center Penalty: 0.7373), Relational Loss: 0.0466 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.176 1.136 1.341 0.782 0.009 0.404 177.80° +wardrobe 2.094 2.362 0.543 0.746 -0.002 -1.122 0.09° +nightstand 0.338 0.533 0.011 1.731 0.018 1.056 179.79° +nightstand 0.322 0.531 0.237 -1.176 0.010 1.005 179.73° +lamp 0.311 1.108 0.327 -1.136 1.518 1.008 0.00° +lamp 0.580 0.733 0.580 1.435 1.579 0.957 -0.13° +lamp 0.871 0.911 0.852 -0.313 1.784 -0.660 0.48° +floor 4.022 0.016 3.536 0.714 0.022 -0.704 1.66° +_scene_ 0.065 0.000 0.024 -5.672 -0.005 -5.721 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.309, 0.533, 0.011] + !! OVERLAP: bed <-> floor depth=[2.176, 0.016, 1.331] + !! OVERLAP: wardrobe <-> floor depth=[2.094, 0.016, 0.543] + !! OVERLAP: nightstand <-> floor depth=[0.338, 0.016, 0.011] + !! OVERLAP: nightstand <-> floor depth=[0.282, 0.016, 0.178] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0784 (Center Penalty: 2.0784), Relational Loss: 0.0243 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.401 0.492 0.485 1.259 -0.001 0.687 -90.12° +nightstand 0.489 0.573 0.439 1.192 0.001 -1.461 -89.95° +bed 1.481 1.043 2.321 0.623 -0.004 -0.363 -90.28° +bookshelf 1.041 1.735 0.369 -0.956 0.000 -1.019 90.02° +wardrobe 1.990 2.399 0.623 0.503 -0.001 1.252 -179.97° +lamp 0.968 0.819 0.981 0.155 1.812 -0.426 0.03° +floor 3.001 -0.001 3.609 0.003 -0.001 -0.016 -0.01° +_scene_ 0.071 0.001 0.024 -5.671 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.305, 0.492, 0.353] + !! OVERLAP: nightstand <-> floor depth=[0.401, -0.001, 0.485] + !! OVERLAP: nightstand <-> bed depth=[0.417, 0.573, 0.283] + !! OVERLAP: nightstand <-> floor depth=[0.489, -0.001, 0.439] + !! OVERLAP: bed <-> floor depth=[1.481, -0.001, 2.321] + !! OVERLAP: bookshelf <-> floor depth=[1.041, -0.001, 0.369] + !! OVERLAP: wardrobe <-> floor depth=[1.990, -0.001, 0.623] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2764 (Center Penalty: 1.2764), Relational Loss: 0.0129 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.071 0.760 1.681 1.115 -0.051 -0.294 -89.05° +wardrobe 2.040 2.309 0.543 -0.830 -0.007 -0.643 90.29° +nightstand 0.552 0.437 0.361 1.496 0.001 -1.055 0.01° +lamp 0.475 0.132 0.470 1.073 2.391 -0.158 -89.84° +floor 3.716 -0.001 2.694 0.001 -0.000 -0.008 -0.04° +_scene_ 0.068 0.001 0.022 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.430, 0.437, 0.260] + !! OVERLAP: bed <-> floor depth=[1.071, -0.001, 1.681] + !! OVERLAP: wardrobe <-> floor depth=[2.040, -0.001, 0.543] + !! OVERLAP: nightstand <-> floor depth=[0.552, -0.001, 0.361] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5599 (Center Penalty: 1.5599), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.745 1.450 1.551 -0.043 -0.021 0.788 -179.48° +nightstand 0.452 0.496 0.326 -1.305 0.001 1.357 179.98° +nightstand 0.458 0.596 0.374 1.201 0.003 1.216 179.94° +lamp 0.446 0.770 0.524 0.556 2.059 -0.590 -0.69° +floor 3.465 -0.004 3.159 -0.001 0.001 -0.003 -0.04° +_scene_ 0.062 0.001 0.014 -5.671 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.745, -0.004, 1.551] + !! OVERLAP: nightstand <-> floor depth=[0.452, -0.004, 0.326] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.004, 0.374] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0705, Walkable Loss: 0.9464 (Center Penalty: 0.9464), Relational Loss: 0.0014 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.254 1.133 1.353 0.982 -0.008 -0.263 179.91° +nightstand -0.150 0.513 -0.054 0.384 -0.035 -0.443 174.29° +nightstand 0.489 0.537 0.017 1.575 0.008 0.529 -179.45° +lamp 0.436 0.710 0.658 0.818 1.878 -0.437 0.06° +wardrobe 3.151 2.466 0.666 -0.703 0.006 -1.172 89.24° +floor 4.410 -0.008 3.027 -0.072 0.012 -1.045 -0.20° +_scene_ 0.068 -0.000 0.025 -5.676 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.517, 1.133, 0.101] + !! OVERLAP: bed <-> floor depth=[1.254, -0.008, 1.353] + !! OVERLAP: nightstand <-> floor depth=[-0.150, -0.008, -0.054] + !! OVERLAP: wardrobe <-> floor depth=[3.150, -0.008, 0.666] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1744, Walkable Loss: 0.7459 (Center Penalty: 0.7459), Relational Loss: 0.0307 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.011 2.144 0.521 1.182 -0.002 -1.920 0.04° +wardrobe 0.954 2.163 0.458 -0.356 -0.008 -1.613 -0.10° +bed 1.399 1.177 2.126 -0.185 -0.021 0.859 90.10° +nightstand 0.178 0.420 0.368 -0.630 0.010 1.920 89.37° +nightstand 0.054 0.497 0.388 -0.765 0.003 -1.081 90.16° +lamp 0.551 0.844 0.566 -0.039 1.889 0.711 -0.16° +floor 3.533 -0.024 4.687 0.988 -0.006 0.139 0.29° +_scene_ 0.071 0.000 0.027 -5.671 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.011, -0.024, 0.521] + !! OVERLAP: wardrobe <-> floor depth=[0.900, -0.024, 0.458] + !! OVERLAP: bed <-> nightstand depth=[0.178, 0.420, 0.187] + !! OVERLAP: bed <-> floor depth=[1.292, -0.024, 2.126] + !! OVERLAP: nightstand <-> floor depth=[0.178, -0.024, 0.368] + !! OVERLAP: nightstand <-> floor depth=[0.040, -0.024, 0.388] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8880 (Center Penalty: 0.8880), Relational Loss: 0.0017 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.126 0.675 0.591 -1.266 -0.002 -1.122 89.87° +bed 1.961 1.081 2.159 0.666 0.001 -0.880 -90.00° +wardrobe 2.603 2.289 0.163 0.124 -0.006 0.651 179.99° +nightstand 0.398 0.712 0.345 1.273 -0.005 0.339 -89.96° +chair 0.413 0.946 0.446 -0.746 0.003 -0.947 -90.29° +lamp 0.566 0.080 0.675 0.285 2.562 -0.928 0.06° +floor 3.553 -0.027 3.541 -0.091 0.001 -0.979 0.01° +_scene_ 0.072 0.000 0.021 -5.671 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.250, 0.675, 0.344] + !! OVERLAP: desk <-> floor depth=[1.126, -0.027, 0.591] + !! OVERLAP: bed <-> nightstand depth=[0.398, 0.712, 0.033] + !! OVERLAP: bed <-> floor depth=[1.961, -0.027, 2.159] + !! OVERLAP: wardrobe <-> floor depth=[2.603, -0.027, 0.163] + !! OVERLAP: nightstand <-> floor depth=[0.398, -0.027, 0.345] + !! OVERLAP: chair <-> floor depth=[0.413, -0.027, 0.446] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0074, Room Outer Loss: 0.0000, Walkable Loss: 1.7849 (Center Penalty: 1.7849), Relational Loss: 0.0200 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.874 0.969 1.986 -0.143 0.003 0.535 179.99° +nightstand 0.674 0.701 0.534 1.028 0.002 1.217 -179.93° +nightstand 0.579 0.658 0.462 -1.376 0.001 1.337 179.92° +wardrobe 1.705 2.576 0.406 -1.553 0.006 0.478 89.49° +chair 0.512 0.649 0.675 2.063 0.003 -1.289 -33.38° +table 0.377 0.479 0.349 1.750 -0.002 -0.369 -89.85° +cabinet 0.712 1.252 0.362 1.989 0.002 1.219 -180.00° +lamp 0.812 1.070 0.833 -0.394 1.839 -0.761 -0.13° +lamp 0.116 0.954 0.102 -1.141 1.772 1.220 -0.02° +lamp 0.249 0.782 0.268 1.207 1.665 0.875 89.62° +floor 4.882 -0.003 3.374 -0.089 -0.001 -0.001 0.01° +_scene_ 0.070 -0.000 0.018 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.103, 0.701, 0.534] + !! OVERLAP: bed <-> wardrobe depth=[0.380, 0.969, 0.406] + !! OVERLAP: bed <-> floor depth=[1.874, -0.003, 1.986] + !! OVERLAP: nightstand <-> floor depth=[0.674, -0.003, 0.534] + !! OVERLAP: nightstand <-> floor depth=[0.579, -0.003, 0.462] + !! OVERLAP: wardrobe <-> floor depth=[1.705, -0.003, 0.406] + !! OVERLAP: chair <-> floor depth=[0.512, -0.003, 0.675] + !! OVERLAP: table <-> floor depth=[0.377, -0.003, 0.349] + !! OVERLAP: cabinet <-> floor depth=[0.712, -0.003, 0.362] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9135 (Center Penalty: 1.9135), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.464 1.186 2.209 -0.438 -0.002 0.341 90.72° +nightstand 0.475 0.668 0.358 -1.000 -0.000 1.368 89.94° +lamp 0.861 0.933 0.850 0.202 1.607 0.746 -0.36° +wardrobe 2.130 2.388 0.530 -0.185 -0.001 -1.144 -0.00° +floor 2.608 0.001 3.275 -0.002 0.000 -0.010 -0.03° +_scene_ 0.069 0.001 0.023 -5.669 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.408, 0.668, 0.257] + !! OVERLAP: bed <-> floor depth=[1.464, 0.001, 2.209] + !! OVERLAP: nightstand <-> floor depth=[0.475, 0.001, 0.358] + !! OVERLAP: wardrobe <-> floor depth=[2.130, 0.001, 0.530] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.2154, Walkable Loss: 0.4522 (Center Penalty: 0.4522), Relational Loss: 0.0236 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.846 1.137 0.251 -2.342 0.003 -0.937 0.25° +nightstand 0.349 0.786 0.001 -0.656 -0.018 -0.940 0.06° +chair 0.438 0.517 0.431 -2.017 0.003 -0.591 -89.95° +bed 1.727 1.485 1.875 -1.045 0.017 0.156 0.39° +cabinet 0.790 0.857 0.437 -2.072 0.003 1.372 179.99° +lamp 0.789 0.890 0.774 -1.065 1.997 0.066 -0.08° +wardrobe 2.142 2.176 0.532 0.819 0.003 0.600 -89.72° +floor 5.827 0.014 2.957 -1.147 0.005 0.508 -0.08° +_scene_ 0.070 -0.000 0.020 -5.673 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.846, 0.014, 0.160] + !! OVERLAP: nightstand <-> floor depth=[0.349, 0.014, 0.001] + !! OVERLAP: chair <-> bed depth=[0.110, 0.517, 0.407] + !! OVERLAP: chair <-> floor depth=[0.438, 0.014, 0.431] + !! OVERLAP: bed <-> wardrobe depth=[0.071, 1.485, 0.532] + !! OVERLAP: bed <-> floor depth=[1.727, 0.014, 1.875] + !! OVERLAP: cabinet <-> floor depth=[0.790, 0.014, 0.437] + !! OVERLAP: wardrobe <-> floor depth=[2.018, 0.014, 0.532] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0104, Room Outer Loss: 0.0000, Walkable Loss: 0.4341 (Center Penalty: 0.4341), Relational Loss: 0.0657 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.066 1.561 1.136 -0.766 0.019 -0.620 89.67° +nightstand 0.492 0.455 0.320 -1.172 0.003 0.833 90.03° +nightstand 0.409 0.499 0.231 -1.393 -0.001 -1.355 90.08° +wardrobe 0.510 1.961 0.265 -0.253 -0.013 1.411 -179.22° +floor 3.065 0.018 3.856 -0.771 -0.016 -0.287 0.14° +_scene_ 0.073 0.002 0.011 -5.672 -0.007 -5.702 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.066, 0.018, 1.136] + !! OVERLAP: nightstand <-> floor depth=[0.492, 0.018, 0.320] + !! OVERLAP: nightstand <-> floor depth=[0.409, 0.018, 0.231] + !! OVERLAP: wardrobe <-> floor depth=[0.510, 0.018, 0.265] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0060, Room Outer Loss: 0.1395, Walkable Loss: 0.6837 (Center Penalty: 0.6837), Relational Loss: 0.0267 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.706 1.739 2.198 0.558 -0.003 0.442 -89.93° +nightstand 0.442 0.591 0.520 1.144 0.004 1.631 -89.98° +wardrobe 1.584 2.265 0.466 0.629 -0.001 -1.689 0.19° +chair 0.541 0.494 0.474 -1.143 0.001 1.666 89.99° +table 0.834 1.236 0.415 -1.452 0.002 1.556 89.97° +nightstand 0.390 0.587 0.425 1.292 0.001 -0.955 -90.04° +lamp 0.857 0.902 0.888 -0.653 1.795 0.948 0.37° +tv_stand 1.652 0.490 0.411 -1.144 0.007 0.366 90.25° +floor 3.369 -0.006 5.509 -0.272 -0.015 0.875 -0.08° +_scene_ 0.069 0.000 0.023 -5.668 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.442, 0.591, 0.170] + !! OVERLAP: bed <-> floor depth=[1.706, -0.006, 2.198] + !! OVERLAP: nightstand <-> floor depth=[0.442, -0.006, 0.520] + !! OVERLAP: wardrobe <-> floor depth=[1.576, -0.006, 0.423] + !! OVERLAP: chair <-> table depth=[0.378, 0.494, 0.335] + !! OVERLAP: chair <-> floor depth=[0.541, -0.006, 0.474] + !! OVERLAP: table <-> floor depth=[0.834, -0.006, 0.415] + !! OVERLAP: nightstand <-> floor depth=[0.315, -0.006, 0.425] + !! OVERLAP: tv_stand <-> floor depth=[1.638, -0.006, 0.411] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1142, Walkable Loss: 0.5162 (Center Penalty: 0.5162), Relational Loss: 0.0268 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.091 0.960 1.804 -1.324 -0.035 -0.001 -0.49° +lamp 0.818 0.905 0.785 -0.747 1.848 0.249 -0.32° +tv_stand 1.814 0.494 0.442 -0.387 0.003 1.792 179.96° +chair 0.531 0.764 0.507 -1.614 0.000 1.508 5.58° +nightstand 0.479 0.793 0.356 -1.545 -0.003 -1.135 -0.16° +wardrobe 1.031 2.314 0.409 0.463 -0.049 0.873 -89.87° +floor 3.708 0.029 4.072 -0.875 -0.007 0.837 -0.01° +_scene_ 0.068 -0.001 0.022 -5.676 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.091, 0.029, 1.804] + !! OVERLAP: tv_stand <-> floor depth=[1.814, 0.029, 0.442] + !! OVERLAP: chair <-> floor depth=[0.531, 0.029, 0.507] + !! OVERLAP: nightstand <-> floor depth=[0.479, 0.029, 0.241] + !! OVERLAP: wardrobe <-> floor depth=[1.031, 0.029, 0.409] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.0404, Room Outer Loss: 0.0000, Walkable Loss: 1.9338 (Center Penalty: 1.9338), Relational Loss: 0.0136 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.822 0.909 2.060 0.730 0.000 -0.011 179.98° +wardrobe 1.604 2.359 0.458 1.978 -0.006 0.207 -89.90° +wardrobe 1.450 2.468 0.204 1.832 -0.001 -0.004 -90.28° +nightstand 0.570 0.606 0.377 1.276 0.001 1.246 179.93° +nightstand 0.580 0.717 0.357 -1.580 0.001 1.291 179.98° +chair 0.755 1.030 1.075 -2.061 0.001 0.057 41.82° +table 0.730 0.520 0.643 -1.744 0.002 -0.805 0.01° +lamp 0.494 0.819 0.087 -1.782 1.587 -0.157 -89.89° +lamp 0.823 0.986 0.762 -0.255 1.980 -0.450 0.15° +floor 5.526 -0.001 2.968 0.034 -0.001 0.005 -0.03° +_scene_ 0.070 0.000 0.025 -5.671 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.465, 0.909, 0.458] + !! OVERLAP: bed <-> wardrobe depth=[0.534, 0.909, 0.204] + !! OVERLAP: bed <-> floor depth=[1.822, -0.001, 2.060] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.380, 2.359, 0.120] + !! OVERLAP: wardrobe <-> floor depth=[1.604, -0.001, 0.458] + !! OVERLAP: wardrobe <-> floor depth=[1.450, -0.001, 0.204] + !! OVERLAP: nightstand <-> floor depth=[0.570, -0.001, 0.377] + !! OVERLAP: nightstand <-> floor depth=[0.580, -0.001, 0.357] + !! OVERLAP: chair <-> floor depth=[0.755, -0.001, 1.075] + !! OVERLAP: table <-> floor depth=[0.730, -0.001, 0.643] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1649, Walkable Loss: 0.8366 (Center Penalty: 0.8366), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.158 1.585 0.234 0.749 -0.010 -1.840 0.12° +bed 1.227 1.053 1.975 0.694 -0.005 -0.265 -90.25° +nightstand 0.542 0.445 0.454 1.171 0.000 -1.223 -90.00° +nightstand 0.434 0.450 0.357 1.295 0.001 1.511 -90.16° +table 1.064 1.408 0.446 -0.781 0.005 1.746 89.93° +chair 0.427 0.497 0.424 0.002 0.006 2.242 -78.48° +lamp 0.582 0.168 0.600 0.232 2.382 0.778 -0.03° +floor 2.906 -0.004 5.632 0.305 0.008 0.796 -0.50° +_scene_ 0.073 0.001 0.018 -5.668 -0.004 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.158, -0.004, 0.234] + !! OVERLAP: bed <-> nightstand depth=[0.407, 0.445, 0.257] + !! OVERLAP: bed <-> floor depth=[1.227, -0.004, 1.975] + !! OVERLAP: nightstand <-> floor depth=[0.542, -0.004, 0.454] + !! OVERLAP: nightstand <-> floor depth=[0.434, -0.004, 0.357] + !! OVERLAP: table <-> floor depth=[0.899, -0.004, 0.446] + !! OVERLAP: chair <-> floor depth=[0.427, -0.004, 0.424] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0706, Walkable Loss: 1.7213 (Center Penalty: 1.7213), Relational Loss: 0.0311 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.542 1.463 2.299 -0.614 -0.008 0.390 90.12° +table 0.552 0.582 0.486 -1.297 -0.001 1.521 -0.09° +lamp 0.504 0.705 0.556 -0.027 2.057 0.700 -0.12° +wardrobe 1.690 2.403 0.555 -0.508 -0.003 -1.837 0.03° +floor 3.111 -0.001 4.070 -0.011 0.000 -0.015 -0.03° +_scene_ 0.074 0.001 0.018 -5.674 -0.005 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.364, 0.582, 0.261] + !! OVERLAP: bed <-> floor depth=[1.542, -0.001, 2.299] + !! OVERLAP: table <-> floor depth=[0.546, -0.001, 0.486] + !! OVERLAP: wardrobe <-> floor depth=[1.690, -0.001, 0.490] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0017, Room Outer Loss: 0.1263, Walkable Loss: 0.6798 (Center Penalty: 0.6798), Relational Loss: 0.0238 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.736 2.398 0.574 -1.652 -0.001 -0.728 89.99° +lamp 0.348 0.629 0.328 -1.091 1.544 -1.487 -0.09° +lamp 0.132 0.868 0.134 1.142 1.484 -1.448 0.10° +lamp 0.597 0.748 0.584 0.181 1.924 -0.906 -0.11° +table 0.426 1.183 0.206 1.009 0.008 0.928 179.97° +bed 1.750 1.132 2.080 -0.059 0.002 -0.852 -0.00° +nightstand 0.279 0.486 0.367 1.097 0.001 -1.464 -0.43° +nightstand 0.406 0.501 0.325 -1.210 0.001 -1.424 0.02° +floor 3.708 0.013 3.070 -0.666 0.023 -0.525 -0.28° +_scene_ 0.070 0.001 0.019 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.150, 1.132, 0.574] + !! OVERLAP: wardrobe <-> floor depth=[1.736, 0.013, 0.574] + !! OVERLAP: table <-> floor depth=[0.392, 0.013, 0.184] + !! OVERLAP: bed <-> floor depth=[1.750, 0.013, 2.080] + !! OVERLAP: nightstand <-> floor depth=[0.230, 0.013, 0.367] + !! OVERLAP: nightstand <-> floor depth=[0.406, 0.013, 0.325] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0038, Room Outer Loss: 0.0000, Walkable Loss: 1.8409 (Center Penalty: 1.8409), Relational Loss: 0.0111 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.453 0.494 0.415 1.066 0.000 -1.266 0.06° +bookshelf 1.144 1.860 0.302 0.016 -0.001 -1.455 0.09° +wardrobe 2.233 2.285 0.545 0.189 -0.002 1.365 -179.96° +chair 0.516 0.853 0.454 -0.333 0.003 -0.978 -111.44° +desk 0.954 0.790 0.472 -1.143 -0.001 1.323 89.94° +bed 1.616 1.193 2.153 0.717 -0.007 0.107 -89.66° +lamp 0.674 0.500 0.572 -0.366 2.327 0.647 0.08° +floor 3.276 -0.001 3.358 -0.009 -0.000 -0.014 -0.00° +_scene_ 0.066 0.002 0.021 -5.669 -0.004 -5.717 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.453, -0.001, 0.415] + !! OVERLAP: bookshelf <-> floor depth=[1.144, -0.001, 0.302] + !! OVERLAP: wardrobe <-> desk depth=[0.261, 0.790, 0.466] + !! OVERLAP: wardrobe <-> bed depth=[1.396, 1.193, 0.091] + !! OVERLAP: wardrobe <-> floor depth=[2.233, -0.001, 0.545] + !! OVERLAP: chair <-> bed depth=[0.016, 0.853, 0.219] + !! OVERLAP: chair <-> floor depth=[0.516, -0.001, 0.454] + !! OVERLAP: desk <-> floor depth=[0.954, -0.001, 0.472] + !! OVERLAP: bed <-> floor depth=[1.616, -0.001, 2.153] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0093, Room Outer Loss: 0.0029, Walkable Loss: 0.7811 (Center Penalty: 0.7811), Relational Loss: 0.0194 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.351 2.445 0.376 -0.307 0.013 -1.385 0.18° +nightstand 0.570 0.588 0.462 -1.226 0.002 -0.792 89.85° +nightstand 0.557 0.578 0.372 -0.879 -0.000 -0.548 89.96° +nightstand 0.521 0.581 0.405 -1.296 0.001 1.888 89.94° +bed 2.037 0.990 2.249 -0.561 0.005 0.711 89.93° +bookshelf 0.554 2.107 0.600 0.955 -0.000 1.668 -90.03° +lamp 0.723 0.954 0.680 0.013 1.666 0.861 -0.01° +floor 2.825 -0.005 4.917 -0.184 -0.013 0.862 -0.38° +_scene_ 0.069 0.000 0.020 -5.671 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.351, -0.005, 0.376] + !! OVERLAP: nightstand <-> nightstand depth=[0.216, 0.578, 0.173] + !! OVERLAP: nightstand <-> floor depth=[0.570, -0.005, 0.462] + !! OVERLAP: nightstand <-> bed depth=[0.557, 0.578, 0.051] + !! OVERLAP: nightstand <-> floor depth=[0.557, -0.005, 0.372] + !! OVERLAP: nightstand <-> bed depth=[0.521, 0.581, 0.151] + !! OVERLAP: nightstand <-> floor depth=[0.521, -0.005, 0.405] + !! OVERLAP: bed <-> floor depth=[2.037, -0.005, 2.249] + !! OVERLAP: bookshelf <-> floor depth=[0.551, -0.005, 0.600] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0140, Walkable Loss: 1.7367 (Center Penalty: 1.7367), Relational Loss: 0.0392 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.422 0.666 0.620 0.839 2.138 -0.248 0.82° +desk 1.472 0.689 0.850 0.816 -0.001 -0.410 0.08° +chair 0.523 0.855 0.418 0.890 -0.005 -1.181 154.22° +bed 1.578 1.225 2.205 -0.736 0.015 -0.158 0.10° +floor 3.073 -0.000 2.731 0.001 0.001 -0.036 -0.04° +_scene_ 0.065 0.002 0.020 -5.673 -0.004 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.458, -0.000, 0.850] + !! OVERLAP: chair <-> floor depth=[0.523, -0.000, 0.418] + !! OVERLAP: bed <-> floor depth=[1.578, -0.000, 2.205] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3886 (Center Penalty: 0.3886), Relational Loss: 0.0102 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.862 0.833 2.005 1.177 -0.001 0.971 179.96° +nightstand 0.374 0.517 0.320 2.309 0.002 1.652 -90.10° +wardrobe 1.343 2.090 0.501 -1.065 0.002 -1.326 0.04° +lamp 0.341 0.930 0.179 0.676 1.816 0.658 0.02° +chair 0.498 0.858 0.474 -0.651 0.001 1.599 -157.19° +chair 0.648 0.888 0.716 -1.464 0.003 1.676 139.70° +chair 0.780 0.435 0.480 2.019 -0.000 -0.452 179.94° +floor 5.177 -0.005 4.457 0.794 0.001 0.402 -0.09° +_scene_ 0.064 0.000 0.020 -5.673 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.862, -0.005, 2.005] + !! OVERLAP: nightstand <-> floor depth=[0.374, -0.005, 0.320] + !! OVERLAP: wardrobe <-> floor depth=[1.343, -0.005, 0.501] + !! OVERLAP: chair <-> floor depth=[0.498, -0.005, 0.474] + !! OVERLAP: chair <-> floor depth=[0.648, -0.005, 0.716] + !! OVERLAP: chair <-> floor depth=[0.780, -0.005, 0.480] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.1060, Walkable Loss: 1.3409 (Center Penalty: 1.3409), Relational Loss: 0.0165 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.847 1.182 2.161 0.993 0.004 0.117 -89.85° +cabinet 1.319 2.132 0.489 0.829 0.003 1.233 -179.84° +nightstand 0.389 0.647 0.401 1.211 -0.002 0.700 -90.64° +nightstand 0.573 0.678 0.441 1.251 0.002 -1.432 -90.22° +cabinet 1.102 1.822 0.418 -1.079 0.002 -0.940 89.91° +lamp 0.170 1.449 0.333 -0.431 1.092 -0.860 0.08° +floor 3.066 -0.004 3.583 0.009 0.001 0.020 -0.00° +_scene_ 0.067 0.000 0.020 -5.674 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> cabinet depth=[0.847, 1.182, 0.208] + !! OVERLAP: bed <-> nightstand depth=[0.389, 0.647, 0.401] + !! OVERLAP: bed <-> floor depth=[0.847, -0.004, 2.161] + !! OVERLAP: cabinet <-> floor depth=[1.319, -0.004, 0.489] + !! OVERLAP: nightstand <-> floor depth=[0.389, -0.004, 0.401] + !! OVERLAP: nightstand <-> floor depth=[0.573, -0.004, 0.441] + !! OVERLAP: cabinet <-> floor depth=[0.996, -0.004, 0.418] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0097, Room Outer Loss: 0.0353, Walkable Loss: 1.5236 (Center Penalty: 1.5236), Relational Loss: 0.0276 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.669 0.841 0.846 -1.304 -0.002 -0.587 89.89° +bed 1.575 1.225 2.245 0.646 0.007 -0.352 0.05° +nightstand 0.473 0.630 0.502 -0.627 0.002 -1.204 0.01° +nightstand 0.459 0.604 0.451 1.527 -0.001 -1.107 0.06° +lamp 0.388 0.247 0.502 0.963 2.350 -0.216 -0.25° +lamp 0.751 0.851 0.719 -1.545 1.930 -1.163 -0.04° +floor 4.252 -0.001 2.962 0.001 -0.000 -0.020 0.00° +_scene_ 0.070 0.000 0.022 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> nightstand depth=[0.394, 0.630, 0.056] + !! OVERLAP: desk <-> floor depth=[1.655, -0.001, 0.846] + !! OVERLAP: bed <-> nightstand depth=[0.135, 0.604, 0.451] + !! OVERLAP: bed <-> floor depth=[1.575, -0.001, 2.245] + !! OVERLAP: nightstand <-> floor depth=[0.473, -0.001, 0.502] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.001, 0.451] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0693, Walkable Loss: 0.9504 (Center Penalty: 0.9504), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.786 1.168 2.249 -0.126 0.006 -0.743 -89.96° +wardrobe 2.289 2.459 0.587 -0.472 -0.001 1.436 -179.97° +lamp 0.569 0.732 0.568 -0.317 2.006 -0.560 -0.03° +floor 3.183 0.056 4.252 -0.893 -0.023 -0.231 0.16° +_scene_ 0.053 -0.001 0.011 -5.684 -0.007 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.717, 0.056, 2.249] + !! OVERLAP: wardrobe <-> floor depth=[2.289, 0.056, 0.587] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0104, Room Outer Loss: 0.2065, Walkable Loss: 0.9986 (Center Penalty: 0.9986), Relational Loss: 0.0370 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.718 2.399 0.417 0.416 0.005 -1.108 0.42° +bed 2.296 1.279 2.280 0.331 -0.002 0.654 -90.00° +tv_stand 1.559 0.499 0.372 -0.966 0.003 0.757 89.85° +nightstand 0.408 0.652 0.404 1.298 -0.000 -0.703 -90.20° +lamp 0.923 0.848 0.935 0.089 1.923 0.939 -0.02° +floor 3.133 0.002 3.925 -0.034 0.022 0.708 -0.61° +_scene_ 0.069 0.000 0.022 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.181, 0.652, 0.005] + !! OVERLAP: wardrobe <-> floor depth=[1.718, 0.002, 0.355] + !! OVERLAP: bed <-> tv_stand depth=[0.630, 0.499, 0.372] + !! OVERLAP: bed <-> floor depth=[2.296, 0.002, 2.280] + !! OVERLAP: tv_stand <-> floor depth=[1.414, 0.002, 0.372] + !! OVERLAP: nightstand <-> floor depth=[0.408, 0.002, 0.404] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0150, Room Outer Loss: 0.0126, Walkable Loss: 0.5320 (Center Penalty: 0.5320), Relational Loss: 0.0556 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.827 1.348 1.714 -0.656 0.017 -0.835 -0.12° +wardrobe 0.790 2.271 0.580 0.790 -0.003 -0.696 -179.86° +nightstand 0.432 0.652 0.377 0.943 -0.001 -1.491 0.10° +nightstand 0.513 0.600 0.378 -1.501 0.000 -1.640 0.01° +lamp 1.039 0.822 1.078 -0.508 2.119 -0.769 -0.02° +floor 4.059 0.015 3.271 -0.857 -0.014 -0.521 0.20° +_scene_ 0.070 0.000 0.023 -5.671 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.325, 0.600, 0.241] + !! OVERLAP: bed <-> floor depth=[1.827, 0.015, 1.714] + !! OVERLAP: wardrobe <-> floor depth=[0.778, 0.015, 0.580] + !! OVERLAP: nightstand <-> floor depth=[0.432, 0.015, 0.377] + !! OVERLAP: nightstand <-> floor depth=[0.513, 0.015, 0.378] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0151, Walkable Loss: 0.4148 (Center Penalty: 0.4148), Relational Loss: 0.0013 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.478 1.016 2.014 -0.566 -0.023 -1.349 90.00° +table 0.285 0.579 0.382 -0.783 -0.000 -0.929 90.00° +lamp 0.705 1.071 0.553 0.458 1.919 -0.680 -1.02° +floor 2.659 0.026 3.527 0.419 -0.027 -1.017 -0.83° +_scene_ 0.051 -0.000 0.027 -5.672 -0.005 -5.715 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.165, 0.579, 0.382] + !! OVERLAP: bed <-> floor depth=[0.478, 0.026, 2.014] + !! OVERLAP: table <-> floor depth=[0.270, 0.026, 0.382] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0820, Walkable Loss: 0.3816 (Center Penalty: 0.3816), Relational Loss: 0.0002 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.470 0.943 0.932 0.954 0.002 1.205 -90.52° +chair 0.666 0.864 0.726 0.329 0.001 2.337 179.99° +chair 0.633 0.394 0.557 0.424 0.006 -0.960 -0.01° +table 1.253 0.571 0.698 -0.171 -0.002 1.212 -0.02° +chair 0.620 0.815 0.623 -0.661 0.001 2.114 133.51° +table 0.789 0.667 0.452 -1.898 0.001 -1.995 0.03° +table 0.569 0.674 0.550 -1.488 0.001 2.597 0.07° +lamp 0.488 1.034 0.488 0.144 1.391 1.052 0.00° +floor 4.485 0.004 6.441 -0.635 0.001 0.843 0.02° +_scene_ 0.070 -0.001 0.019 -5.669 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.237, 0.571, 0.698] + !! OVERLAP: sofa <-> floor depth=[1.388, 0.004, 0.932] + !! OVERLAP: chair <-> floor depth=[0.666, 0.004, 0.726] + !! OVERLAP: chair <-> floor depth=[0.633, 0.004, 0.557] + !! OVERLAP: table <-> floor depth=[1.253, 0.004, 0.698] + !! OVERLAP: chair <-> floor depth=[0.620, 0.004, 0.623] + !! OVERLAP: table <-> floor depth=[0.789, 0.004, 0.452] + !! OVERLAP: table <-> floor depth=[0.569, 0.004, 0.550] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0174, Room Outer Loss: 0.0000, Walkable Loss: 0.2407 (Center Penalty: 0.2407), Relational Loss: 0.0244 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.264 0.843 0.945 -1.269 0.000 1.773 89.87° +table 1.311 0.552 0.738 -0.464 0.001 1.465 90.11° +tv_stand 1.366 0.570 0.397 0.088 0.007 1.968 -90.66° +chair 0.424 0.528 0.513 -0.889 -0.001 0.485 0.06° +table 1.401 0.752 1.207 -0.949 -0.001 -1.914 -0.00° +chair 0.524 1.024 0.597 -1.687 -0.000 -0.924 179.96° +chair 0.547 1.112 0.588 -0.880 0.000 -1.075 -179.93° +chair 0.488 1.039 0.509 -0.919 -0.002 -2.399 -0.16° +chair 0.491 1.083 0.599 -1.781 -0.000 -2.224 0.03° +cabinet 1.148 0.879 0.393 -0.026 0.003 -2.506 0.14° +lamp 0.455 0.967 0.446 -1.435 1.665 -1.531 -0.01° +lamp 0.584 0.975 0.613 -0.754 1.684 1.744 0.00° +floor 4.088 -0.011 6.086 -1.075 -0.003 0.329 -0.05° +_scene_ 0.071 0.000 0.024 -5.669 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.982, 0.552, 0.534] + !! OVERLAP: sofa <-> tv_stand depth=[0.457, 0.570, 0.397] + !! OVERLAP: sofa <-> floor depth=[2.264, -0.011, 0.945] + !! OVERLAP: table <-> tv_stand depth=[0.787, 0.552, 0.064] + !! OVERLAP: table <-> floor depth=[1.311, -0.011, 0.738] + !! OVERLAP: tv_stand <-> floor depth=[1.366, -0.011, 0.397] + !! OVERLAP: chair <-> floor depth=[0.424, -0.011, 0.513] + !! OVERLAP: table <-> chair depth=[0.547, 0.752, 0.058] + !! OVERLAP: table <-> chair depth=[0.488, 0.752, 0.374] + !! OVERLAP: table <-> chair depth=[0.114, 0.752, 0.594] + !! OVERLAP: table <-> cabinet depth=[0.351, 0.752, 0.209] + !! OVERLAP: table <-> floor depth=[1.401, -0.011, 1.207] + !! OVERLAP: chair <-> floor depth=[0.524, -0.011, 0.597] + !! OVERLAP: chair <-> floor depth=[0.547, -0.011, 0.588] + !! OVERLAP: chair <-> floor depth=[0.488, -0.011, 0.509] + !! OVERLAP: chair <-> floor depth=[0.491, -0.011, 0.599] + !! OVERLAP: cabinet <-> floor depth=[1.148, -0.011, 0.393] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0361 (Center Penalty: 1.0361), Relational Loss: 0.0014 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.934 0.773 1.003 -0.956 0.005 -0.297 89.89° +table 1.384 0.556 0.468 0.600 0.030 -0.783 -90.28° +tv_stand 1.328 1.454 0.197 0.991 0.005 -0.070 -90.04° +lamp 0.583 0.484 0.370 0.033 2.137 -0.744 -0.49° +floor 3.644 -0.000 3.607 -0.124 0.004 -0.776 -0.25° +_scene_ 0.067 0.001 0.018 -5.674 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.103, 0.556, 0.250] + !! OVERLAP: sofa <-> floor depth=[1.934, -0.000, 1.003] + !! OVERLAP: table <-> floor depth=[1.384, -0.000, 0.468] + !! OVERLAP: tv_stand <-> floor depth=[1.328, -0.000, 0.197] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0142, Room Outer Loss: 0.2612, Walkable Loss: 0.3148 (Center Penalty: 0.3148), Relational Loss: 0.0115 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.151 0.854 0.944 0.867 -0.011 -1.069 0.10° +tv_stand 2.080 0.547 0.344 0.958 0.003 1.472 179.89° +desk 0.956 0.417 0.472 1.379 -0.001 -0.166 -0.01° +table 0.963 0.794 1.594 -1.737 0.004 -0.495 0.06° +chair 0.650 0.603 0.501 -2.391 0.002 -0.756 90.02° +chair 0.552 0.700 0.458 -2.970 0.004 0.054 89.94° +chair 0.504 0.770 0.523 -1.081 0.001 -0.679 -90.15° +chair 0.484 0.756 0.529 -1.162 -0.000 -0.035 -90.16° +cabinet 3.305 2.381 0.380 -1.527 -0.001 1.351 -179.92° +bookshelf 1.882 2.246 0.172 -1.704 -0.001 -1.669 0.08° +chair 0.517 0.696 0.482 -2.326 0.001 -0.234 89.92° +cabinet 1.896 2.005 0.351 -2.751 -0.001 -0.412 90.10° +lamp 0.769 0.652 0.799 1.502 1.994 -0.435 -0.04° +lamp 0.309 0.499 0.325 -1.329 1.988 -0.224 -0.01° +floor 5.738 0.023 3.698 -1.013 -0.010 -0.017 -0.08° +_scene_ 0.068 -0.004 0.015 -5.672 -0.004 -5.711 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.065, 0.023, 0.944] + !! OVERLAP: tv_stand <-> cabinet depth=[0.208, 0.547, 0.241] + !! OVERLAP: tv_stand <-> floor depth=[1.937, 0.023, 0.344] + !! OVERLAP: desk <-> floor depth=[0.955, 0.023, 0.472] + !! OVERLAP: table <-> chair depth=[0.152, 0.603, 0.501] + !! OVERLAP: table <-> chair depth=[0.078, 0.770, 0.523] + !! OVERLAP: table <-> chair depth=[0.149, 0.756, 0.529] + !! OVERLAP: table <-> chair depth=[0.150, 0.696, 0.482] + !! OVERLAP: table <-> cabinet depth=[0.415, 0.794, 0.351] + !! OVERLAP: table <-> floor depth=[0.963, 0.023, 1.594] + !! OVERLAP: chair <-> cabinet depth=[0.650, 0.603, 0.081] + !! OVERLAP: chair <-> floor depth=[0.650, 0.023, 0.501] + !! OVERLAP: chair <-> floor depth=[0.552, 0.023, 0.458] + !! OVERLAP: chair <-> floor depth=[0.504, 0.023, 0.523] + !! OVERLAP: chair <-> floor depth=[0.484, 0.023, 0.529] + !! OVERLAP: cabinet <-> floor depth=[3.305, 0.023, 0.380] + !! OVERLAP: bookshelf <-> floor depth=[1.882, 0.023, 0.172] + !! OVERLAP: chair <-> cabinet depth=[0.517, 0.696, 0.239] + !! OVERLAP: chair <-> floor depth=[0.517, 0.023, 0.482] + !! OVERLAP: cabinet <-> floor depth=[1.896, 0.023, 0.351] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 0.1418, Walkable Loss: 0.1652 (Center Penalty: 0.1652), Relational Loss: 0.0087 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.578 1.083 0.358 2.588 0.002 -0.422 -90.13° +table 0.548 0.529 0.625 3.109 0.001 -3.208 0.09° +lamp 0.891 1.028 0.905 1.441 1.874 -1.741 0.02° +tv_stand 2.341 0.528 0.527 -0.818 0.002 -1.595 0.14° +chair 0.465 0.763 0.470 1.271 0.001 1.293 -89.87° +chair 0.490 0.815 0.514 1.335 0.001 0.726 -110.17° +chair 0.389 0.808 0.425 -0.080 0.002 1.171 90.12° +chair 0.519 0.771 0.565 -0.054 -0.000 1.758 90.02° +table 1.764 0.730 0.867 0.868 -0.000 1.545 -90.12° +sofa 2.123 0.960 1.006 2.434 -0.001 -1.258 -89.90° +table 1.058 0.515 1.260 1.406 0.001 -1.198 -180.00° +lamp 0.584 0.182 0.615 -1.618 2.424 1.830 0.05° +table 0.829 1.007 0.379 -1.577 0.004 3.068 179.86° +lamp 0.426 0.900 0.213 0.756 1.776 1.337 -90.00° +floor 6.094 -0.006 7.016 1.092 0.001 -0.322 -0.11° +_scene_ 0.074 -0.000 0.023 -5.666 -0.005 -5.716 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.578, -0.006, 0.358] + !! OVERLAP: table <-> floor depth=[0.548, -0.006, 0.625] + !! OVERLAP: tv_stand <-> floor depth=[2.307, -0.006, 0.527] + !! OVERLAP: chair <-> table depth=[0.465, 0.730, 0.416] + !! OVERLAP: chair <-> floor depth=[0.465, -0.006, 0.470] + !! OVERLAP: chair <-> floor depth=[0.490, -0.006, 0.514] + !! OVERLAP: chair <-> table depth=[0.128, 0.730, 0.272] + !! OVERLAP: chair <-> floor depth=[0.389, -0.006, 0.425] + !! OVERLAP: chair <-> table depth=[0.220, 0.730, 0.503] + !! OVERLAP: chair <-> floor depth=[0.519, -0.006, 0.565] + !! OVERLAP: table <-> floor depth=[1.764, -0.006, 0.867] + !! OVERLAP: sofa <-> table depth=[0.562, 0.515, 1.006] + !! OVERLAP: sofa <-> floor depth=[2.123, -0.006, 1.006] + !! OVERLAP: table <-> floor depth=[1.058, -0.006, 1.260] + !! OVERLAP: table <-> floor depth=[0.792, -0.006, 0.308] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0188, Walkable Loss: 0.5057 (Center Penalty: 0.5057), Relational Loss: 0.0076 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.250 0.928 0.944 -1.233 0.002 2.005 89.99° +tv_stand 1.648 0.455 0.364 1.086 -0.001 2.248 -90.07° +cabinet 0.976 0.879 0.403 -2.193 0.001 -2.657 90.13° +table 1.233 0.886 0.972 -0.110 -0.001 -0.969 0.06° +chair 0.545 0.628 0.557 -1.011 0.000 -0.583 179.86° +chair 0.501 0.597 0.558 -0.976 0.002 -1.543 -0.00° +chair 0.497 0.580 0.498 1.042 0.001 -0.132 179.85° +chair 0.404 0.603 0.440 0.813 0.004 -1.094 0.00° +lamp 0.377 0.442 0.253 -1.742 2.261 -2.633 -0.19° +lamp 0.901 0.790 0.808 -0.385 1.897 1.753 0.01° +lamp 0.203 0.999 0.236 -0.086 2.105 -1.183 -0.03° +table 1.121 0.416 0.879 0.153 -0.001 2.002 -89.97° +floor 4.685 -0.010 7.862 -0.451 0.002 0.990 -0.04° +_scene_ 0.069 0.000 0.022 -5.672 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.300, 0.416, 0.879] + !! OVERLAP: sofa <-> floor depth=[2.250, -0.010, 0.944] + !! OVERLAP: tv_stand <-> table depth=[0.452, 0.416, 0.364] + !! OVERLAP: tv_stand <-> floor depth=[1.629, -0.010, 0.364] + !! OVERLAP: cabinet <-> floor depth=[0.976, -0.010, 0.403] + !! OVERLAP: table <-> chair depth=[0.000, 0.597, 0.191] + !! OVERLAP: table <-> floor depth=[1.233, -0.010, 0.972] + !! OVERLAP: chair <-> floor depth=[0.545, -0.010, 0.557] + !! OVERLAP: chair <-> floor depth=[0.501, -0.010, 0.558] + !! OVERLAP: chair <-> floor depth=[0.497, -0.010, 0.498] + !! OVERLAP: chair <-> floor depth=[0.404, -0.010, 0.440] + !! OVERLAP: table <-> floor depth=[1.121, -0.010, 0.879] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0117, Room Outer Loss: 0.0980, Walkable Loss: 0.3923 (Center Penalty: 0.3923), Relational Loss: 0.0128 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.325 0.709 1.088 0.986 0.001 1.352 -0.05° +chair 0.540 0.810 0.588 1.810 0.001 2.044 179.94° +chair 0.583 0.864 0.706 0.889 0.002 1.990 -179.95° +chair 0.577 0.915 0.559 2.176 -0.001 0.695 0.01° +chair 0.550 0.891 0.573 1.249 -0.001 0.489 -0.03° +sofa 2.111 0.876 0.886 1.960 -0.001 -0.698 -90.16° +tv_stand 1.503 0.666 0.431 -0.729 -0.007 -1.528 90.18° +table 0.529 0.266 0.758 -0.887 0.004 0.059 -90.02° +table 0.729 1.509 0.425 -0.687 -0.037 1.543 179.77° +table 0.462 0.546 0.472 1.636 0.003 -2.272 0.05° +lamp 0.685 0.894 0.663 1.133 1.903 -0.056 0.06° +lamp 0.647 1.009 0.669 1.680 1.889 -0.220 0.00° +lamp 0.503 1.144 0.485 -0.193 1.716 -1.602 0.05° +floor 5.088 -0.007 6.619 1.162 0.001 0.152 -0.22° +_scene_ 0.069 -0.001 0.021 -5.675 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.540, 0.709, 0.146] + !! OVERLAP: table <-> chair depth=[0.583, 0.709, 0.259] + !! OVERLAP: table <-> chair depth=[0.261, 0.709, 0.166] + !! OVERLAP: table <-> floor depth=[2.325, -0.007, 1.088] + !! OVERLAP: chair <-> floor depth=[0.540, -0.007, 0.588] + !! OVERLAP: chair <-> floor depth=[0.583, -0.007, 0.706] + !! OVERLAP: chair <-> floor depth=[0.577, -0.007, 0.559] + !! OVERLAP: chair <-> floor depth=[0.550, -0.007, 0.573] + !! OVERLAP: sofa <-> floor depth=[2.111, -0.007, 0.886] + !! OVERLAP: tv_stand <-> floor depth=[1.405, -0.007, 0.431] + !! OVERLAP: table <-> floor depth=[0.529, -0.007, 0.758] + !! OVERLAP: table <-> floor depth=[0.729, -0.007, 0.425] + !! OVERLAP: table <-> floor depth=[0.462, -0.007, 0.472] + !! OVERLAP: lamp <-> lamp depth=[0.119, 0.894, 0.502] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0061, Room Outer Loss: 0.0000, Walkable Loss: 0.6347 (Center Penalty: 0.6347), Relational Loss: 0.0007 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.154 1.447 0.392 1.102 0.006 -0.309 -89.96° +sofa 2.386 0.819 1.033 -0.294 -0.001 -0.698 -90.26° +table 0.650 0.391 0.691 -1.653 0.000 -0.270 -90.00° +lamp 0.448 0.727 0.517 0.366 2.113 1.114 0.00° +chair 0.648 0.761 0.606 -1.607 -0.016 -0.942 29.15° +floor 4.586 0.013 4.197 -0.532 -0.011 0.766 -0.05° +_scene_ 0.071 0.000 0.027 -5.669 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[0.374, 0.819, 0.323] + !! OVERLAP: bookshelf <-> floor depth=[1.154, 0.013, 0.392] + !! OVERLAP: sofa <-> table depth=[0.160, 0.391, 0.434] + !! OVERLAP: sofa <-> chair depth=[0.205, 0.761, 0.575] + !! OVERLAP: sofa <-> floor depth=[2.386, 0.013, 1.033] + !! OVERLAP: table <-> floor depth=[0.650, 0.013, 0.691] + !! OVERLAP: chair <-> floor depth=[0.648, 0.013, 0.606] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7485 (Center Penalty: 0.7485), Relational Loss: 0.0415 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.820 0.967 0.869 -0.040 0.000 -1.735 -0.02° +chair 0.865 0.987 0.687 -0.016 0.005 1.621 179.79° +table 0.534 0.539 0.442 -1.213 0.001 1.689 89.89° +table 0.686 0.430 0.590 -1.137 0.003 -1.547 90.05° +table 1.073 0.351 0.639 0.917 -0.001 0.431 89.99° +tv_stand 1.587 0.641 0.416 1.723 0.001 0.119 -89.99° +lamp 0.581 0.909 0.556 0.545 1.907 0.571 -0.06° +sofa 1.611 0.811 0.928 -0.827 0.014 -0.052 90.73° +floor 4.494 -0.036 6.381 0.610 -0.002 -0.982 -0.47° +_scene_ 0.075 0.001 0.023 -5.669 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.820, -0.036, 0.869] + !! OVERLAP: chair <-> floor depth=[0.865, -0.036, 0.687] + !! OVERLAP: table <-> floor depth=[0.534, -0.036, 0.442] + !! OVERLAP: table <-> floor depth=[0.686, -0.036, 0.590] + !! OVERLAP: table <-> tv_stand depth=[0.524, 0.351, 0.215] + !! OVERLAP: table <-> floor depth=[1.073, -0.036, 0.639] + !! OVERLAP: tv_stand <-> floor depth=[1.587, -0.036, 0.416] + !! OVERLAP: sofa <-> floor depth=[1.611, -0.036, 0.928] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0134, Room Outer Loss: 0.0000, Walkable Loss: 0.5049 (Center Penalty: 0.5049), Relational Loss: 0.0186 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.180 0.782 1.649 -1.033 0.002 -1.205 0.21° +chair 0.412 0.671 0.464 -2.690 0.001 -1.890 0.01° +chair 0.256 0.344 0.258 -2.580 -0.001 -1.113 0.02° +chair 0.363 0.392 0.307 -2.693 -0.001 -0.557 0.01° +table 0.904 0.372 0.615 -1.512 -0.002 -0.364 0.03° +chair 0.423 1.090 0.450 -0.933 -0.001 0.114 0.46° +lamp 0.133 0.958 0.139 -2.901 1.621 -2.008 -0.16° +chair 0.414 0.982 0.477 1.219 -0.004 -0.408 -59.51° +cabinet 1.256 0.819 0.568 2.014 -0.006 1.884 179.85° +table 0.498 1.168 0.420 2.246 0.005 -1.898 -0.12° +shelf 0.219 2.200 0.338 2.541 -0.023 2.035 0.43° +lamp 0.380 1.015 0.376 0.960 1.882 -0.216 0.02° +tv_stand 3.497 0.743 0.486 -1.383 -0.000 1.993 0.11° +floor 6.982 -0.010 5.497 -0.813 0.001 0.571 -0.01° +_scene_ 0.071 -0.000 0.025 -5.670 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.139, 0.671, 0.372] + !! OVERLAP: sofa <-> chair depth=[0.171, 0.344, 0.258] + !! OVERLAP: sofa <-> chair depth=[0.111, 0.392, 0.307] + !! OVERLAP: sofa <-> table depth=[0.904, 0.372, 0.291] + !! OVERLAP: sofa <-> floor depth=[3.180, -0.010, 1.649] + !! OVERLAP: chair <-> floor depth=[0.412, -0.010, 0.464] + !! OVERLAP: chair <-> floor depth=[0.256, -0.010, 0.258] + !! OVERLAP: chair <-> floor depth=[0.363, -0.010, 0.307] + !! OVERLAP: table <-> chair depth=[0.084, 0.372, 0.054] + !! OVERLAP: table <-> floor depth=[0.904, -0.010, 0.615] + !! OVERLAP: chair <-> floor depth=[0.423, -0.010, 0.450] + !! OVERLAP: chair <-> floor depth=[0.414, -0.010, 0.477] + !! OVERLAP: cabinet <-> shelf depth=[0.210, 0.819, 0.302] + !! OVERLAP: cabinet <-> floor depth=[1.256, -0.010, 0.568] + !! OVERLAP: table <-> floor depth=[0.498, -0.010, 0.420] + !! OVERLAP: shelf <-> floor depth=[0.219, -0.010, 0.338] + !! OVERLAP: tv_stand <-> floor depth=[3.497, -0.010, 0.486] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0266, Room Outer Loss: 0.0618, Walkable Loss: 0.6849 (Center Penalty: 0.6849), Relational Loss: 0.0206 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.663 0.956 0.648 0.242 1.917 -1.442 -0.04° +table 1.509 0.741 0.864 -0.687 -0.001 0.623 179.82° +chair 0.383 0.875 0.335 -0.328 0.003 0.969 -90.07° +chair 0.451 0.819 0.290 -1.159 0.001 0.948 -0.02° +lamp 0.320 0.800 0.178 -1.201 1.727 0.955 0.08° +lamp 0.274 0.767 0.280 -0.402 1.906 1.032 -0.13° +sofa 2.380 0.824 1.036 -1.049 -0.000 -1.184 89.99° +table 1.102 0.308 0.610 0.624 -0.003 -0.897 -89.96° +tv_stand 1.738 0.528 0.387 0.930 0.002 -1.321 -90.37° +table 1.468 2.220 0.268 -1.508 0.008 0.221 90.24° +floor 4.111 0.023 4.164 -0.185 -0.005 -0.957 -0.37° +_scene_ 0.075 -0.000 0.027 -5.671 -0.005 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.383, 0.741, 0.253] + !! OVERLAP: table <-> chair depth=[0.451, 0.741, 0.251] + !! OVERLAP: table <-> table depth=[0.667, 0.741, 0.163] + !! OVERLAP: table <-> floor depth=[1.509, 0.023, 0.864] + !! OVERLAP: chair <-> floor depth=[0.383, 0.023, 0.323] + !! OVERLAP: chair <-> floor depth=[0.451, 0.023, 0.290] + !! OVERLAP: sofa <-> table depth=[0.068, 0.308, 0.537] + !! OVERLAP: sofa <-> tv_stand depth=[0.081, 0.528, 0.387] + !! OVERLAP: sofa <-> floor depth=[2.380, 0.023, 1.036] + !! OVERLAP: table <-> tv_stand depth=[1.102, 0.308, 0.075] + !! OVERLAP: table <-> floor depth=[1.102, 0.023, 0.610] + !! OVERLAP: tv_stand <-> floor depth=[1.738, 0.023, 0.387] + !! OVERLAP: table <-> floor depth=[1.466, 0.023, 0.268] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9614 (Center Penalty: 0.9614), Relational Loss: 0.0103 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.450 0.699 0.366 1.480 0.003 0.470 -90.31° +table 0.586 1.141 0.489 -1.134 0.003 1.975 89.98° +sofa 1.672 0.918 0.878 -0.635 0.011 0.670 89.40° +table 0.687 0.463 0.585 0.530 0.005 0.734 89.65° +chair 0.756 0.814 0.801 0.187 -0.001 2.212 179.96° +bookshelf 1.160 2.395 0.262 -0.910 -0.001 -2.232 0.16° +lamp 0.553 0.924 0.495 0.580 1.993 0.629 -0.34° +floor 3.842 0.008 6.270 0.361 0.015 0.631 -0.14° +_scene_ 0.069 -0.000 0.019 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.119, 0.463, 0.212] + !! OVERLAP: tv_stand <-> floor depth=[1.450, 0.008, 0.366] + !! OVERLAP: table <-> floor depth=[0.586, 0.008, 0.489] + !! OVERLAP: sofa <-> table depth=[0.014, 0.463, 0.585] + !! OVERLAP: sofa <-> floor depth=[1.672, 0.008, 0.878] + !! OVERLAP: table <-> floor depth=[0.687, 0.008, 0.585] + !! OVERLAP: chair <-> floor depth=[0.756, 0.008, 0.801] + !! OVERLAP: bookshelf <-> floor depth=[1.160, 0.008, 0.262] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 0.0000, Walkable Loss: 0.2628 (Center Penalty: 0.2628), Relational Loss: 0.0068 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.369 0.646 0.336 -0.214 1.965 2.258 0.10° +lamp 0.914 0.738 0.901 -1.073 1.793 -3.293 -0.02° +tv_stand 2.262 1.059 0.414 -2.403 0.006 2.909 90.01° +chair 0.575 0.415 0.565 0.010 0.001 1.230 89.90° +chair 0.585 0.455 0.568 -0.548 -0.001 0.894 -0.04° +table 1.181 0.509 0.627 0.034 0.001 2.093 -90.00° +table 0.415 0.658 0.454 1.415 -0.001 0.788 -90.15° +table 0.475 0.579 0.452 1.296 -0.001 3.761 -90.00° +sofa 2.319 0.955 0.913 0.476 -0.006 2.608 -90.25° +sofa 1.875 0.778 0.703 -0.524 0.003 4.118 -179.96° +table 2.091 0.706 0.922 -0.989 0.001 -3.114 -0.05° +chair 0.685 1.095 0.713 -1.265 -0.001 -2.033 179.88° +chair 0.543 1.110 0.620 0.134 -0.001 -2.930 -90.53° +chair 0.623 1.117 0.686 -0.011 0.000 -3.619 -89.29° +chair 0.635 1.067 0.618 -0.850 -0.001 -4.169 -0.12° +chair 0.622 1.092 0.704 -1.737 0.002 -3.543 89.73° +chair 0.532 1.082 0.597 -1.740 0.007 -2.545 105.38° +table 0.534 0.605 0.439 -2.160 0.002 -0.636 90.01° +floor 5.324 -0.002 9.981 -0.973 -0.001 0.462 0.35° +_scene_ 0.070 0.001 0.022 -5.669 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.262, -0.002, 0.414] + !! OVERLAP: chair <-> chair depth=[0.022, 0.415, 0.230] + !! OVERLAP: chair <-> floor depth=[0.575, -0.002, 0.565] + !! OVERLAP: chair <-> floor depth=[0.585, -0.002, 0.568] + !! OVERLAP: table <-> sofa depth=[1.181, 0.509, 0.255] + !! OVERLAP: table <-> floor depth=[1.181, -0.002, 0.627] + !! OVERLAP: table <-> floor depth=[0.415, -0.002, 0.454] + !! OVERLAP: table <-> floor depth=[0.475, -0.002, 0.452] + !! OVERLAP: sofa <-> floor depth=[2.319, -0.002, 0.913] + !! OVERLAP: sofa <-> floor depth=[1.875, -0.002, 0.703] + !! OVERLAP: table <-> chair depth=[0.195, 0.706, 0.586] + !! OVERLAP: table <-> chair depth=[0.379, 0.706, 0.299] + !! OVERLAP: table <-> chair depth=[0.608, 0.706, 0.385] + !! OVERLAP: table <-> chair depth=[0.532, 0.706, 0.190] + !! OVERLAP: table <-> floor depth=[2.091, -0.002, 0.922] + !! OVERLAP: chair <-> chair depth=[0.134, 1.081, 0.144] + !! OVERLAP: chair <-> floor depth=[0.685, -0.002, 0.713] + !! OVERLAP: chair <-> floor depth=[0.543, -0.002, 0.620] + !! OVERLAP: chair <-> floor depth=[0.623, -0.002, 0.686] + !! OVERLAP: chair <-> floor depth=[0.635, -0.002, 0.618] + !! OVERLAP: chair <-> floor depth=[0.622, -0.002, 0.704] + !! OVERLAP: chair <-> floor depth=[0.532, -0.002, 0.597] + !! OVERLAP: table <-> floor depth=[0.534, -0.002, 0.439] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0017, Room Outer Loss: 0.1311, Walkable Loss: 0.5277 (Center Penalty: 0.5277), Relational Loss: 0.0187 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.682 1.093 0.431 -2.326 0.001 -1.959 0.00° +table 0.475 1.194 0.393 1.687 -0.000 -2.115 0.13° +sofa 2.165 0.902 0.845 -2.272 0.002 0.391 89.95° +table 1.207 0.446 0.813 -0.768 -0.002 0.348 -0.05° +chair 0.728 0.819 0.750 1.561 -0.001 0.594 -71.76° +sofa 2.081 0.684 0.932 -0.487 0.000 -1.745 -0.07° +table 0.398 0.807 0.410 1.106 0.002 -2.101 -90.18° +table 0.536 0.761 0.560 -1.768 0.002 -1.814 0.06° +lamp 0.688 0.757 0.615 -0.459 1.954 0.757 -0.66° +floor 5.680 0.006 5.212 -0.981 -0.001 -0.585 -0.03° +_scene_ 0.204 0.091 0.480 -4.745 0.002 -4.821 -63.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.051, 0.761, 0.350] + !! OVERLAP: table <-> floor depth=[0.682, 0.006, 0.431] + !! OVERLAP: table <-> floor depth=[0.409, 0.006, 0.393] + !! OVERLAP: sofa <-> table depth=[0.183, 0.446, 0.785] + !! OVERLAP: sofa <-> floor depth=[2.165, 0.006, 0.845] + !! OVERLAP: table <-> floor depth=[1.207, 0.006, 0.813] + !! OVERLAP: chair <-> floor depth=[0.662, 0.006, 0.750] + !! OVERLAP: sofa <-> table depth=[0.027, 0.684, 0.560] + !! OVERLAP: sofa <-> floor depth=[2.081, 0.006, 0.932] + !! OVERLAP: table <-> floor depth=[0.398, 0.006, 0.410] + !! OVERLAP: table <-> floor depth=[0.536, 0.006, 0.560] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0244, Walkable Loss: 0.2792 (Center Penalty: 0.2792), Relational Loss: 0.0057 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.573 0.883 0.638 -0.430 0.000 1.257 90.03° +chair 0.511 0.862 0.597 -0.500 0.001 1.786 90.03° +chair 0.543 0.939 0.604 0.915 -0.000 1.254 -89.91° +chair 0.572 0.845 0.652 0.803 0.000 1.824 -89.92° +sofa 2.132 0.866 0.840 -1.520 -0.001 -1.503 90.06° +table 1.877 1.949 0.285 -0.951 -0.002 -0.632 90.13° +table 0.912 0.373 1.005 0.130 -0.000 -1.965 -90.03° +lamp 0.514 0.517 0.346 -0.142 2.404 -1.640 -0.08° +lamp 0.136 0.603 0.124 0.608 2.155 1.281 -89.89° +floor 3.941 -0.002 6.713 -0.591 -0.002 -0.787 -0.30° +_scene_ 0.069 0.002 0.021 -5.665 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.473, 0.862, 0.089] + !! OVERLAP: chair <-> floor depth=[0.573, -0.002, 0.638] + !! OVERLAP: chair <-> floor depth=[0.511, -0.002, 0.597] + !! OVERLAP: chair <-> chair depth=[0.446, 0.845, 0.058] + !! OVERLAP: chair <-> floor depth=[0.543, -0.002, 0.604] + !! OVERLAP: chair <-> floor depth=[0.572, -0.002, 0.652] + !! OVERLAP: sofa <-> floor depth=[2.108, -0.002, 0.840] + !! OVERLAP: table <-> floor depth=[1.877, -0.002, 0.285] + !! OVERLAP: table <-> floor depth=[0.912, -0.002, 1.005] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0034, Walkable Loss: 0.6058 (Center Penalty: 0.6058), Relational Loss: 0.0254 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.878 0.812 0.376 0.285 -0.038 0.996 -90.64° +table 0.448 0.455 0.426 1.013 0.000 1.589 -90.05° +table 0.426 0.504 0.336 1.006 0.005 -2.072 -90.08° +table 1.247 0.369 1.126 -0.847 -0.003 -0.177 -89.95° +chair 0.821 0.883 0.715 -1.188 0.001 -1.430 0.06° +chair 0.842 0.878 0.752 -1.313 0.003 1.416 -173.25° +tv_stand 1.921 0.533 0.378 -1.785 0.001 -0.363 90.06° +lamp 0.381 0.964 0.395 -0.498 1.732 -0.840 -0.22° +floor 4.281 -0.000 4.767 -0.865 -0.003 -0.585 0.10° +_scene_ 0.063 -0.001 0.018 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.878, -0.000, 0.376] + !! OVERLAP: table <-> floor depth=[0.448, -0.000, 0.422] + !! OVERLAP: table <-> floor depth=[0.426, -0.000, 0.336] + !! OVERLAP: table <-> tv_stand depth=[0.646, 0.369, 0.378] + !! OVERLAP: table <-> floor depth=[1.247, -0.000, 1.126] + !! OVERLAP: chair <-> floor depth=[0.821, -0.000, 0.715] + !! OVERLAP: chair <-> floor depth=[0.842, -0.000, 0.752] + !! OVERLAP: tv_stand <-> floor depth=[1.921, -0.000, 0.378] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0281, Room Outer Loss: 0.0000, Walkable Loss: 0.6179 (Center Penalty: 0.6179), Relational Loss: 0.0310 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.294 0.707 0.862 -0.800 0.004 1.460 179.88° +table 0.390 0.458 0.428 -1.129 -0.001 -0.447 -90.07° +tv_stand 1.599 0.296 0.363 -0.611 0.001 -1.932 0.04° +chair 0.577 1.113 0.881 1.165 0.000 -0.981 -0.85° +chair 0.638 1.052 0.734 0.935 0.001 -1.051 0.10° +chair 0.476 1.112 0.557 0.661 -0.002 1.368 90.00° +chair 0.509 0.981 0.733 1.208 0.000 1.462 179.89° +table 0.582 0.730 0.539 1.197 0.004 0.451 0.35° +table 1.817 0.778 0.373 0.359 0.005 1.839 179.85° +lamp 0.525 0.520 0.635 0.120 2.134 -0.820 -0.49° +floor 4.038 -0.034 5.549 -0.515 -0.012 -0.684 -0.33° +_scene_ 0.068 -0.000 0.022 -5.669 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.897, 0.707, 0.238] + !! OVERLAP: sofa <-> floor depth=[2.294, -0.034, 0.862] + !! OVERLAP: table <-> floor depth=[0.390, -0.034, 0.428] + !! OVERLAP: tv_stand <-> floor depth=[1.599, -0.034, 0.363] + !! OVERLAP: chair <-> chair depth=[0.378, 1.052, 0.734] + !! OVERLAP: chair <-> floor depth=[0.577, -0.034, 0.881] + !! OVERLAP: chair <-> floor depth=[0.638, -0.034, 0.734] + !! OVERLAP: chair <-> floor depth=[0.476, -0.034, 0.557] + !! OVERLAP: chair <-> table depth=[0.314, 0.778, 0.176] + !! OVERLAP: chair <-> floor depth=[0.509, -0.034, 0.733] + !! OVERLAP: table <-> floor depth=[0.582, -0.034, 0.539] + !! OVERLAP: table <-> floor depth=[1.817, -0.034, 0.373] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0274, Room Outer Loss: 0.0667, Walkable Loss: 0.5243 (Center Penalty: 0.5243), Relational Loss: 0.0136 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.135 0.673 0.757 -1.770 0.000 0.683 89.99° +chair 0.771 0.812 0.841 -2.051 0.000 2.128 89.99° +table 1.593 0.329 1.174 -0.250 0.001 1.495 -89.98° +chair 0.765 0.509 0.597 -0.809 -0.003 0.083 0.02° +tv_stand 1.344 0.482 0.416 0.676 -0.001 1.528 -90.22° +table 2.145 0.771 0.976 -0.599 -0.005 -1.119 -89.82° +chair 0.448 0.866 0.479 -0.364 0.002 -1.794 -0.03° +chair 0.425 0.856 0.474 -0.512 0.002 -1.457 89.90° +chair 0.461 0.852 0.519 0.384 0.001 -1.827 -90.26° +chair 0.439 0.802 0.432 0.320 0.001 -1.331 -179.98° +lamp 0.643 0.857 0.585 -0.318 1.719 1.297 -0.03° +lamp 0.799 0.625 0.277 -0.213 2.217 -1.803 -0.01° +floor 4.202 -0.003 5.302 -0.820 0.000 0.558 0.04° +_scene_ 0.068 0.002 0.021 -5.669 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.344, 0.329, 0.153] + !! OVERLAP: sofa <-> chair depth=[0.489, 0.509, 0.077] + !! OVERLAP: sofa <-> floor depth=[2.135, -0.003, 0.757] + !! OVERLAP: chair <-> floor depth=[0.771, -0.003, 0.841] + !! OVERLAP: table <-> tv_stand depth=[0.542, 0.329, 0.416] + !! OVERLAP: table <-> floor depth=[1.593, -0.003, 1.174] + !! OVERLAP: chair <-> floor depth=[0.765, -0.003, 0.597] + !! OVERLAP: tv_stand <-> floor depth=[1.277, -0.003, 0.416] + !! OVERLAP: table <-> chair depth=[0.448, 0.771, 0.053] + !! OVERLAP: table <-> chair depth=[0.425, 0.771, 0.388] + !! OVERLAP: table <-> chair depth=[0.320, 0.771, 0.040] + !! OVERLAP: table <-> chair depth=[0.372, 0.771, 0.432] + !! OVERLAP: table <-> floor depth=[2.145, -0.003, 0.976] + !! OVERLAP: chair <-> chair depth=[0.288, 0.856, 0.139] + !! OVERLAP: chair <-> floor depth=[0.448, -0.003, 0.479] + !! OVERLAP: chair <-> floor depth=[0.425, -0.003, 0.474] + !! OVERLAP: chair <-> floor depth=[0.461, -0.003, 0.519] + !! OVERLAP: chair <-> floor depth=[0.439, -0.003, 0.432] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0153, Room Outer Loss: 0.0491, Walkable Loss: 0.0681 (Center Penalty: 0.0681), Relational Loss: 0.0101 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.224 0.896 0.959 -2.515 0.000 1.828 179.98° +sofa 1.923 0.928 1.390 -3.350 -0.001 0.565 89.89° +table 0.640 0.440 0.578 -2.493 0.002 0.445 0.08° +tv_stand 2.236 0.638 0.484 -2.118 0.001 -1.344 -0.04° +chair 0.948 0.934 0.880 -0.757 -0.002 1.084 -68.32° +table 1.764 0.776 1.075 2.172 0.001 0.486 -0.07° +chair 0.441 0.798 0.521 3.004 0.001 1.037 -90.04° +chair 0.508 0.768 0.555 2.603 -0.000 1.199 179.94° +chair 0.563 0.766 0.619 2.632 -0.001 0.166 0.03° +chair 0.463 0.756 0.525 3.014 0.001 0.104 -89.98° +table 1.269 1.439 0.289 1.123 -0.002 -1.538 0.16° +cabinet 1.752 2.038 0.358 1.547 -0.001 2.194 -179.87° +table 0.541 0.480 0.527 -0.246 0.001 1.965 89.91° +table 0.676 0.484 0.642 -3.156 -0.005 2.464 -179.90° +lamp 0.673 0.468 0.683 -1.563 2.658 0.310 0.14° +lamp 0.684 0.876 0.687 1.542 2.015 0.365 -0.01° +table 1.090 1.231 0.308 2.717 0.026 -1.915 0.29° +floor 8.850 -0.016 5.611 -1.117 -0.001 0.786 -0.02° +_scene_ 0.073 0.000 0.024 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.676, 0.484, 0.165] + !! OVERLAP: sofa <-> floor depth=[2.224, -0.016, 0.959] + !! OVERLAP: sofa <-> table depth=[0.425, 0.440, 0.578] + !! OVERLAP: sofa <-> floor depth=[1.923, -0.016, 1.390] + !! OVERLAP: table <-> floor depth=[0.640, -0.016, 0.578] + !! OVERLAP: tv_stand <-> floor depth=[2.236, -0.016, 0.484] + !! OVERLAP: chair <-> floor depth=[0.948, -0.016, 0.880] + !! OVERLAP: table <-> chair depth=[0.270, 0.776, 0.247] + !! OVERLAP: table <-> chair depth=[0.508, 0.768, 0.102] + !! OVERLAP: table <-> chair depth=[0.563, 0.766, 0.526] + !! OVERLAP: table <-> chair depth=[0.272, 0.756, 0.418] + !! OVERLAP: table <-> floor depth=[1.764, -0.016, 1.075] + !! OVERLAP: chair <-> chair depth=[0.073, 0.768, 0.376] + !! OVERLAP: chair <-> floor depth=[0.441, -0.016, 0.521] + !! OVERLAP: chair <-> floor depth=[0.508, -0.016, 0.555] + !! OVERLAP: chair <-> chair depth=[0.131, 0.756, 0.510] + !! OVERLAP: chair <-> floor depth=[0.563, -0.016, 0.619] + !! OVERLAP: chair <-> floor depth=[0.463, -0.016, 0.525] + !! OVERLAP: table <-> floor depth=[1.269, -0.016, 0.289] + !! OVERLAP: cabinet <-> floor depth=[1.752, -0.016, 0.358] + !! OVERLAP: table <-> floor depth=[0.541, -0.016, 0.527] + !! OVERLAP: table <-> floor depth=[0.676, -0.016, 0.642] + !! OVERLAP: table <-> floor depth=[1.090, -0.016, 0.258] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0131, Room Outer Loss: 0.0293, Walkable Loss: 0.3093 (Center Penalty: 0.3093), Relational Loss: 0.0086 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.272 1.050 0.331 -1.644 -0.003 -2.438 0.30° +table 1.004 0.901 0.431 1.647 -0.011 -2.057 -89.63° +tv_stand 1.871 0.385 0.398 1.129 -0.001 1.778 -89.99° +sofa 2.081 0.739 0.868 -1.344 -0.001 2.051 90.00° +chair 0.653 0.707 0.769 -1.998 -0.001 2.854 179.82° +table 2.268 0.744 0.902 0.134 -0.015 -1.446 -90.06° +chair 0.450 0.739 0.508 0.566 0.002 -1.768 0.05° +chair 0.391 0.714 0.393 -0.410 0.000 -1.628 0.03° +chair 0.500 0.687 0.474 -0.362 -0.000 -1.080 -179.64° +chair 0.478 0.686 0.479 0.764 0.004 -0.746 179.91° +table 1.575 0.414 1.270 -0.032 0.001 2.276 -92.44° +lamp 0.507 0.716 0.453 -0.115 2.016 1.658 -90.08° +lamp 1.097 0.620 0.094 0.073 2.109 -1.456 0.00° +floor 5.277 -0.010 7.120 -0.453 0.002 0.986 -0.07° +_scene_ 0.066 0.000 0.022 -5.670 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.272, -0.010, 0.302] + !! OVERLAP: table <-> table depth=[0.122, 0.744, 0.055] + !! OVERLAP: table <-> floor depth=[1.004, -0.010, 0.431] + !! OVERLAP: tv_stand <-> table depth=[0.562, 0.385, 0.336] + !! OVERLAP: tv_stand <-> floor depth=[1.871, -0.010, 0.398] + !! OVERLAP: sofa <-> chair depth=[0.653, 0.707, 0.016] + !! OVERLAP: sofa <-> table depth=[0.516, 0.414, 0.844] + !! OVERLAP: sofa <-> floor depth=[2.081, -0.010, 0.868] + !! OVERLAP: chair <-> floor depth=[0.653, -0.010, 0.769] + !! OVERLAP: table <-> chair depth=[0.450, 0.724, 0.383] + !! OVERLAP: table <-> chair depth=[0.391, 0.713, 0.393] + !! OVERLAP: table <-> chair depth=[0.500, 0.687, 0.321] + !! OVERLAP: table <-> floor depth=[2.268, -0.010, 0.902] + !! OVERLAP: chair <-> floor depth=[0.450, -0.010, 0.508] + !! OVERLAP: chair <-> floor depth=[0.391, -0.010, 0.393] + !! OVERLAP: chair <-> floor depth=[0.500, -0.010, 0.474] + !! OVERLAP: chair <-> floor depth=[0.478, -0.010, 0.479] + !! OVERLAP: table <-> floor depth=[1.575, -0.010, 1.270] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0133, Room Outer Loss: 0.0000, Walkable Loss: 0.5763 (Center Penalty: 0.5763), Relational Loss: 0.0102 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.083 0.703 0.860 -1.198 -0.000 1.464 89.98° +chair 0.601 0.930 0.632 -0.117 0.002 3.197 179.84° +table 1.574 0.444 1.049 -0.031 0.002 2.154 89.99° +table 1.780 0.751 1.031 0.025 0.006 -1.716 -0.04° +chair 0.450 0.970 0.523 -0.133 0.001 -1.026 179.99° +chair 0.418 0.933 0.527 0.567 0.001 -0.961 -179.97° +chair 0.469 0.900 0.540 -0.031 0.001 -2.064 -0.01° +chair 0.453 0.906 0.476 0.501 0.001 -2.316 0.07° +table 1.551 0.792 0.551 0.109 0.004 -2.777 -0.11° +lamp 0.913 1.046 0.936 -0.069 1.729 2.082 0.06° +lamp 1.311 0.921 0.364 0.057 1.826 -1.535 0.00° +lamp 0.974 0.811 0.476 0.265 2.073 -1.964 -0.05° +chair 0.606 0.560 0.613 -0.245 0.002 0.798 12.13° +table 0.741 1.029 0.325 -1.663 0.004 0.632 89.98° +table 0.679 0.939 0.458 -1.758 0.002 3.100 90.01° +floor 4.009 0.003 8.122 -0.821 0.003 0.645 0.20° +_scene_ 0.072 0.000 0.024 -5.670 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.661, 0.444, 0.264] + !! OVERLAP: sofa <-> chair depth=[0.392, 0.560, 0.071] + !! OVERLAP: sofa <-> floor depth=[2.083, 0.003, 0.860] + !! OVERLAP: chair <-> floor depth=[0.601, 0.003, 0.632] + !! OVERLAP: table <-> floor depth=[1.574, 0.003, 1.049] + !! OVERLAP: table <-> chair depth=[0.450, 0.751, 0.087] + !! OVERLAP: table <-> chair depth=[0.418, 0.751, 0.024] + !! OVERLAP: table <-> chair depth=[0.469, 0.751, 0.438] + !! OVERLAP: table <-> chair depth=[0.453, 0.751, 0.154] + !! OVERLAP: table <-> floor depth=[1.780, 0.003, 1.031] + !! OVERLAP: chair <-> floor depth=[0.450, 0.003, 0.523] + !! OVERLAP: chair <-> floor depth=[0.418, 0.003, 0.527] + !! OVERLAP: chair <-> floor depth=[0.469, 0.003, 0.540] + !! OVERLAP: chair <-> table depth=[0.453, 0.792, 0.053] + !! OVERLAP: chair <-> floor depth=[0.453, 0.003, 0.476] + !! OVERLAP: table <-> floor depth=[1.551, 0.003, 0.551] + !! OVERLAP: chair <-> floor depth=[0.606, 0.003, 0.613] + !! OVERLAP: table <-> floor depth=[0.741, 0.003, 0.325] + !! OVERLAP: table <-> floor depth=[0.679, 0.003, 0.458] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0138, Room Outer Loss: 0.0303, Walkable Loss: 0.3280 (Center Penalty: 0.3280), Relational Loss: 0.0127 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.886 0.765 0.815 -1.914 0.001 1.530 90.01° +chair 1.435 0.852 0.597 -0.911 0.006 0.074 12.80° +sofa 2.129 0.964 0.920 -0.511 0.000 3.283 179.88° +table 0.509 0.388 0.473 -0.550 0.000 1.887 90.03° +table 0.554 0.503 0.490 -1.923 0.001 0.325 90.07° +table 0.494 0.551 0.390 -1.942 0.004 3.335 90.10° +table 2.843 0.842 1.075 -1.276 -0.000 -2.170 0.03° +chair 0.544 0.676 0.513 -0.619 0.001 -2.928 -0.04° +chair 0.538 0.758 0.543 -0.654 0.000 -1.357 179.99° +chair 0.394 0.724 0.485 0.020 0.000 -1.801 179.95° +chair 0.400 0.760 0.415 -1.218 -0.007 -1.460 147.22° +chair 0.468 0.634 0.517 -1.364 0.003 -2.484 89.99° +chair 0.533 0.722 0.613 0.163 0.000 -2.548 -90.11° +lamp 0.915 0.764 0.836 -0.739 1.891 1.744 0.00° +lamp 0.890 0.783 0.889 -0.347 1.929 -2.413 -0.01° +table 1.065 1.715 0.425 -0.144 0.002 -3.372 0.35° +tv_stand 1.440 0.513 0.345 0.842 -0.003 1.589 -89.98° +floor 5.045 0.004 7.840 -0.954 0.001 0.365 0.01° +_scene_ 0.072 0.001 0.025 -5.669 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.886, 0.004, 0.815] + !! OVERLAP: chair <-> floor depth=[1.435, 0.004, 0.597] + !! OVERLAP: sofa <-> floor depth=[2.129, 0.004, 0.920] + !! OVERLAP: table <-> floor depth=[0.509, 0.004, 0.473] + !! OVERLAP: table <-> floor depth=[0.554, 0.004, 0.490] + !! OVERLAP: table <-> floor depth=[0.494, 0.004, 0.390] + !! OVERLAP: table <-> chair depth=[0.544, 0.676, 0.037] + !! OVERLAP: table <-> chair depth=[0.323, 0.724, 0.410] + !! OVERLAP: table <-> chair depth=[0.400, 0.760, 0.035] + !! OVERLAP: table <-> chair depth=[0.468, 0.634, 0.482] + !! OVERLAP: table <-> chair depth=[0.249, 0.722, 0.466] + !! OVERLAP: table <-> floor depth=[2.843, 0.004, 1.075] + !! OVERLAP: chair <-> table depth=[0.330, 0.676, 0.025] + !! OVERLAP: chair <-> floor depth=[0.544, 0.004, 0.513] + !! OVERLAP: chair <-> floor depth=[0.538, 0.004, 0.543] + !! OVERLAP: chair <-> floor depth=[0.394, 0.004, 0.485] + !! OVERLAP: chair <-> floor depth=[0.400, 0.004, 0.415] + !! OVERLAP: chair <-> floor depth=[0.468, 0.004, 0.517] + !! OVERLAP: chair <-> floor depth=[0.533, 0.004, 0.613] + !! OVERLAP: table <-> floor depth=[1.065, 0.004, 0.395] + !! OVERLAP: tv_stand <-> floor depth=[1.440, 0.004, 0.345] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0197, Room Outer Loss: 0.1096, Walkable Loss: 0.0584 (Center Penalty: 0.0584), Relational Loss: 0.0098 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.125 0.763 1.023 3.227 0.000 0.517 179.93° +chair 0.803 0.991 0.950 4.975 0.002 -0.559 -89.74° +chair 0.771 1.172 0.817 1.371 -0.002 -0.644 124.85° +table 1.236 0.457 1.028 3.263 0.005 -0.864 0.02° +table 0.628 0.488 0.668 4.859 -0.005 0.868 179.96° +table 0.604 0.576 0.564 1.659 0.001 0.837 -179.96° +table 1.645 0.741 1.093 -3.342 -0.000 1.102 0.03° +chair 0.543 0.887 0.565 -3.531 0.001 0.392 0.03° +chair 0.565 0.923 0.582 -3.056 0.001 0.225 0.08° +chair 0.582 0.853 0.561 -3.969 0.003 1.849 179.62° +chair 0.596 0.895 0.601 -3.284 0.000 1.867 -179.94° +chair 0.559 0.920 0.599 -2.256 0.005 1.031 -89.82° +chair 0.548 0.834 0.500 -4.178 0.001 1.194 89.63° +cabinet 0.724 1.369 0.360 -0.984 -0.003 2.052 -179.80° +table 1.034 2.068 0.439 -4.101 -0.004 1.113 90.77° +lamp 0.842 0.740 0.795 2.909 1.951 -0.918 0.08° +lamp 1.112 0.982 1.211 -3.769 1.937 1.272 -0.04° +floor 10.780 -0.023 6.194 0.873 0.008 -0.874 0.32° +_scene_ 0.066 -0.001 0.022 -5.676 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.125, -0.023, 1.023] + !! OVERLAP: chair <-> floor depth=[0.803, -0.023, 0.950] + !! OVERLAP: chair <-> floor depth=[0.771, -0.023, 0.817] + !! OVERLAP: table <-> floor depth=[1.236, -0.023, 1.028] + !! OVERLAP: table <-> floor depth=[0.628, -0.023, 0.668] + !! OVERLAP: table <-> floor depth=[0.604, -0.023, 0.564] + !! OVERLAP: table <-> chair depth=[0.543, 0.741, 0.119] + !! OVERLAP: table <-> chair depth=[0.486, 0.741, 0.080] + !! OVERLAP: table <-> chair depth=[0.596, 0.741, 0.082] + !! OVERLAP: table <-> chair depth=[0.017, 0.741, 0.599] + !! OVERLAP: table <-> chair depth=[0.260, 0.741, 0.500] + !! OVERLAP: table <-> table depth=[0.580, 0.741, 0.439] + !! OVERLAP: table <-> floor depth=[1.645, -0.023, 1.093] + !! OVERLAP: chair <-> chair depth=[0.079, 0.887, 0.407] + !! OVERLAP: chair <-> floor depth=[0.543, -0.023, 0.565] + !! OVERLAP: chair <-> floor depth=[0.565, -0.023, 0.582] + !! OVERLAP: chair <-> floor depth=[0.582, -0.023, 0.561] + !! OVERLAP: chair <-> floor depth=[0.596, -0.023, 0.601] + !! OVERLAP: chair <-> floor depth=[0.559, -0.023, 0.599] + !! OVERLAP: chair <-> table depth=[0.548, 0.834, 0.388] + !! OVERLAP: chair <-> floor depth=[0.548, -0.023, 0.500] + !! OVERLAP: cabinet <-> floor depth=[0.724, -0.023, 0.352] + !! OVERLAP: table <-> floor depth=[0.933, -0.023, 0.439] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0069, Room Outer Loss: 0.0289, Walkable Loss: 0.3113 (Center Penalty: 0.3113), Relational Loss: 0.0128 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.647 1.143 0.398 0.770 0.003 -0.858 -90.10° +sofa 2.604 0.804 1.087 -1.197 0.003 -0.291 0.02° +table 1.268 0.709 1.236 -0.917 -0.001 -2.731 0.06° +tv_stand 2.379 0.538 0.444 -0.711 0.000 2.381 179.88° +table 1.476 0.663 0.995 -0.928 -0.001 1.180 0.00° +chair 0.822 0.873 0.919 0.848 -0.001 1.343 -136.47° +chair 0.532 0.919 0.563 -1.292 -0.002 -3.466 -0.01° +chair 0.524 0.921 0.581 -0.762 -0.001 -3.407 0.00° +chair 0.457 0.955 0.604 -0.856 0.001 -2.121 179.89° +chair 0.515 0.950 0.583 -1.433 0.001 -1.877 179.89° +table 0.640 1.274 0.416 0.429 0.002 2.811 0.12° +table 0.561 1.328 0.461 -2.325 -0.004 2.575 0.19° +cabinet 1.617 0.708 0.356 -2.241 0.002 -2.126 89.98° +lamp 0.790 0.898 0.681 -1.182 1.778 1.230 0.02° +cabinet 0.811 1.232 0.368 1.326 0.016 -2.096 -90.94° +chair 0.551 0.422 0.526 1.335 0.002 -1.355 -89.74° +lamp 0.659 0.927 0.673 -1.189 1.707 -2.711 -0.03° +floor 5.038 -0.003 7.391 -0.817 -0.001 -0.462 -0.03° +_scene_ 0.067 -0.000 0.020 -5.673 -0.006 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.647, -0.003, 0.398] + !! OVERLAP: sofa <-> floor depth=[2.604, -0.003, 1.087] + !! OVERLAP: table <-> chair depth=[0.525, 0.709, 0.165] + !! OVERLAP: table <-> chair depth=[0.524, 0.709, 0.232] + !! OVERLAP: table <-> chair depth=[0.457, 0.709, 0.311] + !! OVERLAP: table <-> chair depth=[0.375, 0.709, 0.056] + !! OVERLAP: table <-> cabinet depth=[0.118, 0.706, 0.191] + !! OVERLAP: table <-> floor depth=[1.268, -0.003, 1.236] + !! OVERLAP: tv_stand <-> table depth=[0.370, 0.538, 0.000] + !! OVERLAP: tv_stand <-> floor depth=[2.379, -0.003, 0.444] + !! OVERLAP: table <-> floor depth=[1.476, -0.003, 0.995] + !! OVERLAP: chair <-> floor depth=[0.822, -0.003, 0.919] + !! OVERLAP: chair <-> floor depth=[0.532, -0.003, 0.563] + !! OVERLAP: chair <-> floor depth=[0.524, -0.003, 0.581] + !! OVERLAP: chair <-> floor depth=[0.457, -0.003, 0.604] + !! OVERLAP: chair <-> cabinet depth=[0.258, 0.708, 0.221] + !! OVERLAP: chair <-> floor depth=[0.515, -0.003, 0.583] + !! OVERLAP: table <-> floor depth=[0.640, -0.003, 0.416] + !! OVERLAP: table <-> floor depth=[0.561, -0.003, 0.461] + !! OVERLAP: cabinet <-> floor depth=[1.617, -0.003, 0.356] + !! OVERLAP: cabinet <-> floor depth=[0.782, -0.003, 0.368] + !! OVERLAP: chair <-> floor depth=[0.551, -0.003, 0.526] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0090, Room Outer Loss: 0.0000, Walkable Loss: 0.2543 (Center Penalty: 0.2543), Relational Loss: 0.0222 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.533 0.736 1.119 -2.143 0.001 -0.645 0.01° +lamp 0.322 0.760 0.280 -1.952 1.751 -0.781 -0.04° +chair 0.583 0.901 0.617 -1.253 -0.000 -0.431 -90.04° +chair 0.574 0.931 0.638 -1.656 0.000 -1.429 0.14° +chair 0.621 0.916 0.629 -1.668 0.000 0.163 -179.96° +chair 0.651 0.893 0.689 -2.631 0.001 -0.054 180.00° +chair 0.600 0.928 0.659 -3.206 0.003 -0.647 90.01° +chair 0.660 0.852 0.625 -2.517 0.001 -1.800 -0.05° +table 0.814 0.500 0.979 1.854 0.002 -0.625 -0.01° +tv_stand 2.257 1.082 0.408 1.486 0.000 0.949 179.93° +sofa 2.516 0.904 1.001 1.072 -0.001 -1.806 -0.03° +chair 0.653 1.144 0.830 2.745 -0.004 -1.483 -58.07° +chair 0.661 0.439 0.362 0.106 0.008 -1.221 90.06° +chair 0.596 0.439 0.423 0.733 0.005 -0.839 90.14° +lamp 0.285 0.664 0.265 1.685 1.944 -0.490 0.01° +cabinet 0.608 0.803 0.433 -3.084 0.001 1.294 -179.98° +floor 7.387 0.009 5.569 -0.442 -0.000 -1.024 -0.03° +_scene_ 0.074 0.001 0.024 -5.671 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.168, 0.736, 0.617] + !! OVERLAP: table <-> chair depth=[0.566, 0.736, 0.095] + !! OVERLAP: table <-> chair depth=[0.602, 0.736, 0.066] + !! OVERLAP: table <-> chair depth=[0.604, 0.736, 0.313] + !! OVERLAP: table <-> chair depth=[0.004, 0.736, 0.659] + !! OVERLAP: table <-> floor depth=[1.533, 0.009, 1.119] + !! OVERLAP: chair <-> chair depth=[0.187, 0.901, 0.028] + !! OVERLAP: chair <-> floor depth=[0.583, 0.009, 0.617] + !! OVERLAP: chair <-> floor depth=[0.574, 0.009, 0.638] + !! OVERLAP: chair <-> floor depth=[0.621, 0.009, 0.629] + !! OVERLAP: chair <-> chair depth=[0.051, 0.893, 0.081] + !! OVERLAP: chair <-> floor depth=[0.651, 0.009, 0.689] + !! OVERLAP: chair <-> floor depth=[0.600, 0.009, 0.659] + !! OVERLAP: chair <-> floor depth=[0.660, 0.009, 0.625] + !! OVERLAP: table <-> floor depth=[0.814, 0.009, 0.979] + !! OVERLAP: tv_stand <-> floor depth=[2.257, 0.009, 0.408] + !! OVERLAP: sofa <-> chair depth=[0.622, 0.439, 0.096] + !! OVERLAP: sofa <-> floor depth=[2.516, 0.009, 1.001] + !! OVERLAP: chair <-> floor depth=[0.653, 0.009, 0.830] + !! OVERLAP: chair <-> chair depth=[0.001, 0.437, 0.011] + !! OVERLAP: chair <-> floor depth=[0.661, 0.009, 0.362] + !! OVERLAP: chair <-> floor depth=[0.596, 0.009, 0.423] + !! OVERLAP: cabinet <-> floor depth=[0.608, 0.009, 0.433] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0102, Walkable Loss: 0.1839 (Center Penalty: 0.1839), Relational Loss: 0.0169 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.030 0.799 0.901 1.258 0.001 -1.945 -89.85° +chair 0.886 1.046 0.795 0.242 -0.000 -3.626 0.02° +table 1.272 0.453 1.139 0.204 0.004 -1.485 89.98° +table 0.310 1.207 0.379 1.953 -0.000 -3.003 -90.07° +tv_stand 1.885 0.616 0.421 -1.134 0.003 -1.620 90.03° +table 1.373 0.818 1.168 0.790 -0.000 1.406 -90.06° +chair 0.573 1.063 0.632 -0.191 -0.001 1.417 89.91° +chair 0.547 1.068 0.637 -0.174 -0.000 2.024 89.93° +chair 0.454 1.046 0.599 1.711 -0.001 1.229 -90.45° +chair 0.473 1.001 0.512 1.661 -0.001 1.988 -90.06° +lamp 1.085 1.396 1.066 0.214 1.970 -1.386 -0.02° +lamp 0.792 1.004 0.820 0.896 1.717 1.553 -0.04° +floor 4.365 -0.005 7.450 0.116 0.000 -1.006 -0.01° +_scene_ 0.069 0.000 0.023 -5.669 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.597, 0.453, 0.561] + !! OVERLAP: sofa <-> floor depth=[2.030, -0.005, 0.901] + !! OVERLAP: chair <-> floor depth=[0.886, -0.005, 0.795] + !! OVERLAP: table <-> tv_stand depth=[0.240, 0.453, 0.421] + !! OVERLAP: table <-> floor depth=[1.272, -0.005, 1.139] + !! OVERLAP: table <-> floor depth=[0.310, -0.005, 0.379] + !! OVERLAP: tv_stand <-> floor depth=[1.875, -0.005, 0.421] + !! OVERLAP: table <-> chair depth=[0.052, 0.818, 0.258] + !! OVERLAP: table <-> floor depth=[1.373, -0.005, 1.168] + !! OVERLAP: chair <-> chair depth=[0.543, 1.063, 0.027] + !! OVERLAP: chair <-> floor depth=[0.573, -0.005, 0.632] + !! OVERLAP: chair <-> floor depth=[0.547, -0.005, 0.637] + !! OVERLAP: chair <-> floor depth=[0.454, -0.005, 0.599] + !! OVERLAP: chair <-> floor depth=[0.473, -0.005, 0.512] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0030, Room Outer Loss: 0.0449, Walkable Loss: 0.0618 (Center Penalty: 0.0618), Relational Loss: 0.0090 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.633 0.935 0.627 -1.400 1.936 -2.618 -0.02° +table 1.657 0.825 1.111 1.538 0.019 -2.211 -90.09° +chair 0.560 0.737 0.548 1.600 0.001 -3.202 0.11° +chair 0.545 0.748 0.579 0.619 0.000 -3.006 0.02° +chair 0.559 0.744 0.576 1.587 0.001 -1.207 -179.95° +chair 0.525 0.733 0.575 0.566 0.001 -1.370 179.99° +lamp 0.987 0.864 0.958 -1.766 1.961 1.740 179.84° +table 0.535 0.612 0.487 -3.179 0.001 0.016 90.06° +table 0.534 0.554 0.545 -3.138 0.004 3.434 90.00° +table 1.267 0.389 0.989 -1.631 0.000 1.720 89.95° +tv_stand 1.541 0.559 0.376 -0.254 0.000 1.872 -90.03° +sofa 2.233 0.895 0.877 -3.190 0.001 1.537 89.90° +chair 0.764 1.028 0.858 -1.833 0.001 3.238 178.65° +table 0.943 0.663 0.573 -1.543 0.001 0.225 179.87° +floor 7.164 -0.004 8.352 -1.260 0.001 0.118 -0.03° +_scene_ 0.069 0.000 0.019 -5.670 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.181, 0.748, 0.050] + !! OVERLAP: table <-> chair depth=[0.119, 0.733, 0.002] + !! OVERLAP: table <-> floor depth=[1.612, -0.004, 1.111] + !! OVERLAP: chair <-> floor depth=[0.560, -0.004, 0.548] + !! OVERLAP: chair <-> floor depth=[0.545, -0.004, 0.579] + !! OVERLAP: chair <-> floor depth=[0.559, -0.004, 0.576] + !! OVERLAP: chair <-> floor depth=[0.525, -0.004, 0.575] + !! OVERLAP: table <-> floor depth=[0.535, -0.004, 0.487] + !! OVERLAP: table <-> floor depth=[0.534, -0.004, 0.545] + !! OVERLAP: table <-> tv_stand depth=[0.027, 0.389, 0.376] + !! OVERLAP: table <-> sofa depth=[0.192, 0.389, 0.750] + !! OVERLAP: table <-> floor depth=[1.267, -0.004, 0.989] + !! OVERLAP: tv_stand <-> floor depth=[1.541, -0.004, 0.376] + !! OVERLAP: sofa <-> floor depth=[2.233, -0.004, 0.877] + !! OVERLAP: chair <-> floor depth=[0.764, -0.004, 0.858] + !! OVERLAP: table <-> floor depth=[0.943, -0.004, 0.573] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0161, Room Outer Loss: 0.2575, Walkable Loss: 0.6659 (Center Penalty: 0.6659), Relational Loss: 0.0120 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.666 0.763 0.581 -1.276 0.096 -0.507 90.18° +chair 0.465 0.948 0.470 -1.802 -0.001 -0.099 90.04° +chair 0.450 0.939 0.494 -1.866 0.001 -0.390 90.00° +chair 0.423 0.937 0.385 -0.971 0.009 -0.144 -90.39° +chair 0.464 0.923 0.519 -0.744 -0.000 -0.667 -89.87° +table 1.300 0.739 0.372 1.442 0.005 -0.249 -90.24° +cabinet 0.867 1.456 0.532 1.602 0.004 -1.311 0.05° +lamp 0.529 0.434 0.419 -0.435 2.145 -0.643 -0.14° +floor 5.477 0.002 2.405 -0.078 0.010 -1.239 0.23° +_scene_ 0.065 0.000 0.018 -5.674 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.465, 0.758, 0.118] + !! OVERLAP: table <-> chair depth=[0.450, 0.756, 0.421] + !! OVERLAP: table <-> chair depth=[0.423, 0.763, 0.120] + !! OVERLAP: table <-> chair depth=[0.464, 0.747, 0.390] + !! OVERLAP: table <-> floor depth=[1.666, 0.002, 0.581] + !! OVERLAP: chair <-> chair depth=[0.393, 0.939, 0.191] + !! OVERLAP: chair <-> floor depth=[0.465, 0.002, 0.298] + !! OVERLAP: chair <-> floor depth=[0.450, 0.002, 0.494] + !! OVERLAP: chair <-> floor depth=[0.423, 0.002, 0.300] + !! OVERLAP: chair <-> floor depth=[0.464, 0.002, 0.519] + !! OVERLAP: table <-> floor depth=[1.300, 0.002, 0.372] + !! OVERLAP: cabinet <-> floor depth=[0.867, 0.002, 0.532] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0084, Room Outer Loss: 0.1728, Walkable Loss: 0.2354 (Center Penalty: 0.2354), Relational Loss: 0.0190 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.647 0.810 0.849 1.487 0.000 1.254 -89.83° +table 0.987 0.349 0.967 0.116 -0.001 1.405 -90.30° +table 1.525 0.788 0.878 1.329 0.006 -0.631 -0.06° +chair 0.511 0.799 0.390 1.204 -0.001 0.028 -179.98° +chair 0.490 0.804 0.498 1.772 0.001 -0.254 179.98° +chair 0.434 0.841 0.493 1.111 0.001 -1.295 0.00° +chair 0.446 0.806 0.504 1.671 0.000 -1.215 0.00° +tv_stand 2.026 0.635 0.349 -0.994 -0.000 1.395 89.98° +cabinet 0.844 1.048 0.177 -0.451 -0.017 -1.499 0.19° +lamp 0.615 0.462 0.318 0.019 2.219 1.497 0.01° +lamp 0.212 1.208 0.201 1.469 1.527 -0.705 0.02° +floor 4.144 -0.008 5.277 0.128 0.001 1.028 -0.01° +_scene_ 0.070 0.000 0.021 -5.670 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.537, -0.008, 0.849] + !! OVERLAP: table <-> tv_stand depth=[0.396, 0.349, 0.349] + !! OVERLAP: table <-> floor depth=[0.987, -0.008, 0.967] + !! OVERLAP: table <-> chair depth=[0.490, 0.788, 0.311] + !! OVERLAP: table <-> chair depth=[0.434, 0.788, 0.022] + !! OVERLAP: table <-> chair depth=[0.446, 0.788, 0.107] + !! OVERLAP: table <-> floor depth=[1.525, -0.008, 0.878] + !! OVERLAP: chair <-> floor depth=[0.511, -0.008, 0.390] + !! OVERLAP: chair <-> floor depth=[0.490, -0.008, 0.498] + !! OVERLAP: chair <-> floor depth=[0.434, -0.008, 0.493] + !! OVERLAP: chair <-> floor depth=[0.446, -0.008, 0.504] + !! OVERLAP: tv_stand <-> floor depth=[1.963, -0.008, 0.349] + !! OVERLAP: cabinet <-> floor depth=[0.844, -0.008, 0.177] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0037, Room Outer Loss: 0.0000, Walkable Loss: 0.3101 (Center Penalty: 0.3101), Relational Loss: 0.0104 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.767 0.776 0.907 -0.352 0.000 3.083 150.31° +chair 0.699 0.332 0.403 -1.008 -0.000 0.214 0.02° +table 0.586 0.456 0.587 -0.661 0.000 2.087 -0.02° +table 1.033 0.590 0.676 1.186 -0.001 0.297 -0.03° +table 0.716 0.555 0.709 0.496 0.003 2.700 -0.02° +tv_stand 2.360 0.741 0.396 -1.230 -0.004 1.685 89.99° +cabinet 1.030 1.039 0.375 2.202 0.000 -1.062 -90.02° +lamp 1.241 0.565 0.305 -0.209 2.024 1.343 -0.06° +lamp 0.457 0.325 0.444 2.200 2.143 -2.226 -0.14° +sofa 2.276 0.880 0.761 0.689 0.002 1.993 179.90° +floor 5.535 0.002 7.037 0.322 0.002 0.988 0.01° +_scene_ 0.076 0.003 0.020 -5.670 -0.005 -5.710 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.767, 0.002, 0.907] + !! OVERLAP: chair <-> floor depth=[0.699, 0.002, 0.403] + !! OVERLAP: table <-> tv_stand depth=[0.586, 0.456, 0.089] + !! OVERLAP: table <-> sofa depth=[0.081, 0.456, 0.580] + !! OVERLAP: table <-> floor depth=[0.586, 0.002, 0.587] + !! OVERLAP: table <-> floor depth=[1.033, 0.002, 0.676] + !! OVERLAP: table <-> sofa depth=[0.716, 0.555, 0.028] + !! OVERLAP: table <-> floor depth=[0.716, 0.002, 0.709] + !! OVERLAP: tv_stand <-> sofa depth=[0.399, 0.741, 0.270] + !! OVERLAP: tv_stand <-> floor depth=[2.360, 0.002, 0.396] + !! OVERLAP: cabinet <-> floor depth=[1.030, 0.002, 0.375] + !! OVERLAP: sofa <-> floor depth=[2.276, 0.002, 0.761] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0074, Room Outer Loss: 0.0236, Walkable Loss: 0.2836 (Center Penalty: 0.2836), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.939 0.799 1.004 2.037 0.001 1.027 179.95° +table 1.289 0.409 0.956 2.331 -0.000 -0.037 0.00° +chair 0.519 0.474 0.449 1.241 0.002 0.101 -0.03° +bookshelf 3.163 2.674 0.258 -1.240 -0.001 1.520 -179.84° +table 1.485 0.756 0.888 -1.276 -0.001 -0.923 0.04° +chair 0.506 0.937 0.554 -2.051 -0.000 -1.598 0.05° +chair 0.542 0.898 0.608 -1.846 0.003 -0.231 179.88° +chair 0.507 0.923 0.589 -0.409 -0.001 -1.354 -90.01° +chair 0.540 0.974 0.568 -0.497 0.001 -0.910 -89.42° +lamp 0.561 0.748 0.579 1.989 1.962 -0.403 0.00° +lamp 0.303 0.955 0.299 -1.388 1.368 -1.892 0.00° +lamp 0.393 0.920 0.304 -1.155 1.510 -1.343 -0.03° +lamp 0.356 0.949 0.343 -1.443 1.689 -0.634 0.01° +floor 6.732 0.013 5.447 0.133 0.004 -1.098 -0.03° +_scene_ 0.068 0.000 0.024 -5.666 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.939, 0.013, 1.004] + !! OVERLAP: table <-> floor depth=[1.289, 0.013, 0.956] + !! OVERLAP: chair <-> floor depth=[0.519, 0.013, 0.449] + !! OVERLAP: bookshelf <-> floor depth=[3.163, 0.013, 0.234] + !! OVERLAP: table <-> chair depth=[0.220, 0.756, 0.046] + !! OVERLAP: table <-> chair depth=[0.443, 0.756, 0.056] + !! OVERLAP: table <-> chair depth=[0.130, 0.756, 0.307] + !! OVERLAP: table <-> chair depth=[0.235, 0.756, 0.568] + !! OVERLAP: table <-> floor depth=[1.485, 0.013, 0.888] + !! OVERLAP: chair <-> floor depth=[0.506, 0.013, 0.554] + !! OVERLAP: chair <-> floor depth=[0.542, 0.013, 0.608] + !! OVERLAP: chair <-> chair depth=[0.436, 0.923, 0.135] + !! OVERLAP: chair <-> floor depth=[0.507, 0.013, 0.589] + !! OVERLAP: chair <-> floor depth=[0.540, 0.013, 0.568] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0280, Walkable Loss: 0.4779 (Center Penalty: 0.4779), Relational Loss: 0.0008 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.954 0.755 0.870 -1.352 -0.001 0.245 89.87° +chair 0.766 0.910 0.937 -0.226 -0.002 2.868 171.20° +chair 0.863 1.029 0.864 -0.154 0.001 -1.325 13.71° +table 0.608 0.389 0.560 -1.369 0.003 -1.201 0.01° +table 0.471 0.573 0.431 -1.191 -0.001 2.043 12.12° +table 0.845 0.444 1.097 0.149 0.001 1.098 -0.03° +tv_stand 2.657 2.402 0.462 1.058 0.006 0.962 -90.59° +cabinet 0.867 0.812 0.353 1.140 0.001 2.786 179.89° +lamp 0.609 0.841 0.607 0.271 1.933 0.880 0.10° +floor 4.842 0.005 6.857 0.120 0.002 0.985 0.30° +_scene_ 0.074 0.001 0.027 -5.669 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.926, 0.005, 0.870] + !! OVERLAP: chair <-> floor depth=[0.766, 0.005, 0.937] + !! OVERLAP: chair <-> floor depth=[0.863, 0.005, 0.864] + !! OVERLAP: table <-> floor depth=[0.608, 0.005, 0.560] + !! OVERLAP: table <-> floor depth=[0.471, 0.005, 0.431] + !! OVERLAP: table <-> tv_stand depth=[0.842, 0.444, 0.462] + !! OVERLAP: table <-> floor depth=[0.845, 0.005, 1.097] + !! OVERLAP: tv_stand <-> floor depth=[2.657, 0.005, 0.462] + !! OVERLAP: cabinet <-> floor depth=[0.867, 0.005, 0.353] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0712, Walkable Loss: 0.2418 (Center Penalty: 0.2418), Relational Loss: 0.0210 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.167 0.873 0.928 -1.321 0.003 -1.514 90.02° +chair 0.857 0.795 0.857 -0.173 0.005 -2.848 -9.55° +chair 1.197 0.269 0.458 0.713 -0.015 -0.773 179.70° +table 1.254 0.346 0.838 0.252 0.004 -1.466 -179.96° +table 0.555 0.666 0.527 -1.701 0.003 -3.330 90.01° +table 0.563 0.654 0.551 -1.467 -0.000 0.032 0.00° +tv_stand 1.990 0.411 0.389 1.288 -0.008 -1.997 -90.07° +table 1.744 0.729 1.282 0.025 0.000 2.103 179.81° +chair 0.422 0.615 0.466 0.826 0.004 1.409 -89.94° +chair 0.363 0.488 0.403 0.883 0.005 2.562 -90.17° +chair 0.424 0.599 0.413 -0.511 -0.002 1.313 0.01° +chair 0.456 0.575 0.477 -0.530 -0.001 2.620 179.86° +table 1.109 0.915 0.427 -1.946 -0.002 2.496 89.99° +lamp 0.650 0.650 0.638 0.204 1.968 -1.745 -0.06° +lamp 0.569 0.911 0.489 0.265 1.610 2.159 -0.03° +floor 4.785 -0.008 8.422 -0.037 -0.009 -1.122 -0.34° +_scene_ 0.070 -0.000 0.016 -5.668 -0.004 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.136, 0.346, 0.835] + !! OVERLAP: sofa <-> floor depth=[2.167, -0.008, 0.928] + !! OVERLAP: chair <-> floor depth=[0.857, -0.008, 0.857] + !! OVERLAP: chair <-> floor depth=[1.197, -0.008, 0.458] + !! OVERLAP: table <-> tv_stand depth=[0.586, 0.346, 0.083] + !! OVERLAP: table <-> floor depth=[1.254, -0.008, 0.838] + !! OVERLAP: table <-> floor depth=[0.555, -0.008, 0.527] + !! OVERLAP: table <-> floor depth=[0.563, -0.008, 0.551] + !! OVERLAP: tv_stand <-> floor depth=[1.990, -0.008, 0.389] + !! OVERLAP: table <-> chair depth=[0.282, 0.615, 0.181] + !! OVERLAP: table <-> chair depth=[0.195, 0.488, 0.383] + !! OVERLAP: table <-> chair depth=[0.424, 0.599, 0.058] + !! OVERLAP: table <-> chair depth=[0.456, 0.575, 0.362] + !! OVERLAP: table <-> floor depth=[1.744, -0.008, 1.282] + !! OVERLAP: chair <-> floor depth=[0.422, -0.008, 0.466] + !! OVERLAP: chair <-> floor depth=[0.363, -0.008, 0.403] + !! OVERLAP: chair <-> floor depth=[0.424, -0.008, 0.413] + !! OVERLAP: chair <-> floor depth=[0.456, -0.008, 0.477] + !! OVERLAP: table <-> floor depth=[1.038, -0.008, 0.427] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0193, Room Outer Loss: 0.0965, Walkable Loss: 0.3019 (Center Penalty: 0.3019), Relational Loss: 0.0150 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.466 0.936 0.977 -1.713 0.002 1.630 89.97° +table 1.548 0.422 1.264 -0.282 0.001 1.802 -0.01° +chair 0.859 0.942 0.832 -0.388 0.002 2.865 -179.99° +table 0.536 0.621 0.449 -1.932 0.002 -0.277 90.05° +table 0.479 0.574 0.465 -1.999 0.004 3.244 90.04° +tv_stand 1.544 0.474 0.406 0.570 0.001 1.564 -90.05° +chair 0.831 0.966 0.866 -0.887 -0.001 -0.662 11.42° +table 1.665 0.744 1.042 -0.731 0.001 -2.149 0.01° +chair 0.499 1.019 0.600 -1.062 0.004 -1.606 179.88° +chair 0.546 0.960 0.604 -1.026 -0.002 -2.499 -0.00° +chair 0.580 0.986 0.626 -0.404 -0.000 -2.492 0.05° +chair 0.550 1.048 0.555 -0.310 -0.000 -1.600 -179.92° +table 0.559 0.591 0.539 -0.905 -0.001 -3.153 0.02° +table 0.645 1.276 0.332 0.973 -0.001 -3.165 -89.76° +lamp 0.756 0.784 0.761 -0.651 1.965 -2.219 -0.06° +lamp 1.333 1.168 1.373 -0.772 1.707 1.718 0.03° +floor 4.323 -0.013 7.133 -0.891 -0.001 0.032 0.17° +_scene_ 0.072 -0.001 0.025 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.576, 0.422, 0.949] + !! OVERLAP: sofa <-> floor depth=[2.466, -0.013, 0.977] + !! OVERLAP: table <-> tv_stand depth=[0.694, 0.422, 0.406] + !! OVERLAP: table <-> floor depth=[1.548, -0.013, 1.264] + !! OVERLAP: chair <-> floor depth=[0.859, -0.013, 0.832] + !! OVERLAP: table <-> floor depth=[0.536, -0.013, 0.449] + !! OVERLAP: table <-> floor depth=[0.479, -0.013, 0.465] + !! OVERLAP: tv_stand <-> floor depth=[1.472, -0.013, 0.406] + !! OVERLAP: chair <-> floor depth=[0.831, -0.013, 0.866] + !! OVERLAP: table <-> chair depth=[0.499, 0.744, 0.277] + !! OVERLAP: table <-> chair depth=[0.546, 0.744, 0.473] + !! OVERLAP: table <-> chair depth=[0.580, 0.744, 0.491] + !! OVERLAP: table <-> chair depth=[0.550, 0.744, 0.249] + !! OVERLAP: table <-> floor depth=[1.665, -0.013, 1.042] + !! OVERLAP: chair <-> floor depth=[0.499, -0.013, 0.600] + !! OVERLAP: chair <-> floor depth=[0.546, -0.013, 0.604] + !! OVERLAP: chair <-> floor depth=[0.580, -0.013, 0.626] + !! OVERLAP: chair <-> floor depth=[0.550, -0.013, 0.555] + !! OVERLAP: table <-> floor depth=[0.559, -0.013, 0.539] + !! OVERLAP: table <-> floor depth=[0.620, -0.013, 0.332] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0190, Room Outer Loss: 0.0289, Walkable Loss: 0.3087 (Center Penalty: 0.3087), Relational Loss: 0.0214 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.617 0.904 0.703 -0.697 -0.008 -0.847 -77.12° +table 0.827 0.332 0.670 1.060 0.000 -0.871 -0.05° +sofa 1.974 0.815 0.794 1.126 0.002 -1.561 -0.07° +chair 0.760 1.003 1.106 2.396 0.006 -0.122 -102.12° +table 0.502 0.534 0.548 2.454 0.001 -1.800 -0.06° +table 0.608 0.475 0.559 -0.180 0.001 -1.821 -0.04° +lamp 0.655 0.802 0.663 1.085 1.908 -0.769 -0.00° +chair 0.606 1.067 0.699 -2.690 0.001 -1.754 -0.03° +chair 0.609 0.963 0.618 -2.445 -0.005 -0.864 -91.47° +table 2.850 0.852 0.518 -2.166 -0.025 -1.380 89.37° +cabinet 1.071 0.738 0.357 -1.418 0.007 -1.634 0.07° +floor 6.768 0.001 5.130 -0.637 -0.000 -0.705 0.06° +_scene_ 0.076 0.000 0.023 -5.671 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.264, 0.852, 0.078] + !! OVERLAP: chair <-> floor depth=[0.617, 0.001, 0.703] + !! OVERLAP: table <-> sofa depth=[0.827, 0.332, 0.042] + !! OVERLAP: table <-> floor depth=[0.827, 0.001, 0.670] + !! OVERLAP: sofa <-> floor depth=[1.974, 0.001, 0.794] + !! OVERLAP: chair <-> floor depth=[0.731, 0.001, 1.106] + !! OVERLAP: table <-> floor depth=[0.502, 0.001, 0.548] + !! OVERLAP: table <-> floor depth=[0.608, 0.001, 0.559] + !! OVERLAP: chair <-> table depth=[0.606, 0.852, 0.235] + !! OVERLAP: chair <-> floor depth=[0.606, 0.001, 0.699] + !! OVERLAP: chair <-> table depth=[0.609, 0.852, 0.052] + !! OVERLAP: chair <-> floor depth=[0.609, 0.001, 0.618] + !! OVERLAP: table <-> cabinet depth=[1.071, 0.738, 0.184] + !! OVERLAP: table <-> floor depth=[2.850, 0.001, 0.518] + !! OVERLAP: cabinet <-> floor depth=[1.071, 0.001, 0.357] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0801, Walkable Loss: 0.5077 (Center Penalty: 0.5077), Relational Loss: 0.0007 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.266 0.352 0.726 0.210 -0.004 0.876 89.66° +table 0.551 0.570 0.525 -1.237 0.000 -1.552 13.30° +sofa 2.357 0.822 0.991 -1.544 0.001 0.155 89.94° +chair 0.830 0.986 0.786 0.416 -0.002 -1.140 -25.19° +tv_stand 1.247 0.802 0.332 1.239 -0.012 1.022 -90.34° +lamp 0.373 0.546 0.362 0.522 2.133 1.011 -0.04° +floor 5.114 -0.005 5.392 -0.774 -0.002 -0.539 0.05° +_scene_ 0.066 0.001 0.019 -5.674 -0.005 -5.714 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.058, 0.352, 0.139] + !! OVERLAP: table <-> tv_stand depth=[0.227, 0.352, 0.332] + !! OVERLAP: table <-> floor depth=[1.266, -0.005, 0.726] + !! OVERLAP: table <-> floor depth=[0.551, -0.005, 0.525] + !! OVERLAP: sofa <-> floor depth=[2.357, -0.005, 0.991] + !! OVERLAP: chair <-> floor depth=[0.830, -0.005, 0.786] + !! OVERLAP: tv_stand <-> floor depth=[1.167, -0.005, 0.332] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0582, Walkable Loss: 0.1646 (Center Penalty: 0.1646), Relational Loss: 0.0282 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.826 0.825 0.358 -0.141 1.905 -1.732 0.02° +tv_stand 1.765 0.398 0.332 -1.414 -0.000 1.633 90.03° +sofa 1.757 0.820 0.862 0.861 -0.002 1.377 -89.73° +cabinet 1.050 1.009 0.463 1.255 0.001 -0.410 -89.93° +table 1.041 0.441 0.564 -0.031 0.001 1.814 90.02° +bookshelf 0.878 2.531 0.365 -1.420 -0.000 -0.594 89.95° +lamp 1.043 1.245 1.048 -0.046 1.636 1.484 0.05° +chair 0.536 1.101 0.561 -0.416 -0.001 -1.555 65.00° +floor 4.058 0.012 6.640 -0.299 -0.002 1.034 -0.43° +_scene_ 0.073 0.001 0.025 -5.671 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.020, 0.398, 0.267] + !! OVERLAP: tv_stand <-> floor depth=[1.765, 0.012, 0.332] + !! OVERLAP: sofa <-> table depth=[0.507, 0.441, 0.276] + !! OVERLAP: sofa <-> floor depth=[1.748, 0.012, 0.862] + !! OVERLAP: cabinet <-> floor depth=[1.001, 0.012, 0.463] + !! OVERLAP: table <-> floor depth=[1.041, 0.012, 0.564] + !! OVERLAP: bookshelf <-> floor depth=[0.878, 0.012, 0.365] + !! OVERLAP: chair <-> floor depth=[0.536, 0.012, 0.561] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.0172, Room Outer Loss: 0.0009, Walkable Loss: 1.4880 (Center Penalty: 1.4880), Relational Loss: 0.0104 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.078 0.952 1.109 -0.984 1.914 1.422 -0.00° +tv_stand 1.677 0.434 0.315 0.651 -0.006 -1.145 -89.66° +table 0.860 0.491 0.503 -1.073 0.002 -1.216 90.02° +sofa 2.334 0.816 1.284 -0.440 -0.038 -0.647 90.69° +table 1.282 0.555 0.705 -0.659 -0.001 1.295 179.92° +chair 0.495 0.724 0.495 -1.130 -0.001 0.735 89.37° +chair 0.506 0.773 0.493 -0.618 0.001 0.746 0.03° +lamp 0.377 0.233 0.386 -0.727 2.194 -1.063 -0.02° +floor 3.157 0.000 5.058 -0.027 0.002 -0.196 0.00° +_scene_ 0.054 -0.001 0.011 -5.670 -0.004 -5.718 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> sofa depth=[0.914, 0.434, 0.301] + !! OVERLAP: tv_stand <-> floor depth=[1.677, 0.000, 0.315] + !! OVERLAP: table <-> sofa depth=[0.860, 0.491, 0.324] + !! OVERLAP: table <-> floor depth=[0.860, 0.000, 0.503] + !! OVERLAP: sofa <-> floor depth=[2.333, 0.000, 1.284] + !! OVERLAP: table <-> chair depth=[0.417, 0.555, 0.040] + !! OVERLAP: table <-> chair depth=[0.506, 0.555, 0.050] + !! OVERLAP: table <-> floor depth=[1.282, 0.000, 0.705] + !! OVERLAP: chair <-> floor depth=[0.495, 0.000, 0.495] + !! OVERLAP: chair <-> floor depth=[0.506, 0.000, 0.493] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0162, Room Outer Loss: 0.0000, Walkable Loss: 0.7046 (Center Penalty: 0.7046), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.854 0.450 0.919 1.044 -0.001 0.066 0.02° +table 0.483 0.691 0.538 1.635 -0.002 0.019 0.13° +sofa 2.313 1.055 0.547 -0.772 0.040 -0.143 -0.17° +chair 0.522 0.825 0.439 -1.759 0.006 -0.656 47.31° +tv_stand 2.521 0.795 0.570 0.694 0.001 1.758 179.94° +floor 4.847 0.015 4.415 -0.232 -0.003 0.746 -0.21° +_scene_ 0.040 -0.004 0.016 -5.642 -0.000 -5.679 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.077, 0.450, 0.538] + !! OVERLAP: table <-> floor depth=[0.854, 0.015, 0.919] + !! OVERLAP: table <-> floor depth=[0.483, 0.015, 0.538] + !! OVERLAP: sofa <-> floor depth=[2.313, 0.015, 0.547] + !! OVERLAP: chair <-> floor depth=[0.522, 0.015, 0.439] + !! OVERLAP: tv_stand <-> floor depth=[2.521, 0.015, 0.570] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0036, Room Outer Loss: 0.2237, Walkable Loss: 0.4998 (Center Penalty: 0.4998), Relational Loss: 0.0132 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.842 0.684 0.693 -1.332 0.004 0.203 90.00° +table 0.926 1.082 0.393 -1.519 0.012 -1.584 90.11° +tv_stand 1.488 0.651 0.392 0.737 0.000 -0.483 -89.98° +table 2.440 0.735 0.978 -0.477 0.002 1.579 0.03° +chair 0.389 0.933 0.384 0.054 0.005 2.433 -154.39° +chair 0.451 0.886 0.440 -0.415 -0.000 2.360 158.21° +lamp 0.529 1.006 0.648 -0.985 1.727 -0.040 0.21° +chair 0.618 0.370 0.448 -0.242 0.001 -1.623 0.05° +floor 4.029 -0.039 5.409 -0.758 -0.029 0.729 -0.36° +_scene_ 0.070 0.000 0.026 -5.663 -0.006 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.842, -0.039, 0.693] + !! OVERLAP: table <-> floor depth=[0.926, -0.039, 0.393] + !! OVERLAP: tv_stand <-> floor depth=[1.265, -0.039, 0.392] + !! OVERLAP: table <-> floor depth=[2.440, -0.039, 0.978] + !! OVERLAP: chair <-> floor depth=[0.389, -0.039, 0.384] + !! OVERLAP: chair <-> floor depth=[0.451, -0.039, 0.440] + !! OVERLAP: chair <-> floor depth=[0.618, -0.039, 0.448] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0038, Room Outer Loss: 0.0515, Walkable Loss: 0.5392 (Center Penalty: 0.5392), Relational Loss: 0.0120 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.539 0.836 0.570 1.919 0.005 0.063 -74.40° +sofa 2.210 0.867 0.931 1.073 -0.002 -1.176 -0.09° +chair 0.664 0.512 0.534 -0.382 0.001 0.610 -90.15° +table 0.493 0.268 0.347 1.198 0.005 -0.497 179.95° +table 0.325 0.427 0.367 1.805 -0.001 -1.095 179.68° +table 0.498 0.375 0.531 -0.837 0.002 -1.119 179.89° +table 1.667 0.699 0.730 -1.975 0.003 0.635 -179.93° +chair 0.587 0.803 0.611 -2.827 0.004 1.530 179.88° +chair 0.631 0.776 0.557 -1.942 0.002 1.752 -179.85° +chair 0.523 0.816 0.535 -2.011 0.001 -0.012 0.00° +chair 0.590 0.769 0.608 -2.776 0.003 -0.227 0.00° +tv_stand 2.853 0.801 0.562 0.929 -0.005 2.492 -179.98° +cabinet 1.108 1.171 0.398 -2.800 -0.001 -2.074 89.92° +lamp 0.240 0.823 0.248 1.425 1.903 0.498 -0.02° +lamp 0.713 0.842 0.714 -1.845 2.001 0.919 -0.03° +floor 6.324 -0.012 5.984 -0.858 0.002 0.601 0.04° +_scene_ 0.066 0.000 0.021 -5.675 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.539, -0.012, 0.570] + !! OVERLAP: sofa <-> table depth=[0.325, 0.427, 0.367] + !! OVERLAP: sofa <-> floor depth=[2.210, -0.012, 0.931] + !! OVERLAP: chair <-> floor depth=[0.664, -0.012, 0.534] + !! OVERLAP: table <-> floor depth=[0.493, -0.012, 0.347] + !! OVERLAP: table <-> floor depth=[0.325, -0.012, 0.367] + !! OVERLAP: table <-> floor depth=[0.498, -0.012, 0.531] + !! OVERLAP: table <-> floor depth=[1.667, -0.012, 0.730] + !! OVERLAP: chair <-> floor depth=[0.587, -0.012, 0.611] + !! OVERLAP: chair <-> floor depth=[0.631, -0.012, 0.557] + !! OVERLAP: chair <-> floor depth=[0.523, -0.012, 0.535] + !! OVERLAP: chair <-> floor depth=[0.590, -0.012, 0.608] + !! OVERLAP: tv_stand <-> floor depth=[2.801, -0.012, 0.562] + !! OVERLAP: cabinet <-> floor depth=[1.108, -0.012, 0.398] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.1806, Walkable Loss: 0.5835 (Center Penalty: 0.5835), Relational Loss: 0.0139 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.046 0.973 0.956 -0.195 0.001 -2.222 89.94° +table 1.456 0.917 0.748 0.833 -0.003 0.718 -0.01° +tv_stand 1.597 0.425 0.398 -1.121 -0.003 -2.383 90.04° +cabinet 0.751 1.245 0.121 -1.457 0.005 3.006 89.90° +cabinet 0.586 0.686 0.272 -1.540 0.002 0.246 89.93° +table 0.479 0.510 0.584 1.145 0.001 -0.959 -0.01° +bookshelf 1.824 2.359 0.250 0.555 -0.005 1.775 179.89° +sofa 2.014 0.748 0.892 0.551 0.003 -2.548 -90.36° +lamp 0.879 0.836 0.888 -0.178 1.730 -2.144 90.04° +chair 0.530 0.944 0.624 0.321 0.001 1.262 179.92° +lamp 0.766 0.985 0.776 0.566 1.647 0.866 0.03° +chair 0.557 0.995 0.622 1.197 0.002 1.173 -179.99° +chair 0.533 1.002 0.550 0.953 -0.002 -0.475 0.06° +chair 0.527 1.043 0.561 1.134 0.000 0.011 -0.03° +floor 3.347 -0.006 8.238 -0.157 -0.004 -0.979 -0.13° +_scene_ 0.069 0.002 0.026 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.396, 0.425, 0.398] + !! OVERLAP: table <-> sofa depth=[0.783, 0.748, 0.598] + !! OVERLAP: table <-> floor depth=[1.046, -0.006, 0.956] + !! OVERLAP: table <-> chair depth=[0.481, 0.917, 0.143] + !! OVERLAP: table <-> chair depth=[0.557, 0.917, 0.231] + !! OVERLAP: table <-> floor depth=[1.412, -0.006, 0.748] + !! OVERLAP: tv_stand <-> sofa depth=[0.133, 0.425, 0.398] + !! OVERLAP: tv_stand <-> floor depth=[1.508, -0.006, 0.398] + !! OVERLAP: cabinet <-> floor depth=[0.748, -0.006, 0.121] + !! OVERLAP: cabinet <-> floor depth=[0.583, -0.006, 0.272] + !! OVERLAP: table <-> chair depth=[0.314, 0.510, 0.084] + !! OVERLAP: table <-> floor depth=[0.479, -0.006, 0.584] + !! OVERLAP: bookshelf <-> floor depth=[1.824, -0.006, 0.250] + !! OVERLAP: sofa <-> floor depth=[1.972, -0.006, 0.892] + !! OVERLAP: chair <-> floor depth=[0.530, -0.006, 0.624] + !! OVERLAP: chair <-> floor depth=[0.557, -0.006, 0.622] + !! OVERLAP: chair <-> chair depth=[0.349, 1.002, 0.069] + !! OVERLAP: chair <-> floor depth=[0.533, -0.006, 0.550] + !! OVERLAP: chair <-> floor depth=[0.527, -0.006, 0.561] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0222, Room Outer Loss: 0.0774, Walkable Loss: 0.1031 (Center Penalty: 0.1031), Relational Loss: 0.0248 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.274 0.716 1.108 -0.369 -0.003 -1.389 -90.10° +chair 0.545 0.871 0.549 -0.672 0.001 -2.549 0.02° +chair 0.483 0.906 0.559 -0.828 0.008 -1.794 -179.95° +chair 0.465 0.847 0.554 0.390 0.001 -2.244 -90.24° +chair 0.514 0.830 0.573 0.462 0.003 -1.728 -102.07° +sofa 2.290 0.889 0.905 -1.664 0.002 1.454 89.96° +table 1.267 0.360 0.715 -0.498 -0.002 1.773 90.05° +table 1.060 0.364 0.830 -1.605 0.003 -0.326 90.01° +tv_stand 1.725 0.518 0.648 -0.033 -0.004 1.340 -89.60° +lamp 0.890 0.898 0.906 -0.240 1.815 1.510 -0.02° +lamp 0.329 0.782 0.338 -0.112 2.111 -2.148 -0.05° +floor 3.976 0.035 6.415 -1.228 0.004 0.272 -0.41° +_scene_ 0.066 0.001 0.023 -5.666 -0.005 -5.717 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.483, 0.716, 0.428] + !! OVERLAP: table <-> chair depth=[0.514, 0.716, 0.501] + !! OVERLAP: table <-> floor depth=[2.267, 0.035, 1.108] + !! OVERLAP: chair <-> floor depth=[0.545, 0.035, 0.549] + !! OVERLAP: chair <-> floor depth=[0.483, 0.035, 0.559] + !! OVERLAP: chair <-> chair depth=[0.418, 0.830, 0.048] + !! OVERLAP: chair <-> floor depth=[0.465, 0.035, 0.554] + !! OVERLAP: chair <-> floor depth=[0.514, 0.035, 0.573] + !! OVERLAP: sofa <-> table depth=[0.613, 0.360, 0.491] + !! OVERLAP: sofa <-> tv_stand depth=[0.376, 0.518, 0.648] + !! OVERLAP: sofa <-> floor depth=[2.290, 0.035, 0.905] + !! OVERLAP: table <-> tv_stand depth=[1.030, 0.360, 0.249] + !! OVERLAP: table <-> floor depth=[1.267, 0.035, 0.715] + !! OVERLAP: table <-> floor depth=[1.060, 0.035, 0.830] + !! OVERLAP: tv_stand <-> floor depth=[1.655, 0.035, 0.648] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0020, Room Outer Loss: 0.2765, Walkable Loss: 0.6863 (Center Penalty: 0.6863), Relational Loss: 0.0186 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.134 0.876 0.858 -1.484 0.002 0.042 90.00° +table 1.599 0.702 0.880 -0.620 -0.002 -0.483 -89.90° +tv_stand 1.250 0.335 0.213 0.917 0.002 -0.670 -89.81° +lamp 0.482 0.344 0.289 -0.158 2.177 0.925 -0.57° +floor 4.507 -0.001 2.840 -0.988 -0.012 -0.147 0.46° +_scene_ 0.061 -0.002 0.038 -5.664 -0.003 -5.705 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.003, 0.702, 0.343] + !! OVERLAP: sofa <-> floor depth=[2.134, -0.001, 0.858] + !! OVERLAP: table <-> floor depth=[1.599, -0.001, 0.880] + !! OVERLAP: tv_stand <-> floor depth=[0.973, -0.001, 0.213] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0140, Room Outer Loss: 0.0000, Walkable Loss: 0.1577 (Center Penalty: 0.1577), Relational Loss: 0.0124 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.619 0.819 0.798 -0.656 -0.008 -1.413 90.10° +table 1.550 0.469 1.134 0.690 0.002 -1.705 90.06° +chair 0.598 0.889 0.742 0.371 0.001 -2.922 0.04° +table 0.488 0.506 0.473 -1.184 0.005 -3.417 90.19° +table 0.616 0.633 0.566 -1.171 0.003 -0.353 89.92° +table 1.830 0.751 0.941 0.900 -0.001 2.551 0.02° +chair 0.618 0.964 0.664 -0.110 0.000 2.035 89.95° +chair 0.611 0.954 0.585 -0.359 -0.000 2.536 -179.83° +chair 0.521 0.921 0.560 1.574 -0.001 1.803 -89.96° +chair 0.440 0.939 0.462 1.376 0.013 2.284 -115.05° +bookshelf 1.206 2.063 0.389 -0.821 -0.003 1.055 179.52° +lamp 0.835 0.947 0.830 0.829 1.649 2.467 0.00° +floor 5.046 -0.039 7.865 0.841 0.001 -0.787 -1.19° +_scene_ 0.083 0.000 0.026 -5.669 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.239, 0.469, 0.675] + !! OVERLAP: sofa <-> floor depth=[1.619, -0.039, 0.798] + !! OVERLAP: table <-> floor depth=[1.550, -0.039, 1.134] + !! OVERLAP: chair <-> floor depth=[0.598, -0.039, 0.742] + !! OVERLAP: table <-> floor depth=[0.488, -0.039, 0.473] + !! OVERLAP: table <-> floor depth=[0.616, -0.039, 0.566] + !! OVERLAP: table <-> chair depth=[0.214, 0.751, 0.286] + !! OVERLAP: table <-> chair depth=[0.501, 0.751, 0.002] + !! OVERLAP: table <-> chair depth=[0.440, 0.751, 0.435] + !! OVERLAP: table <-> floor depth=[1.830, -0.039, 0.941] + !! OVERLAP: chair <-> chair depth=[0.366, 0.954, 0.123] + !! OVERLAP: chair <-> floor depth=[0.618, -0.039, 0.664] + !! OVERLAP: chair <-> floor depth=[0.611, -0.039, 0.585] + !! OVERLAP: chair <-> chair depth=[0.282, 0.915, 0.029] + !! OVERLAP: chair <-> floor depth=[0.521, -0.039, 0.560] + !! OVERLAP: chair <-> floor depth=[0.440, -0.039, 0.462] + !! OVERLAP: bookshelf <-> floor depth=[1.206, -0.039, 0.389] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2728 (Center Penalty: 0.2728), Relational Loss: 0.0332 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.630 1.221 0.374 0.207 -0.000 2.241 179.94° +sofa 2.011 0.810 0.998 1.046 0.001 0.530 -0.02° +table 1.141 0.731 1.061 1.372 -0.002 1.685 -0.03° +lamp 0.950 0.784 0.716 0.890 2.103 1.085 -0.01° +lamp 0.428 0.878 0.352 -1.444 2.126 -1.089 0.04° +floor 5.153 -0.010 4.827 -0.405 -0.000 0.819 -0.01° +_scene_ 0.074 0.000 0.028 -5.673 -0.004 -5.706 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.630, -0.010, 0.374] + !! OVERLAP: sofa <-> floor depth=[2.011, -0.010, 0.998] + !! OVERLAP: table <-> floor depth=[1.141, -0.010, 1.061] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3811 (Center Penalty: 0.3811), Relational Loss: 0.0100 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.562 0.653 0.329 0.807 0.015 1.424 -89.17° +cabinet 0.532 1.111 0.427 -1.658 0.002 1.990 89.96° +sofa 2.603 0.767 0.643 -1.059 -0.003 0.872 89.99° +table 0.640 0.320 0.703 0.008 -0.000 0.963 -0.10° +chair 0.837 0.776 0.907 -0.179 -0.000 1.998 -179.95° +bookshelf 1.262 1.888 0.362 -1.396 0.000 -1.316 89.83° +lamp 0.871 0.708 0.910 -0.220 2.057 0.947 -0.20° +floor 4.225 0.023 5.442 -0.307 -0.005 1.206 -1.22° +_scene_ 0.069 0.000 0.023 -5.672 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.302, 0.320, 0.055] + !! OVERLAP: tv_stand <-> chair depth=[0.214, 0.653, 0.045] + !! OVERLAP: tv_stand <-> floor depth=[1.562, 0.023, 0.329] + !! OVERLAP: cabinet <-> floor depth=[0.532, 0.023, 0.427] + !! OVERLAP: sofa <-> table depth=[0.555, 0.320, 0.581] + !! OVERLAP: sofa <-> floor depth=[2.603, 0.023, 0.643] + !! OVERLAP: table <-> floor depth=[0.640, 0.023, 0.703] + !! OVERLAP: chair <-> floor depth=[0.837, 0.023, 0.907] + !! OVERLAP: bookshelf <-> floor depth=[1.262, 0.023, 0.362] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0045, Room Outer Loss: 0.0590, Walkable Loss: 0.2351 (Center Penalty: 0.2351), Relational Loss: 0.0009 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.343 0.739 0.787 0.066 0.001 -1.527 0.07° +chair 0.851 0.948 0.823 1.953 -0.000 -0.021 -72.31° +table 1.668 0.866 0.890 0.876 -0.003 0.700 -0.03° +tv_stand 2.150 0.625 0.393 0.148 -0.002 1.471 -179.92° +table 0.501 0.471 0.475 -1.698 -0.000 -1.619 -0.06° +table 0.401 0.469 0.456 2.048 -0.002 -1.545 0.18° +lamp 0.582 0.818 0.583 0.963 1.814 0.391 -0.02° +chair 0.733 0.711 0.758 -1.867 0.005 -0.241 41.38° +floor 7.521 -0.009 4.211 -1.441 -0.023 0.066 0.78° +_scene_ 0.070 -0.000 0.018 -5.671 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.343, -0.009, 0.787] + !! OVERLAP: chair <-> table depth=[0.182, 0.866, 0.135] + !! OVERLAP: chair <-> floor depth=[0.792, -0.009, 0.823] + !! OVERLAP: table <-> floor depth=[1.668, -0.009, 0.890] + !! OVERLAP: tv_stand <-> floor depth=[2.150, -0.009, 0.393] + !! OVERLAP: table <-> floor depth=[0.501, -0.009, 0.475] + !! OVERLAP: table <-> floor depth=[0.401, -0.009, 0.456] + !! OVERLAP: chair <-> floor depth=[0.733, -0.009, 0.758] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4554 (Center Penalty: 0.4554), Relational Loss: 0.0633 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.518 0.164 0.554 -0.907 2.613 0.200 0.14° +table 1.144 0.691 1.264 -1.135 0.000 -0.983 -90.14° +sofa 2.277 1.368 1.011 -0.977 0.004 0.877 137.34° +table 0.597 1.078 0.464 1.494 -0.003 1.560 -90.46° +sofa 0.876 0.434 0.922 0.950 0.006 0.448 -43.01° +floor 5.976 -0.016 4.088 -0.965 -0.013 0.333 -0.25° +_scene_ 0.070 0.001 0.043 -5.664 -0.004 -5.712 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.144, -0.016, 1.264] + !! OVERLAP: sofa <-> floor depth=[2.277, -0.016, 1.011] + !! OVERLAP: table <-> floor depth=[0.597, -0.016, 0.464] + !! OVERLAP: sofa <-> floor depth=[0.876, -0.016, 0.922] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0745, Walkable Loss: 0.0716 (Center Penalty: 0.0716), Relational Loss: 0.0112 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.020 0.607 0.406 -1.709 0.001 -1.735 90.02° +table 0.573 0.352 0.623 1.910 0.006 -1.871 0.02° +table 1.245 1.517 0.508 -2.764 -0.001 0.283 89.95° +table 0.662 0.737 0.651 -1.179 0.000 -0.796 0.01° +table 0.576 0.690 0.531 -1.187 -0.002 -2.612 -0.03° +sofa 2.445 0.985 0.923 1.162 0.000 -1.846 -90.01° +lamp 0.915 1.289 0.846 0.612 1.463 1.836 0.02° +lamp 0.546 0.751 0.565 0.255 1.929 -1.929 -0.06° +floor 6.366 0.016 6.730 -0.873 -0.028 -0.841 -0.03° +_scene_ 0.115 -0.002 0.140 -5.602 -0.003 -5.637 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.020, 0.016, 0.406] + !! OVERLAP: table <-> sofa depth=[0.573, 0.352, 0.623] + !! OVERLAP: table <-> floor depth=[0.573, 0.016, 0.623] + !! OVERLAP: table <-> floor depth=[1.245, 0.016, 0.508] + !! OVERLAP: table <-> floor depth=[0.662, 0.016, 0.651] + !! OVERLAP: table <-> floor depth=[0.576, 0.016, 0.531] + !! OVERLAP: sofa <-> floor depth=[2.371, 0.016, 0.923] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0034, Room Outer Loss: 0.0000, Walkable Loss: 0.2975 (Center Penalty: 0.2975), Relational Loss: 0.0032 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.113 2.583 0.618 0.803 -0.030 2.899 -89.29° +table 2.165 0.773 0.955 -0.910 0.001 1.677 0.02° +chair 0.505 0.830 0.539 -1.161 -0.000 0.897 0.02° +chair 0.625 0.805 0.573 -0.560 -0.002 0.940 -0.01° +chair 0.468 0.838 0.553 -0.946 0.000 2.803 179.95° +chair 0.496 0.762 0.500 -0.115 0.000 2.728 179.94° +chair 0.534 0.791 0.550 0.449 0.002 2.081 -90.12° +chair 0.572 0.799 0.555 -1.838 0.001 1.850 90.03° +sofa 2.210 1.000 0.940 -1.632 -0.001 -2.541 89.97° +sofa 1.184 0.820 0.951 -0.268 0.009 -4.339 -0.02° +chair 1.004 0.966 1.017 -0.429 0.006 -1.059 -167.01° +table 1.226 0.658 0.945 -0.493 0.002 -2.305 89.96° +table 0.559 0.413 0.532 -1.664 0.003 -0.602 90.03° +table 0.482 0.324 0.489 -1.576 -0.001 -4.170 0.00° +cabinet 2.163 2.137 0.504 -1.229 0.000 3.307 179.99° +tv_stand 1.280 0.592 0.470 0.778 0.024 -2.209 -89.52° +lamp 0.809 0.760 0.799 -0.174 2.022 -2.559 -0.02° +lamp 0.735 0.852 0.700 -0.254 1.752 2.560 -0.00° +lamp 0.474 1.432 0.501 0.645 1.291 3.680 0.12° +floor 4.510 -0.010 9.694 -0.800 -0.005 -0.659 -0.06° +_scene_ 0.069 0.000 0.017 -5.674 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.113, -0.010, 0.618] + !! OVERLAP: table <-> chair depth=[0.625, 0.773, 0.026] + !! OVERLAP: table <-> chair depth=[0.441, 0.773, 0.555] + !! OVERLAP: table <-> floor depth=[2.165, -0.010, 0.955] + !! OVERLAP: chair <-> floor depth=[0.505, -0.010, 0.539] + !! OVERLAP: chair <-> floor depth=[0.625, -0.010, 0.573] + !! OVERLAP: chair <-> cabinet depth=[0.468, 0.838, 0.024] + !! OVERLAP: chair <-> floor depth=[0.468, -0.010, 0.553] + !! OVERLAP: chair <-> floor depth=[0.496, -0.010, 0.500] + !! OVERLAP: chair <-> floor depth=[0.534, -0.010, 0.550] + !! OVERLAP: chair <-> floor depth=[0.572, -0.010, 0.555] + !! OVERLAP: sofa <-> table depth=[0.579, 0.658, 0.707] + !! OVERLAP: sofa <-> floor depth=[2.210, -0.010, 0.940] + !! OVERLAP: sofa <-> floor depth=[1.184, -0.010, 0.951] + !! OVERLAP: chair <-> floor depth=[1.004, -0.010, 1.017] + !! OVERLAP: table <-> floor depth=[1.226, -0.010, 0.945] + !! OVERLAP: table <-> floor depth=[0.559, -0.010, 0.532] + !! OVERLAP: table <-> floor depth=[0.482, -0.010, 0.489] + !! OVERLAP: cabinet <-> floor depth=[2.163, -0.010, 0.504] + !! OVERLAP: tv_stand <-> floor depth=[1.280, -0.010, 0.470] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2608, Walkable Loss: 0.2228 (Center Penalty: 0.2228), Relational Loss: 0.0168 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.641 0.778 1.527 -0.419 0.039 1.456 179.81° +lamp 0.473 0.512 0.482 -0.728 2.102 0.788 -0.07° +table 1.456 -0.079 -0.090 -0.481 -0.361 1.786 1.12° +tv_stand 2.207 0.629 0.419 -0.979 -0.007 -0.788 0.87° +floor 4.858 -0.007 3.785 -0.021 -0.019 1.156 0.94° +_scene_ 0.071 -0.001 0.024 -5.672 -0.007 -5.712 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[3.641, -0.007, 1.527] + !! OVERLAP: tv_stand <-> floor depth=[2.207, -0.007, 0.158] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.0000, Walkable Loss: 0.1308 (Center Penalty: 0.1308), Relational Loss: 0.0198 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.615 0.762 0.608 -0.791 1.831 -1.759 -0.03° +sofa 2.236 0.901 0.839 -1.762 0.001 1.835 89.87° +table 1.296 0.666 1.116 -0.826 -0.001 1.715 -90.17° +tv_stand 1.581 0.465 0.430 0.924 0.000 1.706 -89.64° +chair 0.781 0.860 0.869 -1.710 0.003 0.270 89.97° +chair 0.842 0.944 0.881 -1.456 0.000 -0.608 179.95° +cabinet 0.522 0.932 0.367 1.315 0.001 0.210 -90.00° +table 1.657 0.745 1.143 -0.250 -0.001 -2.127 -90.06° +chair 0.299 0.479 0.353 1.208 0.001 -0.244 -90.18° +chair 0.424 0.460 0.407 -0.110 0.001 1.738 -90.01° +chair 0.489 0.428 0.447 -0.244 0.002 2.103 -90.33° +lamp 0.735 0.701 0.673 -0.498 2.055 1.488 -0.03° +floor 6.086 0.001 6.414 -1.292 0.000 0.182 0.10° +_scene_ 0.069 -0.000 0.021 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.830, 0.666, 0.839] + !! OVERLAP: sofa <-> floor depth=[2.236, 0.001, 0.839] + !! OVERLAP: table <-> chair depth=[0.145, 0.460, 0.407] + !! OVERLAP: table <-> chair depth=[0.311, 0.428, 0.394] + !! OVERLAP: table <-> floor depth=[1.296, 0.001, 1.116] + !! OVERLAP: tv_stand <-> floor depth=[1.581, 0.001, 0.430] + !! OVERLAP: chair <-> floor depth=[0.781, 0.001, 0.869] + !! OVERLAP: chair <-> floor depth=[0.842, 0.001, 0.881] + !! OVERLAP: cabinet <-> floor depth=[0.522, 0.001, 0.367] + !! OVERLAP: table <-> floor depth=[1.657, 0.001, 1.143] + !! OVERLAP: chair <-> floor depth=[0.299, 0.001, 0.353] + !! OVERLAP: chair <-> chair depth=[0.323, 0.428, 0.062] + !! OVERLAP: chair <-> floor depth=[0.424, 0.001, 0.407] + !! OVERLAP: chair <-> floor depth=[0.489, 0.001, 0.447] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0387, Room Outer Loss: 0.3893, Walkable Loss: 1.1855 (Center Penalty: 1.1855), Relational Loss: 0.0099 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.884 0.826 1.465 1.076 -0.024 -0.503 -0.23° +chair 0.442 0.865 0.479 0.277 -0.000 2.220 179.98° +chair 0.450 0.876 0.446 0.230 -0.002 1.674 179.88° +table 1.016 0.422 0.725 0.983 0.001 1.924 179.97° +sofa 1.633 0.822 0.656 0.817 -0.001 -0.931 -90.19° +tv_stand 1.869 1.073 0.387 -0.949 0.000 -1.034 90.09° +cabinet 0.906 1.229 0.310 0.695 -0.000 -2.273 0.02° +lamp 0.860 1.061 0.846 0.871 1.696 -0.507 -0.00° +floor 3.256 -0.003 5.647 -0.188 0.000 -0.059 0.00° +_scene_ 0.071 0.001 0.022 -5.669 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.884, 0.802, 0.633] + !! OVERLAP: table <-> floor depth=[0.806, -0.003, 1.465] + !! OVERLAP: chair <-> table depth=[0.024, 0.422, 0.306] + !! OVERLAP: chair <-> floor depth=[0.442, -0.003, 0.479] + !! OVERLAP: chair <-> floor depth=[0.450, -0.003, 0.446] + !! OVERLAP: table <-> floor depth=[0.965, -0.003, 0.725] + !! OVERLAP: sofa <-> floor depth=[1.439, -0.003, 0.656] + !! OVERLAP: tv_stand <-> floor depth=[1.802, -0.003, 0.387] + !! OVERLAP: cabinet <-> floor depth=[0.906, -0.003, 0.310] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0113, Room Outer Loss: 0.0001, Walkable Loss: 0.0399 (Center Penalty: 0.0399), Relational Loss: 0.0062 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 1.083 1.121 1.211 -0.908 -0.000 3.864 179.83° +sofa 2.649 0.847 1.077 -2.107 0.004 2.523 89.93° +chair 0.945 0.802 1.076 -0.672 -0.000 1.798 53.67° +table 0.862 0.362 0.909 -0.857 -0.002 2.680 -0.02° +tv_stand 1.617 0.976 0.386 0.508 0.002 2.536 -90.01° +table 0.556 0.532 0.539 -1.979 -0.001 0.644 -0.01° +table 0.506 0.506 0.570 -2.190 0.011 3.794 0.04° +cabinet 0.847 2.357 0.446 -2.031 -0.002 -1.159 0.21° +chair 0.620 0.994 0.706 1.351 0.002 -2.406 -90.37° +table 1.692 0.741 0.899 0.919 0.016 -3.014 89.86° +chair 0.505 1.003 0.639 1.596 -0.001 -3.123 -89.78° +chair 0.551 0.998 0.631 0.195 0.001 -2.551 89.97° +chair 0.575 0.993 0.590 0.253 0.001 -3.254 89.96° +bookshelf 1.368 2.044 0.327 -0.643 -0.000 -3.324 89.76° +lamp 0.670 0.637 0.657 -0.279 2.016 2.385 -0.00° +lamp 0.514 1.043 0.390 1.269 1.886 -2.966 -0.00° +floor 5.521 0.005 9.319 -0.912 -0.003 0.888 0.12° +_scene_ 0.079 0.003 0.020 -5.673 -0.006 -5.719 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[1.083, 0.005, 1.211] + !! OVERLAP: sofa <-> chair depth=[0.362, 0.802, 0.351] + !! OVERLAP: sofa <-> table depth=[0.505, 0.362, 0.836] + !! OVERLAP: sofa <-> floor depth=[2.649, 0.005, 1.077] + !! OVERLAP: chair <-> table depth=[0.718, 0.362, 0.110] + !! OVERLAP: chair <-> floor depth=[0.945, 0.005, 1.076] + !! OVERLAP: table <-> floor depth=[0.862, 0.005, 0.909] + !! OVERLAP: tv_stand <-> floor depth=[1.617, 0.005, 0.386] + !! OVERLAP: table <-> floor depth=[0.556, 0.005, 0.539] + !! OVERLAP: table <-> floor depth=[0.506, 0.005, 0.570] + !! OVERLAP: cabinet <-> floor depth=[0.847, 0.005, 0.446] + !! OVERLAP: chair <-> table depth=[0.620, 0.741, 0.194] + !! OVERLAP: chair <-> floor depth=[0.620, 0.005, 0.706] + !! OVERLAP: table <-> chair depth=[0.421, 0.741, 0.639] + !! OVERLAP: table <-> chair depth=[0.397, 0.741, 0.302] + !! OVERLAP: table <-> chair depth=[0.467, 0.741, 0.505] + !! OVERLAP: table <-> floor depth=[1.692, 0.005, 0.899] + !! OVERLAP: chair <-> floor depth=[0.504, 0.005, 0.639] + !! OVERLAP: chair <-> floor depth=[0.551, 0.005, 0.631] + !! OVERLAP: chair <-> bookshelf depth=[0.076, 0.993, 0.327] + !! OVERLAP: chair <-> floor depth=[0.575, 0.005, 0.590] + !! OVERLAP: bookshelf <-> floor depth=[1.368, 0.005, 0.327] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0032, Room Outer Loss: 0.0671, Walkable Loss: 0.4408 (Center Penalty: 0.4408), Relational Loss: 0.0164 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.604 1.498 0.574 -0.227 1.570 0.958 0.04° +tv_stand 1.964 0.433 0.394 0.755 0.004 1.651 -89.99° +table 0.450 0.313 0.460 -0.205 -0.000 1.455 -90.00° +table 0.452 0.454 0.420 -1.525 0.004 2.537 90.05° +table 0.507 0.537 0.510 -1.655 0.001 -0.651 0.05° +sofa 2.262 0.903 0.943 -1.314 0.000 1.138 89.98° +chair 0.975 0.721 0.823 -0.224 0.000 2.616 179.96° +chair 0.386 0.714 0.337 -0.163 0.016 -2.270 30.21° +chair 0.565 0.793 0.554 -0.184 0.001 -1.831 89.93° +chair 0.524 0.781 0.537 1.257 0.004 -2.206 -90.06° +chair 0.568 0.754 0.643 1.207 0.004 -1.768 -90.16° +table 1.811 0.766 0.668 0.562 0.000 -1.850 -90.18° +floor 4.117 -0.013 6.592 -0.319 -0.000 0.736 -0.01° +_scene_ 0.066 0.000 0.022 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.247, 0.313, 0.231] + !! OVERLAP: tv_stand <-> sofa depth=[0.044, 0.433, 0.156] + !! OVERLAP: tv_stand <-> floor depth=[1.964, -0.013, 0.394] + !! OVERLAP: table <-> sofa depth=[0.247, 0.313, 0.386] + !! OVERLAP: table <-> floor depth=[0.450, -0.013, 0.460] + !! OVERLAP: table <-> floor depth=[0.451, -0.013, 0.420] + !! OVERLAP: table <-> floor depth=[0.507, -0.013, 0.510] + !! OVERLAP: sofa <-> floor depth=[2.195, -0.013, 0.943] + !! OVERLAP: chair <-> floor depth=[0.975, -0.013, 0.823] + !! OVERLAP: chair <-> chair depth=[0.386, 0.714, 0.006] + !! OVERLAP: chair <-> table depth=[0.374, 0.714, 0.082] + !! OVERLAP: chair <-> floor depth=[0.386, -0.013, 0.337] + !! OVERLAP: chair <-> table depth=[0.442, 0.766, 0.554] + !! OVERLAP: chair <-> floor depth=[0.565, -0.013, 0.554] + !! OVERLAP: chair <-> chair depth=[0.496, 0.754, 0.151] + !! OVERLAP: chair <-> table depth=[0.473, 0.766, 0.246] + !! OVERLAP: chair <-> floor depth=[0.524, -0.013, 0.537] + !! OVERLAP: chair <-> table depth=[0.545, 0.754, 0.573] + !! OVERLAP: chair <-> floor depth=[0.568, -0.013, 0.643] + !! OVERLAP: table <-> floor depth=[1.811, -0.013, 0.668] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0365, Room Outer Loss: 0.3623, Walkable Loss: 0.3267 (Center Penalty: 0.3267), Relational Loss: 0.0375 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.251 0.722 0.869 1.347 0.000 0.574 179.92° +chair 0.623 0.750 0.602 2.162 0.003 -0.131 -108.25° +table 0.567 0.535 0.446 0.480 -0.004 0.935 -179.80° +chair 0.466 1.019 0.480 -1.380 0.002 0.129 -90.10° +chair 0.589 1.073 0.696 -1.945 -0.002 -0.096 179.81° +table 2.001 0.816 1.050 -1.031 0.001 0.293 89.87° +table 1.225 0.469 1.267 1.337 0.001 -0.589 179.96° +lamp 0.499 0.878 0.466 1.460 1.656 -0.555 0.06° +lamp 0.305 0.910 0.284 -1.356 1.671 0.622 -0.02° +floor 6.374 -0.055 2.810 1.189 0.016 -0.336 1.78° +_scene_ 0.074 0.001 0.020 -5.669 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.622, 0.722, 0.030] + !! OVERLAP: sofa <-> table depth=[0.541, 0.535, 0.297] + !! OVERLAP: sofa <-> floor depth=[2.251, -0.055, 0.869] + !! OVERLAP: chair <-> table depth=[0.099, 0.469, 0.477] + !! OVERLAP: chair <-> floor depth=[0.623, -0.055, 0.602] + !! OVERLAP: table <-> floor depth=[0.567, -0.055, 0.357] + !! OVERLAP: chair <-> table depth=[0.466, 0.816, 0.480] + !! OVERLAP: chair <-> floor depth=[0.466, -0.055, 0.480] + !! OVERLAP: chair <-> table depth=[0.381, 0.816, 0.484] + !! OVERLAP: chair <-> floor depth=[0.348, -0.055, 0.696] + !! OVERLAP: table <-> floor depth=[1.968, -0.055, 1.050] + !! OVERLAP: table <-> floor depth=[1.225, -0.055, 1.267] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0283, Walkable Loss: 1.0404 (Center Penalty: 1.0404), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.290 0.789 0.921 0.699 0.000 -1.343 -0.06° +table 1.148 0.447 1.164 0.917 -0.005 0.746 -0.06° +lamp 0.840 0.788 0.812 1.145 1.915 0.152 0.09° +table 1.542 1.220 0.501 -1.539 0.001 0.789 89.94° +floor 4.741 -0.004 5.261 0.089 0.001 -0.215 -0.03° +_scene_ 0.078 0.007 0.117 -5.625 -0.005 -5.698 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.290, -0.004, 0.921] + !! OVERLAP: table <-> floor depth=[1.148, -0.004, 1.164] + !! OVERLAP: table <-> floor depth=[1.513, -0.004, 0.501] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0079, Room Outer Loss: 0.0087, Walkable Loss: 0.5392 (Center Penalty: 0.5392), Relational Loss: 0.0123 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.030 0.957 1.033 1.045 0.000 -1.149 -89.97° +table 0.999 0.412 0.961 -0.102 -0.002 -0.912 -90.05° +table 0.573 0.681 0.603 1.485 0.001 -2.864 -90.05° +table 0.572 0.608 0.586 1.544 -0.001 0.401 -90.07° +chair 0.987 0.711 0.929 -0.256 0.008 1.009 -168.50° +chair 0.826 0.350 0.682 -0.139 0.003 -2.308 -0.02° +table 1.490 0.756 0.829 -0.048 0.002 2.294 -90.28° +chair 0.457 0.843 0.501 0.603 0.002 2.535 -90.26° +chair 0.480 0.869 0.480 0.476 -0.001 2.041 -98.59° +chair 0.540 0.907 0.408 -0.430 0.004 2.594 179.97° +chair 0.558 0.847 0.585 -0.618 0.001 2.118 89.98° +lamp 0.243 0.737 0.172 0.456 1.791 2.581 0.05° +lamp 0.662 0.920 0.688 -0.076 1.892 -1.161 -0.07° +bookshelf 0.932 2.598 0.227 1.134 -0.004 -3.558 0.06° +bookshelf 2.128 2.355 0.379 -0.785 0.003 -4.125 -0.03° +floor 4.294 -0.005 7.536 -0.096 0.014 -0.955 -0.27° +_scene_ 0.069 0.001 0.021 -5.667 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.368, 0.412, 0.759] + !! OVERLAP: sofa <-> floor depth=[2.021, -0.005, 1.033] + !! OVERLAP: table <-> floor depth=[0.999, -0.005, 0.961] + !! OVERLAP: table <-> floor depth=[0.573, -0.005, 0.603] + !! OVERLAP: table <-> floor depth=[0.572, -0.005, 0.586] + !! OVERLAP: chair <-> floor depth=[0.987, -0.005, 0.929] + !! OVERLAP: chair <-> floor depth=[0.826, -0.005, 0.682] + !! OVERLAP: table <-> chair depth=[0.322, 0.756, 0.424] + !! OVERLAP: table <-> chair depth=[0.461, 0.756, 0.401] + !! OVERLAP: table <-> chair depth=[0.540, 0.756, 0.319] + !! OVERLAP: table <-> chair depth=[0.454, 0.756, 0.531] + !! OVERLAP: table <-> floor depth=[1.490, -0.005, 0.829] + !! OVERLAP: chair <-> floor depth=[0.457, -0.005, 0.501] + !! OVERLAP: chair <-> floor depth=[0.480, -0.005, 0.480] + !! OVERLAP: chair <-> chair depth=[0.361, 0.847, 0.021] + !! OVERLAP: chair <-> floor depth=[0.540, -0.005, 0.408] + !! OVERLAP: chair <-> floor depth=[0.558, -0.005, 0.585] + !! OVERLAP: bookshelf <-> floor depth=[0.932, -0.005, 0.227] + !! OVERLAP: bookshelf <-> floor depth=[2.128, -0.005, 0.379] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0349, Room Outer Loss: 0.0151, Walkable Loss: 0.4743 (Center Penalty: 0.4743), Relational Loss: 0.0186 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.378 0.885 0.908 1.499 0.001 1.203 179.93° +table 1.054 0.454 1.147 1.578 0.002 -0.015 179.94° +tv_stand 2.226 0.923 0.475 1.334 -0.001 -1.302 -0.00° +table 1.931 0.756 0.819 -0.839 0.001 0.805 89.72° +chair 0.496 1.096 0.523 -0.388 0.002 1.478 -90.04° +chair 0.495 1.048 0.528 -0.706 0.001 0.866 -90.00° +chair 0.505 1.121 0.603 -1.476 0.001 1.369 89.89° +chair 0.509 1.078 0.552 -1.515 0.002 0.852 89.96° +lamp 0.812 0.888 0.846 1.413 1.654 0.292 0.04° +lamp 0.231 0.842 0.235 -1.200 2.428 0.426 -0.02° +floor 5.328 -0.010 3.416 0.812 0.001 0.184 -0.05° +_scene_ 0.071 0.001 0.022 -5.667 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.378, -0.010, 0.908] + !! OVERLAP: table <-> floor depth=[1.054, -0.010, 1.147] + !! OVERLAP: tv_stand <-> floor depth=[2.226, -0.010, 0.460] + !! OVERLAP: table <-> chair depth=[0.495, 0.756, 0.528] + !! OVERLAP: table <-> chair depth=[0.505, 0.756, 0.147] + !! OVERLAP: table <-> chair depth=[0.509, 0.756, 0.552] + !! OVERLAP: table <-> floor depth=[1.931, -0.010, 0.819] + !! OVERLAP: chair <-> floor depth=[0.496, -0.010, 0.523] + !! OVERLAP: chair <-> floor depth=[0.495, -0.010, 0.528] + !! OVERLAP: chair <-> chair depth=[0.469, 1.078, 0.060] + !! OVERLAP: chair <-> floor depth=[0.505, -0.010, 0.603] + !! OVERLAP: chair <-> floor depth=[0.509, -0.010, 0.552] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0954, Walkable Loss: 0.5142 (Center Penalty: 0.5142), Relational Loss: 0.0094 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.504 0.513 0.360 1.190 -0.014 1.567 -90.19° +table 0.552 1.104 0.270 -1.263 0.003 1.756 90.01° +sofa 1.588 0.872 0.821 -0.848 0.004 0.533 90.03° +table 0.748 0.340 0.591 0.456 -0.002 0.951 89.90° +chair 0.916 0.743 0.827 -0.252 -0.000 2.390 -179.97° +bookshelf 1.159 1.734 0.284 -1.111 0.002 -1.803 89.95° +lamp 0.497 0.930 0.565 0.370 2.307 0.908 0.02° +floor 3.569 0.006 6.740 0.062 -0.015 1.017 -0.36° +_scene_ 0.068 0.001 0.021 -5.671 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.409, 0.006, 0.360] + !! OVERLAP: table <-> floor depth=[0.552, 0.006, 0.270] + !! OVERLAP: sofa <-> floor depth=[1.588, 0.006, 0.821] + !! OVERLAP: table <-> floor depth=[0.748, 0.006, 0.591] + !! OVERLAP: chair <-> floor depth=[0.916, 0.006, 0.827] + !! OVERLAP: bookshelf <-> floor depth=[1.159, 0.006, 0.284] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0384, Room Outer Loss: 0.0017, Walkable Loss: 0.1486 (Center Penalty: 0.1486), Relational Loss: 0.0154 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.810 0.929 0.328 2.615 0.005 -1.802 0.32° +shelf 0.374 1.758 0.294 2.723 -0.003 -1.227 0.09° +table 1.805 0.756 1.010 1.583 0.003 1.988 0.14° +table 1.332 0.710 1.172 1.374 0.001 1.480 -0.07° +chair 0.505 1.063 0.591 2.203 0.000 1.721 -90.24° +chair 0.563 1.072 0.656 0.717 -0.002 2.186 89.92° +chair 0.554 1.063 0.614 1.947 0.000 0.993 -0.01° +chair 0.587 1.085 0.645 1.357 -0.002 0.973 89.96° +table 0.367 0.614 0.390 -0.293 0.005 -1.149 -0.05° +sofa 2.554 0.799 1.117 -1.243 0.005 -1.177 89.95° +table 1.069 0.401 0.978 -1.391 -0.002 0.191 -0.04° +tv_stand 2.061 0.482 0.448 -1.387 -0.002 2.817 179.98° +lamp 0.448 0.649 0.471 1.263 2.088 -1.247 -0.02° +lamp 0.360 1.114 0.137 1.369 1.349 2.061 -0.02° +lamp 0.260 0.704 0.273 -2.010 2.039 0.384 0.07° +floor 6.287 0.001 6.068 0.510 0.005 1.070 0.07° +_scene_ 0.068 0.000 0.019 -5.668 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.810, 0.001, 0.326] + !! OVERLAP: shelf <-> floor depth=[0.374, 0.001, 0.294] + !! OVERLAP: table <-> table depth=[1.332, 0.710, 0.584] + !! OVERLAP: table <-> chair depth=[0.505, 0.756, 0.534] + !! OVERLAP: table <-> chair depth=[0.318, 0.756, 0.635] + !! OVERLAP: table <-> floor depth=[1.805, 0.001, 1.010] + !! OVERLAP: table <-> chair depth=[0.089, 0.710, 0.591] + !! OVERLAP: table <-> chair depth=[0.290, 0.710, 0.208] + !! OVERLAP: table <-> chair depth=[0.370, 0.710, 0.405] + !! OVERLAP: table <-> chair depth=[0.587, 0.710, 0.401] + !! OVERLAP: table <-> floor depth=[1.332, 0.001, 1.172] + !! OVERLAP: chair <-> floor depth=[0.505, 0.001, 0.591] + !! OVERLAP: chair <-> floor depth=[0.563, 0.001, 0.656] + !! OVERLAP: chair <-> floor depth=[0.554, 0.001, 0.614] + !! OVERLAP: chair <-> floor depth=[0.587, 0.001, 0.645] + !! OVERLAP: table <-> sofa depth=[0.367, 0.614, 0.390] + !! OVERLAP: table <-> floor depth=[0.367, 0.001, 0.390] + !! OVERLAP: sofa <-> floor depth=[2.554, 0.001, 1.117] + !! OVERLAP: table <-> floor depth=[1.069, 0.001, 0.978] + !! OVERLAP: tv_stand <-> floor depth=[2.061, 0.001, 0.448] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.0351, Room Outer Loss: 0.0000, Walkable Loss: 0.2673 (Center Penalty: 0.2673), Relational Loss: 0.0334 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.191 0.844 0.883 1.050 0.001 1.269 -179.96° +chair 0.963 0.741 0.996 2.019 -0.000 0.396 179.92° +table 1.077 0.423 1.084 1.102 -0.001 -0.909 -0.05° +table 1.095 0.348 1.165 1.097 0.002 0.271 -0.01° +bookshelf 0.778 1.948 0.168 2.148 -0.000 1.269 -90.12° +table 1.323 0.727 1.150 -1.229 -0.000 0.937 90.04° +chair 0.523 0.789 0.576 -1.670 -0.001 0.360 0.02° +chair 0.582 0.772 0.484 -0.963 0.003 1.337 -90.13° +chair 0.475 0.741 0.446 -1.425 0.001 1.487 179.96° +lamp 0.447 0.761 0.471 1.142 1.880 -0.336 -0.03° +floor 6.406 -0.010 3.941 1.087 -0.012 -0.057 0.20° +_scene_ 0.078 0.001 0.020 -5.678 -0.007 -5.709 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.608, 0.741, 0.067] + !! OVERLAP: sofa <-> table depth=[1.095, 0.348, 0.026] + !! OVERLAP: sofa <-> bookshelf depth=[0.387, 0.844, 0.168] + !! OVERLAP: sofa <-> floor depth=[2.191, -0.010, 0.883] + !! OVERLAP: chair <-> table depth=[0.107, 0.348, 0.955] + !! OVERLAP: chair <-> floor depth=[0.963, -0.010, 0.996] + !! OVERLAP: table <-> floor depth=[1.077, -0.010, 1.084] + !! OVERLAP: table <-> floor depth=[1.095, -0.010, 1.165] + !! OVERLAP: bookshelf <-> floor depth=[0.778, -0.010, 0.168] + !! OVERLAP: table <-> chair depth=[0.482, 0.727, 0.286] + !! OVERLAP: table <-> chair depth=[0.582, 0.727, 0.417] + !! OVERLAP: table <-> chair depth=[0.475, 0.727, 0.248] + !! OVERLAP: table <-> floor depth=[1.323, -0.010, 1.150] + !! OVERLAP: chair <-> floor depth=[0.523, -0.010, 0.576] + !! OVERLAP: chair <-> chair depth=[0.067, 0.741, 0.316] + !! OVERLAP: chair <-> floor depth=[0.582, -0.010, 0.484] + !! OVERLAP: chair <-> floor depth=[0.475, -0.010, 0.446] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0350, Room Outer Loss: 0.0000, Walkable Loss: 1.1427 (Center Penalty: 1.1427), Relational Loss: 0.0343 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.066 0.567 0.352 0.762 -0.001 1.311 -90.20° +sofa 1.942 1.004 0.664 -0.875 0.007 1.078 89.95° +table 1.218 0.449 1.087 -0.258 -0.002 1.359 90.13° +lamp 0.464 0.756 0.462 -0.337 1.969 1.150 0.00° +table 1.690 0.692 0.943 -0.845 -0.003 -1.627 -90.01° +chair 0.506 0.821 0.537 -1.561 0.001 -2.045 0.02° +chair 0.489 0.820 0.575 -0.152 -0.001 -2.195 -90.22° +chair 0.555 0.861 0.640 -1.437 -0.001 -1.033 -179.99° +chair 0.549 0.821 0.571 -0.888 -0.000 -0.943 -179.93° +floor 3.901 -0.002 5.738 -0.047 0.000 -0.015 -0.10° +_scene_ 0.072 0.002 0.028 -5.666 -0.005 -5.709 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> sofa depth=[0.367, 0.567, 0.275] + !! OVERLAP: tv_stand <-> table depth=[0.622, 0.449, 0.352] + !! OVERLAP: tv_stand <-> floor depth=[2.066, -0.002, 0.352] + !! OVERLAP: sofa <-> table depth=[0.963, 0.449, 0.594] + !! OVERLAP: sofa <-> floor depth=[1.942, -0.002, 0.664] + !! OVERLAP: table <-> floor depth=[1.218, -0.002, 1.087] + !! OVERLAP: table <-> chair depth=[0.382, 0.692, 0.322] + !! OVERLAP: table <-> chair depth=[0.397, 0.692, 0.192] + !! OVERLAP: table <-> chair depth=[0.530, 0.692, 0.197] + !! OVERLAP: table <-> chair depth=[0.549, 0.692, 0.073] + !! OVERLAP: table <-> floor depth=[1.690, -0.002, 0.943] + !! OVERLAP: chair <-> floor depth=[0.506, -0.002, 0.537] + !! OVERLAP: chair <-> floor depth=[0.489, -0.002, 0.575] + !! OVERLAP: chair <-> chair depth=[0.002, 0.821, 0.516] + !! OVERLAP: chair <-> floor depth=[0.555, -0.002, 0.640] + !! OVERLAP: chair <-> floor depth=[0.549, -0.002, 0.571] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4296 (Center Penalty: 0.4296), Relational Loss: 0.0006 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.603 0.833 0.964 -0.219 -0.000 1.635 179.95° +table 0.618 0.666 0.562 1.777 0.001 1.627 179.98° +table 0.559 0.748 0.511 -2.111 0.001 1.751 179.79° +chair 0.811 0.837 0.780 1.772 -0.003 0.136 -47.45° +table 1.389 1.148 1.056 -0.767 0.001 0.502 -179.88° +tv_stand 2.246 0.291 0.486 -0.328 0.000 -1.614 -0.05° +lamp 1.259 0.993 1.032 -0.941 1.785 -0.437 -0.97° +chair 0.629 0.789 0.623 -2.248 0.004 -0.082 14.79° +floor 6.807 0.006 4.235 -1.023 -0.010 0.164 0.07° +_scene_ 0.066 -0.001 0.024 -5.670 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.603, 0.006, 0.964] + !! OVERLAP: table <-> floor depth=[0.618, 0.006, 0.562] + !! OVERLAP: table <-> floor depth=[0.559, 0.006, 0.511] + !! OVERLAP: chair <-> floor depth=[0.811, 0.006, 0.780] + !! OVERLAP: table <-> floor depth=[1.389, 0.006, 1.056] + !! OVERLAP: tv_stand <-> floor depth=[2.246, 0.006, 0.486] + !! OVERLAP: chair <-> floor depth=[0.629, 0.006, 0.623] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0142, Room Outer Loss: 0.0438, Walkable Loss: 0.4244 (Center Penalty: 0.4244), Relational Loss: 0.0178 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.175 0.846 0.772 1.615 -0.001 0.209 179.83° +table 0.804 0.769 0.792 2.191 0.001 -0.560 -90.12° +chair 0.901 0.737 0.904 3.061 0.002 -0.485 -90.27° +table 0.673 0.387 0.235 0.743 -0.009 0.565 0.62° +lamp 0.681 0.971 0.738 1.638 2.008 -0.783 -90.16° +chair 0.563 0.727 0.557 -1.827 0.001 -1.711 0.04° +chair 0.485 0.778 0.561 -0.896 0.002 -0.906 -90.13° +chair 0.563 0.783 0.628 -1.878 0.002 -0.408 179.91° +table 1.460 0.699 1.110 -1.612 -0.002 -0.688 89.76° +lamp 0.400 0.693 0.394 -1.806 2.031 -1.023 0.04° +table 0.875 1.234 0.263 -2.696 0.009 0.372 89.95° +chair 0.541 0.739 0.556 -2.383 0.003 -0.974 89.94° +chair 0.519 0.366 0.320 0.880 0.001 -0.452 90.04° +floor 7.771 0.113 3.231 0.673 -0.008 -0.977 0.32° +_scene_ 0.066 0.001 0.024 -5.672 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.804, 0.769, 0.013] + !! OVERLAP: sofa <-> chair depth=[0.092, 0.737, 0.143] + !! OVERLAP: sofa <-> table depth=[0.551, 0.387, 0.147] + !! OVERLAP: sofa <-> floor depth=[2.175, 0.113, 0.772] + !! OVERLAP: table <-> floor depth=[0.804, 0.113, 0.792] + !! OVERLAP: chair <-> floor depth=[0.901, 0.113, 0.904] + !! OVERLAP: table <-> floor depth=[0.673, 0.113, 0.191] + !! OVERLAP: chair <-> floor depth=[0.563, 0.113, 0.557] + !! OVERLAP: chair <-> table depth=[0.257, 0.699, 0.561] + !! OVERLAP: chair <-> floor depth=[0.485, 0.113, 0.561] + !! OVERLAP: chair <-> table depth=[0.563, 0.699, 0.589] + !! OVERLAP: chair <-> chair depth=[0.048, 0.739, 0.026] + !! OVERLAP: chair <-> floor depth=[0.563, 0.113, 0.628] + !! OVERLAP: table <-> chair depth=[0.230, 0.699, 0.547] + !! OVERLAP: table <-> floor depth=[1.460, 0.113, 1.110] + !! OVERLAP: table <-> floor depth=[0.875, 0.113, 0.263] + !! OVERLAP: chair <-> floor depth=[0.541, 0.113, 0.556] + !! OVERLAP: chair <-> floor depth=[0.519, 0.113, 0.320] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.0418, Room Outer Loss: 0.0511, Walkable Loss: 0.2375 (Center Penalty: 0.2375), Relational Loss: 0.0201 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.187 0.985 1.162 -0.532 1.664 1.518 -0.07° +table 1.508 0.401 1.220 -0.812 -0.001 1.515 90.04° +tv_stand 1.444 0.666 0.487 0.438 0.006 1.596 -90.37° +sofa 2.687 0.841 1.284 -1.532 0.003 1.521 90.02° +table 1.949 0.723 0.984 -1.198 -0.007 -2.377 0.11° +table 1.847 0.527 0.518 -1.323 0.002 3.511 -145.55° +table 1.480 0.397 1.176 -1.341 0.003 -0.953 0.06° +chair 0.540 0.990 0.613 -1.704 -0.001 -1.767 -180.00° +chair 0.398 0.971 0.495 -1.103 0.009 -1.844 -159.80° +chair 0.396 0.948 0.360 -1.866 -0.003 -2.900 0.05° +chair 0.445 0.901 0.269 -1.255 0.012 -2.740 -53.81° +lamp 0.895 1.007 0.840 -1.493 1.640 -2.292 -0.04° +table 0.359 1.459 0.369 1.060 0.001 -0.740 -89.88° +floor 4.279 0.006 6.802 -0.862 -0.001 0.318 0.09° +_scene_ 0.070 -0.000 0.026 -5.665 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.225, 0.401, 0.487] + !! OVERLAP: table <-> sofa depth=[1.377, 0.401, 1.220] + !! OVERLAP: table <-> floor depth=[1.508, 0.006, 1.220] + !! OVERLAP: tv_stand <-> sofa depth=[0.095, 0.666, 0.487] + !! OVERLAP: tv_stand <-> floor depth=[1.444, 0.006, 0.487] + !! OVERLAP: sofa <-> floor depth=[2.687, 0.006, 1.284] + !! OVERLAP: table <-> chair depth=[0.540, 0.723, 0.189] + !! OVERLAP: table <-> chair depth=[0.398, 0.723, 0.207] + !! OVERLAP: table <-> chair depth=[0.396, 0.723, 0.149] + !! OVERLAP: table <-> chair depth=[0.445, 0.723, 0.263] + !! OVERLAP: table <-> floor depth=[1.949, 0.006, 0.984] + !! OVERLAP: table <-> floor depth=[1.847, 0.006, 0.467] + !! OVERLAP: table <-> chair depth=[0.540, 0.397, 0.080] + !! OVERLAP: table <-> floor depth=[1.480, 0.006, 1.176] + !! OVERLAP: chair <-> floor depth=[0.540, 0.006, 0.613] + !! OVERLAP: chair <-> floor depth=[0.398, 0.006, 0.495] + !! OVERLAP: chair <-> floor depth=[0.396, 0.006, 0.360] + !! OVERLAP: chair <-> floor depth=[0.445, 0.006, 0.269] + !! OVERLAP: table <-> floor depth=[0.359, 0.006, 0.369] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.0000, Walkable Loss: 0.1356 (Center Penalty: 0.1356), Relational Loss: 0.0102 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.255 0.835 0.546 -1.179 -0.000 -1.611 89.99° +table 0.418 0.313 0.464 0.137 -0.001 -2.082 -90.44° +lamp 0.542 0.810 0.519 0.409 1.981 -1.980 0.04° +lamp 1.024 0.927 1.027 1.281 1.770 2.202 -0.08° +sofa 2.725 0.776 1.253 1.821 0.000 -2.078 -90.18° +table 0.555 0.751 0.585 0.037 0.002 2.866 -0.01° +chair 0.544 0.907 0.662 -0.504 0.004 2.187 89.99° +chair 0.394 0.956 0.436 -0.546 -0.001 2.727 90.01° +chair 0.524 0.813 0.546 1.784 0.001 1.999 -90.05° +chair 0.453 0.960 0.624 1.814 -0.000 2.884 -90.11° +table 1.249 0.434 1.003 1.712 -0.002 -0.273 -89.95° +floor 6.016 -0.003 7.377 0.552 0.004 0.840 -0.16° +_scene_ 0.070 0.000 0.022 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.021, 0.313, 0.033] + !! OVERLAP: tv_stand <-> floor depth=[2.255, -0.003, 0.546] + !! OVERLAP: table <-> floor depth=[0.418, -0.003, 0.464] + !! OVERLAP: sofa <-> floor depth=[2.725, -0.003, 1.253] + !! OVERLAP: table <-> floor depth=[0.555, -0.003, 0.585] + !! OVERLAP: chair <-> chair depth=[0.394, 0.907, 0.009] + !! OVERLAP: chair <-> floor depth=[0.544, -0.003, 0.662] + !! OVERLAP: chair <-> floor depth=[0.394, -0.003, 0.436] + !! OVERLAP: chair <-> floor depth=[0.524, -0.003, 0.546] + !! OVERLAP: chair <-> floor depth=[0.453, -0.003, 0.624] + !! OVERLAP: table <-> floor depth=[1.249, -0.003, 1.003] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0017, Room Outer Loss: 0.0000, Walkable Loss: 0.6267 (Center Penalty: 0.6267), Relational Loss: 0.0244 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.607 0.589 0.684 2.089 0.001 1.215 -90.27° +tv_stand 2.144 0.566 0.441 -1.111 0.000 0.634 89.86° +table 1.709 1.853 0.643 0.756 0.000 -0.681 179.97° +table 0.794 0.549 0.599 1.926 0.003 -1.453 -0.04° +sofa 1.892 0.820 0.883 2.100 -0.000 -0.055 -89.99° +chair 0.724 0.974 0.922 1.116 0.002 0.789 -113.47° +floor 5.762 -0.007 4.743 0.461 0.001 0.445 -0.05° +_scene_ 0.056 0.031 0.174 -5.414 0.007 -5.488 -58.68° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.607, -0.007, 0.684] + !! OVERLAP: tv_stand <-> floor depth=[2.144, -0.007, 0.441] + !! OVERLAP: table <-> sofa depth=[0.457, 0.820, 0.137] + !! OVERLAP: table <-> floor depth=[1.709, -0.007, 0.643] + !! OVERLAP: table <-> floor depth=[0.794, -0.007, 0.599] + !! OVERLAP: sofa <-> chair depth=[0.324, 0.820, 0.058] + !! OVERLAP: sofa <-> floor depth=[1.892, -0.007, 0.883] + !! OVERLAP: chair <-> floor depth=[0.724, -0.007, 0.922] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0052, Room Outer Loss: 0.1403, Walkable Loss: 0.4012 (Center Penalty: 0.4012), Relational Loss: 0.0037 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.053 0.983 1.067 1.361 -0.002 1.923 -90.11° +table 1.075 0.720 1.047 -0.121 0.002 1.931 -0.01° +tv_stand 1.688 0.829 0.353 -0.737 -0.003 0.965 90.15° +table 0.999 0.576 0.510 0.923 0.003 -0.928 90.02° +chair 0.473 0.660 0.450 0.773 0.006 -0.546 180.00° +chair 0.478 0.673 0.514 0.404 0.002 -1.266 0.03° +chair 0.566 0.559 0.507 1.626 0.003 -0.661 179.93° +chair 0.450 0.693 0.585 1.515 0.001 -1.423 0.05° +cabinet 0.840 1.182 0.267 -0.085 -0.001 -2.692 0.13° +lamp 0.749 0.909 0.511 0.097 1.754 1.349 0.04° +lamp 0.312 1.021 0.325 1.232 1.803 -1.271 0.02° +floor 3.869 0.006 7.756 0.494 0.005 0.980 -0.25° +_scene_ 0.071 0.001 0.026 -5.667 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.081, 0.720, 1.047] + !! OVERLAP: sofa <-> floor depth=[2.053, 0.006, 1.067] + !! OVERLAP: table <-> floor depth=[1.075, 0.006, 1.047] + !! OVERLAP: tv_stand <-> floor depth=[1.548, 0.006, 0.353] + !! OVERLAP: table <-> chair depth=[0.473, 0.576, 0.098] + !! OVERLAP: table <-> chair depth=[0.219, 0.576, 0.174] + !! OVERLAP: table <-> chair depth=[0.079, 0.559, 0.242] + !! OVERLAP: table <-> chair depth=[0.133, 0.576, 0.053] + !! OVERLAP: table <-> floor depth=[0.999, 0.006, 0.510] + !! OVERLAP: chair <-> floor depth=[0.473, 0.006, 0.450] + !! OVERLAP: chair <-> floor depth=[0.478, 0.006, 0.514] + !! OVERLAP: chair <-> floor depth=[0.566, 0.006, 0.507] + !! OVERLAP: chair <-> floor depth=[0.450, 0.006, 0.585] + !! OVERLAP: cabinet <-> floor depth=[0.840, 0.006, 0.267] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0253, Room Outer Loss: 0.0831, Walkable Loss: 0.3267 (Center Penalty: 0.3267), Relational Loss: 0.0107 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.158 0.834 1.591 1.107 -0.001 -0.534 -0.01° +table 1.260 0.447 0.479 0.528 0.037 -0.946 -0.28° +shelf 0.158 2.203 0.130 2.696 0.003 -1.031 0.11° +cabinet 0.794 1.192 0.286 -1.633 0.002 0.736 179.99° +table 1.297 0.777 0.630 -2.987 0.003 -0.573 90.04° +chair 0.623 0.779 0.547 -3.610 0.002 -0.519 90.00° +chair 0.574 0.767 0.472 -3.518 0.002 -1.214 89.98° +chair 0.585 0.695 0.600 -2.122 -0.001 -0.510 -89.91° +chair 0.621 0.636 0.605 -2.116 0.003 -1.058 -90.09° +lamp 0.761 0.812 0.786 1.267 1.751 -0.196 -0.01° +lamp 0.776 0.990 0.785 -3.031 1.673 -0.588 0.02° +floor 7.234 -0.007 3.202 -0.567 0.011 -0.806 0.96° +_scene_ 0.071 -0.000 0.020 -5.676 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.260, 0.447, 0.479] + !! OVERLAP: sofa <-> shelf depth=[0.069, 0.834, 0.130] + !! OVERLAP: sofa <-> floor depth=[3.158, -0.007, 1.591] + !! OVERLAP: table <-> floor depth=[1.260, -0.007, 0.479] + !! OVERLAP: shelf <-> floor depth=[0.158, -0.007, 0.130] + !! OVERLAP: cabinet <-> floor depth=[0.794, -0.007, 0.203] + !! OVERLAP: table <-> chair depth=[0.337, 0.776, 0.535] + !! OVERLAP: table <-> chair depth=[0.076, 0.695, 0.552] + !! OVERLAP: table <-> chair depth=[0.088, 0.636, 0.133] + !! OVERLAP: table <-> floor depth=[1.297, -0.007, 0.630] + !! OVERLAP: chair <-> floor depth=[0.623, -0.007, 0.547] + !! OVERLAP: chair <-> floor depth=[0.574, -0.007, 0.472] + !! OVERLAP: chair <-> chair depth=[0.585, 0.636, 0.055] + !! OVERLAP: chair <-> floor depth=[0.585, -0.007, 0.600] + !! OVERLAP: chair <-> floor depth=[0.621, -0.007, 0.605] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0064, Room Outer Loss: 0.1300, Walkable Loss: 0.7230 (Center Penalty: 0.7230), Relational Loss: 0.0171 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.894 2.669 0.438 -0.892 0.011 1.779 -179.51° +sofa 1.318 0.922 0.628 0.072 0.011 -1.412 -90.60° +table 0.465 0.652 0.619 -0.397 -0.007 -0.609 -0.55° +table 0.629 0.534 0.489 -0.686 -0.007 -1.209 -123.97° +lamp 0.327 0.400 0.298 0.149 2.358 0.899 -0.01° +floor 3.121 -0.007 4.554 -0.929 -0.008 -0.310 -0.39° +_scene_ 0.068 0.001 0.032 -5.671 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.894, -0.007, 0.408] + !! OVERLAP: sofa <-> table depth=[0.215, 0.534, 0.355] + !! OVERLAP: sofa <-> floor depth=[1.218, -0.007, 0.628] + !! OVERLAP: table <-> floor depth=[0.465, -0.007, 0.619] + !! OVERLAP: table <-> floor depth=[0.629, -0.007, 0.489] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0089, Room Outer Loss: 0.0000, Walkable Loss: 0.1446 (Center Penalty: 0.1446), Relational Loss: 0.0135 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.301 0.732 1.021 0.022 -0.000 -2.505 -0.12° +chair 0.505 1.002 0.542 1.069 0.001 -2.990 0.05° +chair 0.491 0.999 0.533 1.178 -0.001 -1.842 179.94° +chair 0.495 0.990 0.556 0.506 0.001 -1.797 -179.99° +chair 0.530 0.991 0.583 0.456 0.001 -3.323 0.14° +lamp 0.763 0.857 0.772 -0.065 1.824 1.694 -0.02° +sofa 2.333 0.901 0.892 -2.006 0.001 1.569 89.94° +chair 0.860 0.840 0.887 -0.629 -0.000 3.085 179.88° +chair 0.865 0.873 0.808 0.087 -0.000 3.040 -168.95° +table 1.626 0.407 0.876 -0.126 -0.001 1.615 89.42° +table 0.566 0.655 0.482 -1.906 0.002 0.235 90.02° +table 0.483 0.533 0.428 -1.900 -0.002 3.257 0.05° +chair 0.501 0.494 0.525 -0.575 -0.001 0.926 -0.07° +table 1.302 0.770 0.363 -2.369 0.002 -1.356 89.99° +lamp 0.964 1.049 0.936 0.130 1.732 -2.391 0.00° +floor 5.644 0.006 8.133 -1.214 -0.004 -0.338 -0.08° +_scene_ 0.076 -0.000 0.029 -5.671 -0.003 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.356, 0.732, 0.297] + !! OVERLAP: table <-> chair depth=[0.240, 0.732, 0.114] + !! OVERLAP: table <-> chair depth=[0.495, 0.732, 0.081] + !! OVERLAP: table <-> floor depth=[2.301, 0.006, 1.021] + !! OVERLAP: chair <-> floor depth=[0.505, 0.006, 0.542] + !! OVERLAP: chair <-> floor depth=[0.491, 0.006, 0.533] + !! OVERLAP: chair <-> floor depth=[0.495, 0.006, 0.556] + !! OVERLAP: chair <-> floor depth=[0.530, 0.006, 0.583] + !! OVERLAP: sofa <-> table depth=[0.099, 0.407, 0.839] + !! OVERLAP: sofa <-> floor depth=[2.333, 0.006, 0.892] + !! OVERLAP: chair <-> chair depth=[0.146, 0.840, 0.802] + !! OVERLAP: chair <-> floor depth=[0.860, 0.006, 0.887] + !! OVERLAP: chair <-> floor depth=[0.865, 0.006, 0.808] + !! OVERLAP: table <-> chair depth=[0.501, 0.407, 0.012] + !! OVERLAP: table <-> floor depth=[1.626, 0.006, 0.876] + !! OVERLAP: table <-> floor depth=[0.566, 0.006, 0.482] + !! OVERLAP: table <-> floor depth=[0.483, 0.006, 0.428] + !! OVERLAP: chair <-> floor depth=[0.501, 0.006, 0.525] + !! OVERLAP: table <-> floor depth=[1.302, 0.006, 0.363] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0139, Room Outer Loss: 0.3035, Walkable Loss: 0.1638 (Center Penalty: 0.1638), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.435 0.921 0.423 1.901 -0.001 -1.156 -0.06° +chair 0.397 0.902 0.520 2.088 -0.001 -1.218 0.05° +chair 0.520 0.970 0.573 1.879 0.001 0.129 -90.01° +chair 0.379 0.908 0.570 2.067 0.005 0.043 -90.29° +chair 0.523 0.845 0.525 -2.714 -0.001 -0.246 89.81° +sofa 2.525 0.800 0.776 -1.675 0.001 1.473 -179.95° +table 1.153 0.575 1.141 -0.007 0.000 1.086 0.00° +table 1.125 0.553 0.966 -2.840 0.001 0.633 0.01° +table 1.216 0.486 1.058 -1.297 -0.002 -0.826 0.00° +table 0.888 0.611 0.936 1.748 -0.004 -0.612 0.11° +table 1.352 1.573 0.354 1.328 0.001 1.283 -90.24° +table 1.237 0.454 1.166 -1.866 0.002 0.274 -89.96° +lamp 0.436 0.395 0.425 -1.416 2.194 -0.269 0.02° +lamp 0.843 0.687 0.436 1.768 1.943 -0.176 -0.02° +floor 6.439 -0.003 4.278 -1.048 -0.010 0.724 0.39° +_scene_ 0.069 -0.001 0.037 -5.638 -0.002 -5.681 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.229, 0.902, 0.410] + !! OVERLAP: chair <-> table depth=[0.435, 0.611, 0.136] + !! OVERLAP: chair <-> floor depth=[0.435, -0.003, 0.423] + !! OVERLAP: chair <-> table depth=[0.302, 0.611, 0.123] + !! OVERLAP: chair <-> floor depth=[0.281, -0.003, 0.457] + !! OVERLAP: chair <-> chair depth=[0.262, 0.908, 0.485] + !! OVERLAP: chair <-> table depth=[0.520, 0.611, 0.013] + !! OVERLAP: chair <-> floor depth=[0.520, -0.003, 0.573] + !! OVERLAP: chair <-> table depth=[0.314, 0.611, 0.098] + !! OVERLAP: chair <-> floor depth=[0.293, -0.003, 0.570] + !! OVERLAP: chair <-> table depth=[0.031, 0.454, 0.325] + !! OVERLAP: chair <-> floor depth=[0.523, -0.003, 0.525] + !! OVERLAP: sofa <-> table depth=[0.170, 0.575, 0.571] + !! OVERLAP: sofa <-> table depth=[0.661, 0.553, 0.031] + !! OVERLAP: sofa <-> floor depth=[2.525, -0.003, 0.776] + !! OVERLAP: table <-> floor depth=[1.153, -0.003, 1.141] + !! OVERLAP: table <-> table depth=[0.207, 0.454, 0.707] + !! OVERLAP: table <-> floor depth=[1.125, -0.003, 0.966] + !! OVERLAP: table <-> table depth=[0.658, 0.454, 0.011] + !! OVERLAP: table <-> floor depth=[1.216, -0.003, 1.058] + !! OVERLAP: table <-> floor depth=[0.868, -0.003, 0.936] + !! OVERLAP: table <-> floor depth=[1.352, -0.003, 0.354] + !! OVERLAP: table <-> floor depth=[1.237, -0.003, 1.166] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0487, Walkable Loss: 0.7405 (Center Penalty: 0.7405), Relational Loss: 0.0199 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.094 0.837 0.774 0.630 0.001 -1.079 -0.08° +table 1.331 0.898 0.718 0.936 0.017 0.293 -0.14° +table 0.567 0.563 0.434 -1.376 -0.000 -1.293 -0.05° +chair 0.728 0.850 0.736 -1.409 0.003 -0.322 69.39° +table 0.407 0.551 0.405 1.861 0.004 -1.174 -0.24° +chair 0.598 0.358 0.453 1.860 -0.001 0.193 -89.97° +lamp 0.488 0.911 0.367 1.015 1.804 0.137 0.08° +tv_stand 1.955 0.541 0.394 1.108 0.004 1.768 179.87° +floor 4.607 0.010 3.754 0.579 0.006 0.331 0.26° +_scene_ 0.063 0.000 0.016 -5.671 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.019, 0.551, 0.405] + !! OVERLAP: sofa <-> floor depth=[2.094, 0.010, 0.774] + !! OVERLAP: table <-> chair depth=[0.041, 0.358, 0.453] + !! OVERLAP: table <-> floor depth=[1.331, 0.010, 0.718] + !! OVERLAP: table <-> floor depth=[0.567, 0.010, 0.434] + !! OVERLAP: chair <-> floor depth=[0.680, 0.010, 0.736] + !! OVERLAP: table <-> floor depth=[0.407, 0.010, 0.405] + !! OVERLAP: chair <-> floor depth=[0.598, 0.010, 0.453] + !! OVERLAP: tv_stand <-> floor depth=[1.955, 0.010, 0.394] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.0380, Room Outer Loss: 0.0000, Walkable Loss: 0.5996 (Center Penalty: 0.5996), Relational Loss: 0.0205 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.681 0.459 0.653 0.326 -0.002 1.284 90.04° +sofa 2.099 0.800 0.898 -0.352 -0.003 1.016 90.00° +table 1.283 0.682 0.990 1.010 0.017 -1.119 0.02° +chair 0.509 0.974 0.570 1.330 0.001 -1.713 -90.19° +chair 0.546 1.014 0.547 1.280 0.001 -0.268 179.94° +chair 0.645 1.028 0.671 0.571 -0.002 -0.697 179.71° +chair 0.676 1.012 0.663 0.063 -0.000 -1.700 85.56° +chair 0.629 0.993 0.678 1.146 -0.003 -0.610 179.56° +chair 0.655 0.979 0.754 0.784 0.000 -1.992 0.05° +bookshelf 0.431 1.272 0.231 -1.326 -0.003 1.403 0.07° +floor 3.961 0.008 5.803 0.295 0.002 -0.858 -0.27° +_scene_ 0.066 0.002 0.020 -5.661 -0.005 -5.697 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.681, 0.459, 0.507] + !! OVERLAP: table <-> floor depth=[0.681, 0.008, 0.653] + !! OVERLAP: sofa <-> bookshelf depth=[0.290, 0.800, 0.178] + !! OVERLAP: sofa <-> floor depth=[2.099, 0.008, 0.898] + !! OVERLAP: table <-> chair depth=[0.509, 0.682, 0.186] + !! OVERLAP: table <-> chair depth=[0.525, 0.682, 0.408] + !! OVERLAP: table <-> chair depth=[0.033, 0.682, 0.246] + !! OVERLAP: table <-> chair depth=[0.629, 0.682, 0.325] + !! OVERLAP: table <-> floor depth=[1.283, 0.008, 0.990] + !! OVERLAP: chair <-> chair depth=[0.035, 0.974, 0.383] + !! OVERLAP: chair <-> floor depth=[0.509, 0.008, 0.570] + !! OVERLAP: chair <-> chair depth=[0.454, 0.993, 0.271] + !! OVERLAP: chair <-> floor depth=[0.546, 0.008, 0.547] + !! OVERLAP: chair <-> chair depth=[0.063, 0.993, 0.587] + !! OVERLAP: chair <-> floor depth=[0.645, 0.008, 0.671] + !! OVERLAP: chair <-> floor depth=[0.676, 0.008, 0.663] + !! OVERLAP: chair <-> floor depth=[0.629, 0.008, 0.678] + !! OVERLAP: chair <-> floor depth=[0.655, 0.008, 0.754] + !! OVERLAP: bookshelf <-> floor depth=[0.431, 0.008, 0.231] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0193, Room Outer Loss: 0.8568, Walkable Loss: 0.4270 (Center Penalty: 0.4270), Relational Loss: 0.0224 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.591 0.584 0.477 0.060 0.003 1.211 179.96° +table 0.491 0.567 0.401 -2.665 0.000 1.219 180.00° +table 0.981 0.374 1.103 -1.656 0.001 -0.001 -0.06° +sofa 2.123 0.995 0.879 -1.111 0.002 1.034 179.85° +chair 0.899 0.764 1.065 -1.041 -0.001 0.197 -90.23° +chair 0.830 0.815 0.906 -3.319 -0.001 0.349 89.78° +table 1.621 0.767 1.123 1.693 -0.002 0.661 -0.08° +chair 0.545 0.884 0.564 1.879 0.000 -0.020 0.10° +chair 0.396 0.915 0.506 2.251 0.000 -0.029 -0.01° +chair 0.292 0.999 0.494 2.453 0.012 0.153 -90.45° +chair 0.428 0.865 0.467 1.969 0.002 1.160 179.94° +chair 0.433 0.899 0.517 2.421 0.003 1.285 179.87° +chair 0.332 0.909 0.416 2.416 -0.011 1.302 -179.65° +tv_stand 2.165 0.753 0.445 -1.828 0.001 -1.465 0.02° +lamp 0.413 0.911 0.384 -1.514 1.526 0.026 -0.04° +lamp 0.197 1.333 0.722 0.330 0.951 -0.872 -0.58° +table 1.149 1.647 0.410 1.891 0.004 -1.580 -0.11° +floor 7.213 0.009 3.316 -1.136 -0.014 -0.262 -0.13° +_scene_ 0.073 -0.001 0.029 -5.669 -0.003 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.186, 0.584, 0.477] + !! OVERLAP: table <-> floor depth=[0.591, 0.009, 0.423] + !! OVERLAP: table <-> floor depth=[0.491, 0.009, 0.378] + !! OVERLAP: table <-> chair depth=[0.326, 0.374, 0.886] + !! OVERLAP: table <-> floor depth=[0.981, 0.009, 1.103] + !! OVERLAP: sofa <-> chair depth=[0.899, 0.764, 0.136] + !! OVERLAP: sofa <-> floor depth=[2.123, 0.009, 0.802] + !! OVERLAP: chair <-> floor depth=[0.899, 0.009, 1.065] + !! OVERLAP: chair <-> floor depth=[0.830, 0.009, 0.906] + !! OVERLAP: table <-> chair depth=[0.545, 0.767, 0.163] + !! OVERLAP: table <-> chair depth=[0.396, 0.767, 0.124] + !! OVERLAP: table <-> chair depth=[0.197, 0.767, 0.301] + !! OVERLAP: table <-> chair depth=[0.428, 0.767, 0.296] + !! OVERLAP: table <-> chair depth=[0.300, 0.767, 0.196] + !! OVERLAP: table <-> chair depth=[0.253, 0.767, 0.128] + !! OVERLAP: table <-> floor depth=[1.588, 0.009, 1.123] + !! OVERLAP: chair <-> chair depth=[0.098, 0.884, 0.506] + !! OVERLAP: chair <-> floor depth=[0.545, 0.009, 0.564] + !! OVERLAP: chair <-> chair depth=[0.141, 0.915, 0.317] + !! OVERLAP: chair <-> floor depth=[0.396, 0.009, 0.506] + !! OVERLAP: chair <-> floor depth=[0.163, 0.009, 0.494] + !! OVERLAP: chair <-> floor depth=[0.428, 0.009, 0.467] + !! OVERLAP: chair <-> chair depth=[0.332, 0.890, 0.416] + !! OVERLAP: chair <-> floor depth=[0.266, 0.009, 0.369] + !! OVERLAP: chair <-> floor depth=[0.220, 0.009, 0.302] + !! OVERLAP: tv_stand <-> floor depth=[2.165, 0.009, 0.445] + !! OVERLAP: table <-> floor depth=[1.149, 0.009, 0.410] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0184, Walkable Loss: 0.7574 (Center Penalty: 0.7574), Relational Loss: 0.0190 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.793 0.847 0.757 -0.771 1.796 -0.033 0.09° +chair 0.990 0.811 0.775 -1.695 -0.001 0.263 113.00° +sofa 2.641 0.983 1.030 -0.619 0.002 -1.193 -0.00° +table 0.815 0.514 0.653 1.042 0.002 -1.339 -0.02° +table 0.720 0.561 0.713 1.532 0.005 0.358 -102.38° +table 0.711 0.402 0.830 -0.666 -0.009 0.766 -90.13° +floor 5.029 0.010 3.698 -0.641 0.005 -0.463 -0.10° +_scene_ 0.079 0.018 0.041 -5.621 -0.002 -5.635 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.990, 0.010, 0.775] + !! OVERLAP: sofa <-> table depth=[0.067, 0.514, 0.653] + !! OVERLAP: sofa <-> floor depth=[2.641, 0.010, 1.030] + !! OVERLAP: table <-> floor depth=[0.815, 0.010, 0.653] + !! OVERLAP: table <-> floor depth=[0.702, 0.010, 0.713] + !! OVERLAP: table <-> floor depth=[0.711, 0.010, 0.830] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0085, Room Outer Loss: 0.0869, Walkable Loss: 0.2856 (Center Penalty: 0.2856), Relational Loss: 0.0116 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.296 0.899 0.795 -1.387 0.000 -2.010 89.99° +chair 0.916 0.801 0.982 0.278 0.002 -3.868 -18.29° +table 1.234 0.329 0.817 0.319 0.001 -1.739 89.96° +cabinet 0.970 1.856 0.241 1.871 0.001 3.092 -89.96° +table 2.164 0.805 1.027 0.003 -0.001 1.895 0.04° +chair 0.536 0.830 0.610 0.035 0.004 1.244 -0.02° +chair 0.561 0.827 0.579 0.973 0.000 1.637 -90.10° +chair 0.517 0.852 0.617 0.749 0.002 2.833 -90.10° +chair 0.514 0.819 0.555 -0.178 0.000 2.823 -179.97° +chair 0.525 0.836 0.628 -0.960 0.001 2.563 89.96° +chair 0.569 0.820 0.624 -1.101 0.000 1.613 90.01° +tv_stand 1.814 0.470 0.345 1.473 -0.003 -2.303 -90.34° +table 0.556 0.481 0.439 -1.393 0.000 -0.513 78.09° +table 0.517 0.454 0.427 -1.252 0.001 -3.588 90.00° +chair 0.842 0.890 0.788 -0.316 -0.002 -0.863 168.76° +lamp 0.403 0.638 0.411 0.081 1.831 -2.117 -0.07° +lamp 0.458 0.434 0.424 0.378 2.109 1.894 -0.00° +floor 5.312 -0.032 8.773 -0.231 0.003 -1.253 -0.37° +_scene_ 0.072 0.002 0.020 -5.667 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.058, 0.329, 0.535] + !! OVERLAP: sofa <-> floor depth=[2.296, -0.032, 0.795] + !! OVERLAP: chair <-> floor depth=[0.916, -0.032, 0.982] + !! OVERLAP: table <-> tv_stand depth=[0.370, 0.329, 0.017] + !! OVERLAP: table <-> floor depth=[1.234, -0.032, 0.817] + !! OVERLAP: cabinet <-> floor depth=[0.970, -0.032, 0.162] + !! OVERLAP: table <-> chair depth=[0.536, 0.805, 0.168] + !! OVERLAP: table <-> chair depth=[0.393, 0.805, 0.545] + !! OVERLAP: table <-> chair depth=[0.381, 0.805, 0.160] + !! OVERLAP: table <-> chair depth=[0.262, 0.805, 0.544] + !! OVERLAP: table <-> floor depth=[2.164, -0.032, 1.027] + !! OVERLAP: chair <-> floor depth=[0.536, -0.032, 0.610] + !! OVERLAP: chair <-> floor depth=[0.561, -0.032, 0.579] + !! OVERLAP: chair <-> floor depth=[0.517, -0.032, 0.609] + !! OVERLAP: chair <-> floor depth=[0.514, -0.032, 0.555] + !! OVERLAP: chair <-> floor depth=[0.525, -0.032, 0.628] + !! OVERLAP: chair <-> floor depth=[0.569, -0.032, 0.624] + !! OVERLAP: tv_stand <-> floor depth=[1.814, -0.032, 0.345] + !! OVERLAP: table <-> floor depth=[0.556, -0.032, 0.439] + !! OVERLAP: table <-> floor depth=[0.517, -0.032, 0.427] + !! OVERLAP: chair <-> floor depth=[0.842, -0.032, 0.788] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0082, Room Outer Loss: 0.0000, Walkable Loss: 0.3213 (Center Penalty: 0.3213), Relational Loss: 0.0076 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.189 0.866 0.839 -1.849 0.001 2.388 89.96° +chair 1.109 0.847 1.047 -0.683 0.001 3.865 179.86° +table 1.414 0.468 1.096 -0.339 0.002 2.352 89.96° +table 0.502 0.718 0.446 -1.778 0.004 3.779 90.04° +table 0.598 0.534 0.528 -1.710 0.001 1.099 89.98° +table 0.572 0.475 0.562 -1.763 0.003 3.494 89.97° +table 2.160 0.750 0.909 -1.236 -0.000 -2.363 0.02° +chair 0.581 1.048 0.634 -1.938 -0.001 -3.136 -0.19° +chair 0.558 1.125 0.578 -1.144 -0.004 -2.963 -0.48° +chair 0.511 1.157 0.614 -0.275 0.001 -2.607 -90.55° +chair 0.609 1.138 0.666 -2.133 -0.002 -1.526 179.84° +chair 0.542 1.171 0.614 -1.058 -0.001 -1.697 179.94° +table 1.906 0.810 0.932 -1.384 0.001 -0.885 0.04° +table 0.539 0.523 0.357 -2.059 0.001 -0.055 90.07° +table 0.888 0.948 0.478 -1.049 0.005 -3.674 -89.82° +chair 0.734 0.508 0.521 -0.750 0.002 1.176 0.64° +lamp 0.987 0.941 0.908 -0.526 1.771 2.222 -0.03° +lamp 0.479 0.560 0.463 -0.982 2.215 0.376 90.11° +lamp 0.397 0.186 0.405 1.282 2.508 0.021 -0.04° +lamp 0.399 0.693 0.407 -1.533 2.202 -2.128 -0.06° +lamp 0.846 0.708 0.761 0.106 2.184 -3.784 89.89° +floor 5.312 0.003 9.508 -0.902 -0.006 0.372 0.12° +_scene_ 0.067 0.000 0.020 -5.669 -0.005 -5.717 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.291, 0.468, 0.839] + !! OVERLAP: sofa <-> floor depth=[2.189, 0.003, 0.839] + !! OVERLAP: chair <-> floor depth=[1.109, 0.003, 1.047] + !! OVERLAP: table <-> floor depth=[1.414, 0.003, 1.096] + !! OVERLAP: table <-> table depth=[0.502, 0.475, 0.219] + !! OVERLAP: table <-> floor depth=[0.502, 0.003, 0.446] + !! OVERLAP: table <-> floor depth=[0.598, 0.003, 0.528] + !! OVERLAP: table <-> floor depth=[0.572, 0.003, 0.562] + !! OVERLAP: table <-> chair depth=[0.558, 0.750, 0.144] + !! OVERLAP: table <-> chair depth=[0.374, 0.750, 0.517] + !! OVERLAP: table <-> chair depth=[0.542, 0.750, 0.096] + !! OVERLAP: table <-> floor depth=[2.160, 0.003, 0.909] + !! OVERLAP: chair <-> floor depth=[0.581, 0.003, 0.634] + !! OVERLAP: chair <-> floor depth=[0.558, 0.003, 0.578] + !! OVERLAP: chair <-> floor depth=[0.511, 0.003, 0.614] + !! OVERLAP: chair <-> table depth=[0.508, 0.810, 0.157] + !! OVERLAP: chair <-> floor depth=[0.609, 0.003, 0.666] + !! OVERLAP: chair <-> floor depth=[0.542, 0.003, 0.614] + !! OVERLAP: table <-> floor depth=[1.906, 0.003, 0.932] + !! OVERLAP: table <-> floor depth=[0.539, 0.003, 0.357] + !! OVERLAP: table <-> floor depth=[0.888, 0.003, 0.478] + !! OVERLAP: chair <-> floor depth=[0.734, 0.003, 0.521] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4053 (Center Penalty: 0.4053), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 3.197 0.090 3.080 0.218 -0.007 1.062 -0.10° +chair 0.565 0.773 0.578 -0.290 -0.001 -0.837 -0.26° +chair 0.377 0.812 0.415 -1.072 0.001 -0.767 -0.06° +floor 4.949 0.013 6.432 0.794 0.002 0.831 -0.03° +_scene_ 0.053 0.004 0.015 -5.656 -0.005 -5.711 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[3.197, 0.013, 3.080] + !! OVERLAP: chair <-> floor depth=[0.565, 0.013, 0.578] + !! OVERLAP: chair <-> floor depth=[0.377, 0.013, 0.415] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0202, Room Outer Loss: 0.1010, Walkable Loss: 0.4322 (Center Penalty: 0.4322), Relational Loss: 0.0204 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.908 1.122 0.878 -1.369 0.003 1.107 89.05° +tv_stand 0.654 0.499 0.209 0.197 -0.009 0.970 -90.59° +table 0.467 0.820 0.421 -1.076 -0.000 2.409 0.09° +cabinet 0.468 0.927 0.334 0.162 -0.021 2.285 -90.64° +lamp 0.458 0.691 0.427 -0.480 2.189 1.006 -0.04° +lamp 0.939 0.874 1.013 -0.487 1.780 -2.468 -90.03° +lamp 1.003 0.837 1.003 -1.095 2.045 -2.248 -89.80° +table 1.461 0.521 1.000 -0.850 -0.003 0.583 0.01° +chair 0.548 0.928 0.674 -1.116 -0.001 -0.352 0.12° +chair 0.592 0.872 0.610 -0.512 0.001 2.103 179.85° +floor 3.253 0.098 7.149 -1.203 0.017 -0.677 -1.05° +_scene_ 0.069 0.000 0.022 -5.674 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.665, 0.521, 0.416] + !! OVERLAP: chair <-> floor depth=[0.908, 0.098, 0.878] + !! OVERLAP: tv_stand <-> table depth=[0.010, 0.499, 0.209] + !! OVERLAP: tv_stand <-> floor depth=[0.553, 0.098, 0.209] + !! OVERLAP: table <-> floor depth=[0.467, 0.098, 0.421] + !! OVERLAP: cabinet <-> floor depth=[0.468, 0.098, 0.334] + !! OVERLAP: lamp <-> lamp depth=[0.363, 0.591, 0.788] + !! OVERLAP: table <-> floor depth=[1.461, 0.098, 1.000] + !! OVERLAP: chair <-> floor depth=[0.548, 0.098, 0.674] + !! OVERLAP: chair <-> floor depth=[0.592, 0.098, 0.610] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0209, Room Outer Loss: 0.0000, Walkable Loss: 0.5601 (Center Penalty: 0.5601), Relational Loss: 0.0118 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.909 0.713 0.960 -1.487 0.003 0.551 89.99° +sofa 2.149 0.832 0.961 1.438 -0.002 0.571 -89.82° +chair 0.543 1.005 0.623 0.480 0.010 0.688 -90.53° +chair 0.487 0.867 0.480 -1.978 -0.002 0.926 89.95° +lamp 0.716 0.770 0.705 0.822 1.875 0.240 -0.01° +lamp 0.586 0.743 0.569 -1.393 2.026 0.557 0.00° +floor 5.859 -0.018 2.606 -0.324 0.003 1.145 -3.26° +_scene_ 0.076 0.002 0.025 -5.666 -0.004 -5.707 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.487, 0.713, 0.346] + !! OVERLAP: table <-> floor depth=[1.909, -0.018, 0.960] + !! OVERLAP: sofa <-> chair depth=[0.388, 0.832, 0.623] + !! OVERLAP: sofa <-> floor depth=[2.149, -0.018, 0.961] + !! OVERLAP: chair <-> floor depth=[0.543, -0.018, 0.623] + !! OVERLAP: chair <-> floor depth=[0.487, -0.018, 0.480] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1070, Walkable Loss: 1.7598 (Center Penalty: 1.7598), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.473 0.715 0.809 -0.495 -0.003 -0.451 -90.30° +chair 0.553 0.871 0.579 -1.440 -0.000 0.224 90.02° +chair 0.532 0.920 0.593 -1.425 0.001 -0.694 89.96° +chair 0.523 0.892 0.634 1.268 0.002 0.241 -89.99° +chair 0.448 0.880 0.547 1.228 -0.001 -0.931 -89.75° +cabinet 2.937 2.413 0.566 0.441 -0.000 1.372 -179.84° +lamp 0.088 1.066 0.073 0.237 1.112 -1.013 0.04° +lamp 0.074 1.016 0.129 -0.633 1.254 0.421 -0.22° +floor 4.277 -0.004 3.176 -0.292 -0.000 0.024 0.06° +_scene_ 0.074 0.002 0.027 -5.674 -0.005 -5.705 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.553, 0.715, 0.020] + !! OVERLAP: table <-> chair depth=[0.532, 0.715, 0.458] + !! OVERLAP: table <-> floor depth=[2.473, -0.004, 0.809] + !! OVERLAP: chair <-> floor depth=[0.553, -0.004, 0.579] + !! OVERLAP: chair <-> floor depth=[0.532, -0.004, 0.593] + !! OVERLAP: chair <-> floor depth=[0.523, -0.004, 0.634] + !! OVERLAP: chair <-> floor depth=[0.448, -0.004, 0.547] + !! OVERLAP: cabinet <-> floor depth=[2.873, -0.004, 0.523] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0190, Room Outer Loss: 0.0000, Walkable Loss: 1.9917 (Center Penalty: 1.9917), Relational Loss: 0.0076 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.230 0.828 0.717 -1.162 0.013 -0.325 89.20° +chair 0.570 0.790 0.326 -0.446 -0.006 0.921 178.75° +chair 0.589 0.777 0.540 -0.942 -0.000 0.480 179.97° +chair 0.572 0.791 0.597 -0.161 0.002 -0.784 0.04° +chair 0.504 0.797 0.605 -0.726 0.002 -0.605 0.06° +lamp 1.267 1.176 1.331 -0.763 1.520 0.290 0.24° +floor 4.206 -0.001 2.409 -0.015 0.001 0.024 -0.05° +_scene_ 0.071 -0.001 0.026 -5.674 -0.006 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.431, 0.797, 0.381] + !! OVERLAP: table <-> floor depth=[1.230, -0.001, 0.717] + !! OVERLAP: chair <-> floor depth=[0.570, -0.001, 0.326] + !! OVERLAP: chair <-> floor depth=[0.589, -0.001, 0.540] + !! OVERLAP: chair <-> floor depth=[0.572, -0.001, 0.597] + !! OVERLAP: chair <-> floor depth=[0.504, -0.001, 0.605] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0211, Room Outer Loss: 0.1475, Walkable Loss: 1.2705 (Center Penalty: 1.2705), Relational Loss: 0.0176 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.452 0.733 0.740 -0.178 -0.001 -0.776 -179.93° +chair 0.487 0.832 0.513 -0.563 0.000 0.752 179.85° +chair 0.462 0.890 0.498 0.537 0.003 0.848 -129.20° +chair 0.446 0.906 0.499 0.388 -0.002 -0.965 -38.68° +chair 0.529 0.879 0.519 -0.336 -0.000 -1.247 0.05° +chair 0.496 0.831 0.558 -1.362 0.003 0.534 143.82° +cabinet 2.083 2.525 0.508 -2.119 -0.003 -0.077 89.93° +cabinet 1.245 2.153 0.366 1.250 -0.002 -0.604 -89.92° +chair 0.509 0.847 0.486 -1.141 0.004 -0.699 46.23° +cabinet 1.392 2.128 0.492 1.249 -0.001 0.541 -90.27° +lamp 0.428 0.568 0.342 -0.730 2.310 -0.570 -0.14° +floor 4.959 -0.003 4.386 -0.599 -0.000 -0.550 0.15° +_scene_ 0.066 0.001 0.023 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.383, 0.733, 0.430] + !! OVERLAP: table <-> chair depth=[0.529, 0.733, 0.158] + !! OVERLAP: table <-> chair depth=[0.016, 0.733, 0.486] + !! OVERLAP: table <-> floor depth=[1.452, -0.003, 0.740] + !! OVERLAP: chair <-> floor depth=[0.487, -0.003, 0.513] + !! OVERLAP: chair <-> cabinet depth=[0.215, 0.890, 0.188] + !! OVERLAP: chair <-> floor depth=[0.462, -0.003, 0.498] + !! OVERLAP: chair <-> floor depth=[0.446, -0.003, 0.499] + !! OVERLAP: chair <-> floor depth=[0.529, -0.003, 0.519] + !! OVERLAP: chair <-> floor depth=[0.496, -0.003, 0.558] + !! OVERLAP: cabinet <-> floor depth=[2.001, -0.003, 0.508] + !! OVERLAP: cabinet <-> floor depth=[1.245, -0.003, 0.366] + !! OVERLAP: chair <-> floor depth=[0.509, -0.003, 0.486] + !! OVERLAP: cabinet <-> floor depth=[1.327, -0.003, 0.492] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1295 (Center Penalty: 1.1295), Relational Loss: 0.0089 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.496 0.655 0.465 -0.626 0.000 -1.070 9.34° +table 2.260 1.032 0.667 0.080 -0.003 0.733 89.89° +chair 0.439 0.706 0.406 -0.749 0.015 0.394 89.76° +chair 0.467 0.743 0.461 -0.834 -0.001 1.021 132.48° +chair 0.457 0.680 0.478 0.815 0.004 0.938 -136.39° +chair 0.603 0.765 0.616 0.873 0.004 0.298 -89.62° +chair 0.396 0.725 0.467 0.808 -0.002 -0.891 -48.59° +floor 3.697 -0.020 4.599 0.605 -0.004 0.674 -0.09° +_scene_ 0.095 -0.004 0.084 -5.581 -0.003 -5.641 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.496, -0.020, 0.465] + !! OVERLAP: table <-> chair depth=[0.439, 0.706, 0.198] + !! OVERLAP: table <-> chair depth=[0.449, 0.743, 0.276] + !! OVERLAP: table <-> chair depth=[0.457, 0.680, 0.368] + !! OVERLAP: table <-> chair depth=[0.603, 0.765, 0.207] + !! OVERLAP: table <-> floor depth=[2.260, -0.020, 0.667] + !! OVERLAP: chair <-> floor depth=[0.439, -0.020, 0.406] + !! OVERLAP: chair <-> floor depth=[0.467, -0.020, 0.461] + !! OVERLAP: chair <-> floor depth=[0.457, -0.020, 0.478] + !! OVERLAP: chair <-> floor depth=[0.603, -0.020, 0.616] + !! OVERLAP: chair <-> floor depth=[0.396, -0.020, 0.467] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0144, Room Outer Loss: 0.0000, Walkable Loss: 0.5896 (Center Penalty: 0.5896), Relational Loss: 0.0210 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.800 1.459 0.195 1.868 0.005 0.660 179.89° +table 1.568 0.765 0.883 -1.297 0.002 -0.704 -0.01° +chair 0.473 0.922 0.512 -1.639 0.001 -1.316 0.02° +chair 0.427 0.888 0.484 -0.804 0.000 -1.267 0.06° +chair 0.480 0.929 0.425 -1.633 -0.001 -0.125 179.90° +chair 0.540 0.922 0.387 -0.924 0.002 -0.024 -167.03° +lamp 1.025 0.722 0.849 -0.863 2.043 -0.690 0.01° +floor 4.940 -0.006 3.407 -0.123 -0.003 -0.774 0.10° +_scene_ 0.072 0.001 0.023 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.800, -0.006, 0.195] + !! OVERLAP: table <-> chair depth=[0.473, 0.765, 0.085] + !! OVERLAP: table <-> chair depth=[0.427, 0.765, 0.121] + !! OVERLAP: table <-> chair depth=[0.480, 0.765, 0.075] + !! OVERLAP: table <-> floor depth=[1.568, -0.006, 0.883] + !! OVERLAP: chair <-> floor depth=[0.473, -0.006, 0.512] + !! OVERLAP: chair <-> floor depth=[0.427, -0.006, 0.484] + !! OVERLAP: chair <-> floor depth=[0.480, -0.006, 0.425] + !! OVERLAP: chair <-> floor depth=[0.540, -0.006, 0.387] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0121, Room Outer Loss: 0.0000, Walkable Loss: 1.5463 (Center Penalty: 1.5463), Relational Loss: 0.0234 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.265 0.753 1.239 -0.202 0.003 0.725 90.08° +chair 0.679 0.752 0.628 0.940 0.001 -0.309 -89.95° +chair 0.452 0.856 0.562 0.982 -0.001 0.284 -89.75° +chair 0.541 0.802 0.504 -0.068 0.004 1.444 179.70° +chair 0.483 0.765 0.497 -0.956 -0.000 0.566 90.05° +chair 0.484 0.796 0.569 -0.815 0.002 -0.184 89.98° +chair 0.495 0.803 0.419 0.080 0.000 -0.972 0.07° +lamp 1.023 0.797 1.025 -0.353 2.146 0.868 -0.60° +floor 3.028 -0.000 4.089 0.241 -0.005 0.748 -0.57° +_scene_ 0.070 -0.001 0.046 -5.633 -0.003 -5.686 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.541, 0.753, 0.152] + !! OVERLAP: table <-> chair depth=[0.120, 0.753, 0.497] + !! OVERLAP: table <-> floor depth=[1.265, -0.000, 1.239] + !! OVERLAP: chair <-> chair depth=[0.452, 0.752, 0.002] + !! OVERLAP: chair <-> floor depth=[0.679, -0.000, 0.628] + !! OVERLAP: chair <-> floor depth=[0.452, -0.000, 0.562] + !! OVERLAP: chair <-> floor depth=[0.541, -0.000, 0.504] + !! OVERLAP: chair <-> floor depth=[0.483, -0.000, 0.497] + !! OVERLAP: chair <-> floor depth=[0.484, -0.000, 0.569] + !! OVERLAP: chair <-> floor depth=[0.495, -0.000, 0.419] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0033, Room Outer Loss: 0.0000, Walkable Loss: 0.5912 (Center Penalty: 0.5912), Relational Loss: 0.0074 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.205 0.803 0.752 0.659 -0.000 1.044 -0.00° +chair 0.511 0.792 0.514 0.666 0.001 0.468 0.05° +chair 0.455 0.841 0.473 1.098 0.001 0.359 0.06° +chair 0.466 0.768 0.423 0.909 0.001 1.776 179.94° +chair 0.421 0.780 0.447 0.411 0.006 1.784 179.91° +bookshelf 0.970 1.245 0.400 -0.646 0.002 0.987 90.01° +lamp 0.765 1.025 0.763 0.625 1.743 1.095 -0.05° +lamp 0.477 0.365 0.185 -1.303 2.232 -1.192 0.08° +lamp 0.478 0.552 0.137 0.721 1.850 -1.165 -0.06° +floor 3.470 -0.018 4.839 -0.266 0.003 1.094 -0.27° +_scene_ 0.064 0.001 0.025 -5.670 -0.005 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.511, 0.792, 0.057] + !! OVERLAP: table <-> floor depth=[1.205, -0.018, 0.752] + !! OVERLAP: chair <-> chair depth=[0.051, 0.792, 0.384] + !! OVERLAP: chair <-> floor depth=[0.511, -0.018, 0.514] + !! OVERLAP: chair <-> floor depth=[0.455, -0.018, 0.473] + !! OVERLAP: chair <-> floor depth=[0.466, -0.018, 0.423] + !! OVERLAP: chair <-> floor depth=[0.421, -0.018, 0.447] + !! OVERLAP: bookshelf <-> floor depth=[0.970, -0.018, 0.400] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0141, Room Outer Loss: 0.1904, Walkable Loss: 0.2140 (Center Penalty: 0.2140), Relational Loss: 0.0059 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.324 0.751 0.811 0.816 0.005 -2.780 90.03° +chair 0.554 0.927 0.555 0.199 0.000 -2.877 89.91° +lamp 0.788 1.216 0.795 0.745 1.589 -2.615 0.06° +chair 0.434 1.003 0.457 1.290 0.001 -2.865 -90.19° +chair 0.488 0.938 0.512 0.195 0.001 -2.286 89.84° +chair 0.435 0.907 0.469 1.265 0.002 -2.298 -90.02° +table 1.560 1.089 0.406 -1.267 0.003 0.323 -0.01° +shelf 0.840 1.839 0.369 -1.004 -0.001 -1.181 0.08° +lamp 0.415 0.367 0.234 0.214 2.475 1.150 -0.03° +floor 3.761 -0.005 7.746 -0.455 0.001 -0.951 -0.25° +_scene_ 0.072 -0.000 0.022 -5.671 -0.005 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.322, 0.751, 0.555] + !! OVERLAP: table <-> chair depth=[0.405, 0.751, 0.457] + !! OVERLAP: table <-> chair depth=[0.286, 0.751, 0.167] + !! OVERLAP: table <-> chair depth=[0.430, 0.751, 0.158] + !! OVERLAP: table <-> floor depth=[1.271, -0.005, 0.811] + !! OVERLAP: chair <-> floor depth=[0.554, -0.005, 0.555] + !! OVERLAP: chair <-> floor depth=[0.353, -0.005, 0.457] + !! OVERLAP: chair <-> floor depth=[0.488, -0.005, 0.512] + !! OVERLAP: chair <-> floor depth=[0.378, -0.005, 0.469] + !! OVERLAP: table <-> floor depth=[1.560, -0.005, 0.406] + !! OVERLAP: shelf <-> floor depth=[0.840, -0.005, 0.369] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.0808, Walkable Loss: 2.3102 (Center Penalty: 2.3102), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.476 0.712 0.982 0.253 -0.000 0.648 -0.13° +chair 0.342 0.456 0.315 -0.210 0.000 -0.728 -0.01° +chair 0.428 0.444 0.401 0.885 0.002 -0.639 -0.03° +chair 0.436 0.524 0.347 -0.301 0.002 1.166 179.99° +chair 0.363 0.620 0.414 0.873 0.003 1.025 179.93° +cabinet 1.097 1.273 0.380 -1.340 0.009 -0.444 89.85° +lamp 1.835 0.943 0.387 0.557 1.814 0.345 -0.05° +floor 3.634 -0.001 3.548 0.009 -0.001 0.031 -0.03° +_scene_ 0.080 -0.000 0.026 -5.667 -0.003 -5.709 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.402, 0.524, 0.146] + !! OVERLAP: table <-> chair depth=[0.299, 0.620, 0.321] + !! OVERLAP: table <-> floor depth=[1.476, -0.001, 0.982] + !! OVERLAP: chair <-> floor depth=[0.342, -0.001, 0.315] + !! OVERLAP: chair <-> floor depth=[0.428, -0.001, 0.401] + !! OVERLAP: chair <-> floor depth=[0.436, -0.001, 0.347] + !! OVERLAP: chair <-> floor depth=[0.363, -0.001, 0.414] + !! OVERLAP: cabinet <-> floor depth=[1.016, -0.001, 0.380] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0055, Walkable Loss: 1.5126 (Center Penalty: 1.5126), Relational Loss: 0.0372 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.719 1.775 0.335 0.572 -0.003 1.172 -89.74° +lamp 0.430 0.948 0.511 -1.097 1.761 -0.234 0.22° +chair 0.472 0.772 0.539 -0.216 0.006 -0.584 -0.17° +chair 0.545 0.766 0.524 -0.854 -0.001 -0.519 0.13° +table 1.527 0.751 1.037 -0.662 0.002 0.253 179.77° +chair 0.490 0.792 0.443 -0.769 0.008 0.975 -179.67° +chair 0.442 0.799 0.404 -0.144 0.002 0.970 -179.99° +floor 3.494 -0.024 2.558 -0.821 -0.012 0.170 0.24° +_scene_ 0.065 0.000 0.019 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.713, -0.024, 0.335] + !! OVERLAP: chair <-> floor depth=[0.472, -0.024, 0.539] + !! OVERLAP: chair <-> table depth=[0.545, 0.751, 0.008] + !! OVERLAP: chair <-> floor depth=[0.545, -0.024, 0.524] + !! OVERLAP: table <-> chair depth=[0.490, 0.751, 0.018] + !! OVERLAP: table <-> chair depth=[0.442, 0.751, 0.004] + !! OVERLAP: table <-> floor depth=[1.527, -0.024, 1.037] + !! OVERLAP: chair <-> floor depth=[0.490, -0.024, 0.443] + !! OVERLAP: chair <-> floor depth=[0.442, -0.024, 0.404] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.0178, Room Outer Loss: 0.0000, Walkable Loss: 2.1762 (Center Penalty: 2.1762), Relational Loss: 0.0356 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.165 0.870 0.170 -0.615 1.577 -0.314 89.43° +table 1.300 0.625 1.221 -0.413 -0.019 0.621 0.05° +chair 0.496 1.014 0.625 0.547 -0.014 0.747 -103.51° +chair 1.198 1.042 0.497 -0.096 0.005 1.502 180.00° +chair 0.542 1.005 0.649 0.600 0.002 0.132 -100.79° +chair 0.457 1.024 0.571 0.506 -0.003 -0.703 -79.13° +chair 0.387 1.053 0.605 -1.149 0.003 0.762 114.73° +chair 0.558 1.034 0.691 -1.079 -0.015 0.093 78.21° +chair 0.626 1.050 0.761 -0.875 -0.001 -0.498 79.79° +chair 0.656 0.988 0.721 -0.207 -0.000 -1.612 -0.53° +table 1.345 0.609 0.256 -0.156 0.001 -2.053 -0.06° +floor 2.660 0.008 5.046 -0.423 -0.008 -0.621 0.00° +_scene_ 0.129 -0.009 0.120 -5.613 -0.003 -5.660 -57.18° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.108, 0.625, 0.605] + !! OVERLAP: table <-> chair depth=[0.262, 0.625, 0.428] + !! OVERLAP: table <-> floor depth=[1.300, 0.008, 1.221] + !! OVERLAP: chair <-> chair depth=[0.466, 0.993, 0.022] + !! OVERLAP: chair <-> floor depth=[0.496, 0.008, 0.625] + !! OVERLAP: chair <-> floor depth=[1.198, 0.008, 0.497] + !! OVERLAP: chair <-> floor depth=[0.542, 0.008, 0.649] + !! OVERLAP: chair <-> floor depth=[0.457, 0.008, 0.571] + !! OVERLAP: chair <-> floor depth=[0.387, 0.008, 0.605] + !! OVERLAP: chair <-> chair depth=[0.388, 1.028, 0.135] + !! OVERLAP: chair <-> floor depth=[0.558, 0.008, 0.691] + !! OVERLAP: chair <-> floor depth=[0.626, 0.008, 0.761] + !! OVERLAP: chair <-> table depth=[0.656, 0.609, 0.048] + !! OVERLAP: chair <-> floor depth=[0.656, 0.008, 0.721] + !! OVERLAP: table <-> floor depth=[1.345, 0.008, 0.256] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0156, Room Outer Loss: 0.0000, Walkable Loss: 1.3139 (Center Penalty: 1.3139), Relational Loss: 0.0198 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.251 0.751 1.050 -0.359 0.026 -0.853 -0.00° +chair 0.428 1.041 0.528 -1.065 -0.001 0.272 -179.96° +chair 0.481 0.863 0.351 -0.573 -0.005 0.609 179.78° +chair 0.441 0.833 0.512 0.932 0.001 0.299 179.96° +chair 0.585 0.823 0.597 0.725 0.001 -1.060 -0.01° +chair 0.477 0.802 0.436 -0.091 0.007 -1.281 0.22° +lamp 0.613 1.044 0.619 0.151 1.674 -0.800 -0.00° +floor 3.528 0.009 2.759 -0.535 -0.011 -0.546 0.18° +_scene_ 0.065 0.001 0.023 -5.670 -0.006 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.477, 0.751, 0.314] + !! OVERLAP: table <-> floor depth=[1.251, 0.009, 1.050] + !! OVERLAP: chair <-> floor depth=[0.428, 0.009, 0.528] + !! OVERLAP: chair <-> floor depth=[0.481, 0.009, 0.351] + !! OVERLAP: chair <-> floor depth=[0.441, 0.009, 0.512] + !! OVERLAP: chair <-> floor depth=[0.585, 0.009, 0.597] + !! OVERLAP: chair <-> floor depth=[0.477, 0.009, 0.436] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0198, Room Outer Loss: 0.0096, Walkable Loss: 1.3491 (Center Penalty: 1.3491), Relational Loss: 0.0064 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.514 0.379 0.585 -1.143 0.001 0.902 90.07° +shelf 0.491 0.868 0.197 -0.975 -0.001 -1.309 0.10° +chair 0.421 0.859 0.476 1.233 -0.001 0.953 180.00° +chair 0.454 0.865 0.524 1.063 0.001 1.352 179.86° +chair 0.497 0.876 0.564 1.302 0.001 -0.287 0.03° +chair 0.505 0.841 0.534 0.963 0.002 -0.389 0.15° +table 1.731 0.828 0.878 0.673 0.003 0.517 -89.88° +lamp 0.403 0.760 0.214 1.280 1.952 0.821 -0.02° +lamp 0.580 0.774 0.574 0.446 1.736 -0.863 -0.02° +floor 3.787 -0.003 3.537 -0.352 -0.003 -0.042 0.01° +_scene_ 0.065 0.002 0.028 -5.668 -0.003 -5.713 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.514, -0.003, 0.585] + !! OVERLAP: shelf <-> floor depth=[0.491, -0.003, 0.197] + !! OVERLAP: chair <-> chair depth=[0.267, 0.859, 0.101] + !! OVERLAP: chair <-> table depth=[0.421, 0.828, 0.241] + !! OVERLAP: chair <-> floor depth=[0.421, -0.003, 0.476] + !! OVERLAP: chair <-> floor depth=[0.454, -0.003, 0.524] + !! OVERLAP: chair <-> chair depth=[0.161, 0.841, 0.447] + !! OVERLAP: chair <-> floor depth=[0.487, -0.003, 0.564] + !! OVERLAP: chair <-> floor depth=[0.505, -0.003, 0.534] + !! OVERLAP: table <-> floor depth=[1.731, -0.003, 0.878] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0244, Room Outer Loss: 0.0000, Walkable Loss: 0.7696 (Center Penalty: 0.7696), Relational Loss: 0.0403 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.984 0.704 0.619 -0.684 -0.002 0.939 -0.02° +chair 0.519 0.849 0.561 -1.102 0.000 0.236 0.01° +chair 0.363 0.829 0.334 -0.041 -0.009 0.777 -0.14° +chair 0.496 0.851 0.500 -0.672 0.001 1.446 179.98° +chair 0.505 0.861 0.551 0.036 -0.000 1.386 -179.95° +table 1.480 0.820 0.550 -0.895 0.007 -0.843 -0.21° +lamp 1.052 0.630 1.122 0.057 2.116 1.215 0.01° +floor 3.573 -0.008 3.978 -0.455 0.011 0.777 0.15° +_scene_ 0.066 0.002 0.017 -5.666 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.363, 0.704, 0.315] + !! OVERLAP: table <-> chair depth=[0.496, 0.704, 0.052] + !! OVERLAP: table <-> chair depth=[0.505, 0.704, 0.138] + !! OVERLAP: table <-> floor depth=[1.984, -0.008, 0.619] + !! OVERLAP: chair <-> floor depth=[0.519, -0.008, 0.561] + !! OVERLAP: chair <-> floor depth=[0.363, -0.008, 0.334] + !! OVERLAP: chair <-> floor depth=[0.496, -0.008, 0.500] + !! OVERLAP: chair <-> floor depth=[0.505, -0.008, 0.551] + !! OVERLAP: table <-> floor depth=[1.480, -0.008, 0.550] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0080, Room Outer Loss: 0.0000, Walkable Loss: 0.5734 (Center Penalty: 0.5734), Relational Loss: 0.0292 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.317 0.771 0.936 0.532 0.003 -0.933 -0.35° +lamp 0.904 0.825 0.912 0.667 1.904 -0.965 0.32° +chair 0.539 1.056 0.615 -0.339 0.001 -1.326 89.95° +chair 0.533 1.057 0.672 -0.465 -0.000 -0.717 89.95° +chair 0.454 1.048 0.502 1.384 -0.001 -1.230 -88.24° +chair 0.496 0.996 0.576 1.446 0.001 -0.359 -90.04° +floor 3.472 0.002 3.645 0.833 -0.005 -0.532 -0.41° +_scene_ 0.063 -0.000 0.023 -5.666 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.057, 0.771, 0.383] + !! OVERLAP: table <-> chair depth=[0.033, 0.771, 0.423] + !! OVERLAP: table <-> floor depth=[1.317, 0.002, 0.936] + !! OVERLAP: chair <-> chair depth=[0.410, 1.055, 0.034] + !! OVERLAP: chair <-> floor depth=[0.539, 0.002, 0.615] + !! OVERLAP: chair <-> floor depth=[0.533, 0.002, 0.672] + !! OVERLAP: chair <-> floor depth=[0.454, 0.002, 0.502] + !! OVERLAP: chair <-> floor depth=[0.496, 0.002, 0.576] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0316, Room Outer Loss: 0.0000, Walkable Loss: 1.9711 (Center Penalty: 1.9711), Relational Loss: 0.0351 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.857 0.737 0.918 0.248 -0.027 -1.084 -0.14° +chair 0.460 0.975 0.496 0.749 0.004 -0.527 179.44° +chair 0.474 0.858 0.457 -0.064 0.005 -0.618 -179.75° +chair 0.452 0.903 0.499 0.633 -0.001 -1.243 0.06° +chair 0.498 0.924 0.477 -0.263 0.000 -1.249 0.25° +table 1.623 1.299 0.344 0.188 -0.000 1.327 -179.84° +lamp 0.841 0.983 0.755 0.274 1.863 -0.931 0.16° +floor 2.526 0.002 3.242 -0.003 0.000 0.018 0.03° +_scene_ 0.060 0.001 0.018 -5.662 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.157, 0.737, 0.150] + !! OVERLAP: table <-> chair depth=[0.354, 0.737, 0.221] + !! OVERLAP: table <-> chair depth=[0.269, 0.737, 0.499] + !! OVERLAP: table <-> chair depth=[0.167, 0.737, 0.477] + !! OVERLAP: table <-> floor depth=[0.857, 0.002, 0.918] + !! OVERLAP: chair <-> floor depth=[0.460, 0.002, 0.496] + !! OVERLAP: chair <-> floor depth=[0.474, 0.002, 0.457] + !! OVERLAP: chair <-> floor depth=[0.452, 0.002, 0.499] + !! OVERLAP: chair <-> floor depth=[0.498, 0.002, 0.477] + !! OVERLAP: table <-> floor depth=[1.623, 0.002, 0.344] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0073, Room Outer Loss: 0.0000, Walkable Loss: 0.5826 (Center Penalty: 0.5826), Relational Loss: 0.0121 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.170 0.742 0.841 1.158 -0.001 -1.023 -0.08° +chair 0.732 0.960 0.542 1.740 0.000 -1.788 0.02° +chair 0.584 0.909 0.572 1.060 0.004 -0.374 179.84° +cabinet 1.596 2.069 0.327 0.932 0.001 0.649 179.91° +chair 0.476 0.966 0.537 1.965 0.001 -0.548 179.98° +chair 0.534 1.023 0.564 0.768 0.001 -1.770 0.04° +lamp 0.580 0.319 0.577 0.223 2.235 -1.006 -0.03° +cabinet 1.464 1.663 0.338 -2.196 -0.005 -1.052 -0.03° +tv_stand 1.667 0.370 0.200 -2.039 0.003 0.697 179.55° +chair 0.476 0.558 0.443 -0.762 -0.001 0.492 179.95° +floor 6.628 0.011 3.879 -0.214 0.005 -1.039 -0.08° +_scene_ 0.071 0.000 0.023 -5.670 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.584, 0.742, 0.058] + !! OVERLAP: table <-> chair depth=[0.476, 0.742, 0.215] + !! OVERLAP: table <-> floor depth=[2.170, 0.011, 0.841] + !! OVERLAP: chair <-> floor depth=[0.732, 0.011, 0.542] + !! OVERLAP: chair <-> floor depth=[0.584, 0.011, 0.572] + !! OVERLAP: cabinet <-> floor depth=[1.596, 0.011, 0.327] + !! OVERLAP: chair <-> floor depth=[0.476, 0.011, 0.537] + !! OVERLAP: chair <-> floor depth=[0.534, 0.011, 0.564] + !! OVERLAP: cabinet <-> floor depth=[1.464, 0.011, 0.338] + !! OVERLAP: tv_stand <-> floor depth=[1.667, 0.011, 0.200] + !! OVERLAP: chair <-> floor depth=[0.476, 0.011, 0.443] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0089, Room Outer Loss: 0.0000, Walkable Loss: 0.7093 (Center Penalty: 0.7093), Relational Loss: 0.0469 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.507 0.839 1.406 -0.307 -0.000 -0.780 90.36° +chair 0.511 0.717 0.487 1.060 -0.001 0.245 -90.21° +chair 0.430 0.811 0.548 1.033 0.005 -0.601 -90.34° +chair 0.374 0.779 0.439 -1.147 0.004 -0.042 90.05° +chair 0.434 0.703 0.351 -1.137 -0.002 -0.568 80.48° +lamp 0.694 1.004 0.688 0.813 1.898 -0.882 -0.11° +floor 3.915 -0.009 3.143 -0.418 0.007 -0.889 -0.72° +_scene_ 0.073 0.001 0.032 -5.658 -0.003 -5.694 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.101, 0.779, 0.185] + !! OVERLAP: table <-> chair depth=[0.141, 0.703, 0.351] + !! OVERLAP: table <-> floor depth=[1.507, -0.009, 1.406] + !! OVERLAP: chair <-> floor depth=[0.511, -0.009, 0.487] + !! OVERLAP: chair <-> floor depth=[0.430, -0.009, 0.548] + !! OVERLAP: chair <-> floor depth=[0.374, -0.009, 0.439] + !! OVERLAP: chair <-> floor depth=[0.434, -0.009, 0.351] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0316, Room Outer Loss: 0.0000, Walkable Loss: 1.2195 (Center Penalty: 1.2195), Relational Loss: 0.0122 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.554 1.030 0.496 -0.410 -0.000 -1.079 70.72° +chair 0.581 1.014 0.617 -0.461 -0.001 -0.594 90.08° +chair 0.481 0.987 0.561 1.059 0.001 -0.449 -90.02° +chair 0.463 1.066 0.617 0.990 -0.001 -0.986 -90.07° +table 1.374 0.751 1.100 0.245 -0.002 -0.793 90.01° +table 1.499 0.809 0.344 0.082 0.003 1.471 179.93° +chair 0.469 0.653 0.494 1.151 0.000 0.962 179.97° +lamp 0.926 0.887 0.925 0.146 1.808 -0.746 -0.04° +floor 3.278 0.027 3.823 0.878 -0.005 0.439 -0.05° +_scene_ 0.072 0.003 0.026 -5.665 -0.003 -5.709 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.517, 1.014, 0.072] + !! OVERLAP: chair <-> table depth=[0.308, 0.751, 0.496] + !! OVERLAP: chair <-> floor depth=[0.554, 0.027, 0.496] + !! OVERLAP: chair <-> table depth=[0.271, 0.751, 0.617] + !! OVERLAP: chair <-> floor depth=[0.581, 0.027, 0.617] + !! OVERLAP: chair <-> chair depth=[0.403, 0.987, 0.051] + !! OVERLAP: chair <-> table depth=[0.115, 0.751, 0.486] + !! OVERLAP: chair <-> floor depth=[0.481, 0.027, 0.561] + !! OVERLAP: chair <-> table depth=[0.174, 0.751, 0.617] + !! OVERLAP: chair <-> floor depth=[0.463, 0.027, 0.617] + !! OVERLAP: table <-> floor depth=[1.374, 0.027, 1.100] + !! OVERLAP: table <-> floor depth=[1.499, 0.027, 0.344] + !! OVERLAP: chair <-> floor depth=[0.469, 0.027, 0.494] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0179, Room Outer Loss: 0.0000, Walkable Loss: 1.1666 (Center Penalty: 1.1666), Relational Loss: 0.0210 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.839 1.017 0.182 0.878 0.025 0.441 -0.99° +table 2.191 0.716 0.733 0.140 0.002 1.080 179.94° +chair 0.305 0.472 0.270 -1.031 -0.001 0.426 90.11° +chair 0.318 0.453 0.223 0.200 -0.001 0.556 0.02° +chair 0.403 0.567 0.536 0.247 0.001 1.494 -90.00° +chair 0.364 0.497 0.396 -0.761 -0.000 1.392 90.12° +chair 0.291 0.550 0.314 0.888 0.001 0.756 -90.03° +lamp 1.592 0.603 1.659 -0.057 2.197 1.151 0.06° +floor 3.199 0.045 3.607 -0.238 -0.006 0.871 0.26° +_scene_ 0.058 0.002 0.019 -5.660 -0.004 -5.722 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.839, 0.045, 0.182] + !! OVERLAP: table <-> chair depth=[0.403, 0.567, 0.220] + !! OVERLAP: table <-> chair depth=[0.364, 0.497, 0.252] + !! OVERLAP: table <-> chair depth=[0.291, 0.550, 0.199] + !! OVERLAP: table <-> floor depth=[2.191, 0.045, 0.733] + !! OVERLAP: chair <-> floor depth=[0.305, 0.045, 0.270] + !! OVERLAP: chair <-> floor depth=[0.318, 0.045, 0.223] + !! OVERLAP: chair <-> floor depth=[0.403, 0.045, 0.536] + !! OVERLAP: chair <-> floor depth=[0.364, 0.045, 0.396] + !! OVERLAP: chair <-> floor depth=[0.291, 0.045, 0.314] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0161, Room Outer Loss: 0.0000, Walkable Loss: 0.5087 (Center Penalty: 0.5087), Relational Loss: 0.0265 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.827 0.637 0.239 -1.100 2.005 0.466 0.00° +chair 0.585 0.758 0.594 -1.287 -0.000 -0.538 0.03° +chair 0.559 0.411 0.433 0.608 0.000 -1.394 -0.10° +chair 0.613 0.763 0.666 -0.631 -0.008 -0.606 0.02° +cabinet 1.828 1.943 0.374 -2.206 0.001 0.037 89.85° +table 1.503 0.771 1.299 -1.133 0.001 0.533 90.18° +chair 0.615 0.767 0.566 -0.139 0.004 1.134 -150.87° +chair 0.563 0.800 0.583 -0.821 0.003 1.213 179.97° +floor 5.393 0.001 3.801 -1.136 -0.012 0.120 0.33° +_scene_ 0.063 0.000 0.019 -5.672 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.585, 0.001, 0.594] + !! OVERLAP: chair <-> floor depth=[0.559, 0.001, 0.433] + !! OVERLAP: chair <-> floor depth=[0.613, 0.001, 0.666] + !! OVERLAP: cabinet <-> table depth=[0.592, 0.771, 0.341] + !! OVERLAP: cabinet <-> floor depth=[1.828, 0.001, 0.374] + !! OVERLAP: table <-> chair depth=[0.066, 0.766, 0.331] + !! OVERLAP: table <-> chair depth=[0.563, 0.771, 0.262] + !! OVERLAP: table <-> floor depth=[1.503, 0.001, 1.299] + !! OVERLAP: chair <-> floor depth=[0.615, 0.001, 0.566] + !! OVERLAP: chair <-> floor depth=[0.563, 0.001, 0.583] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3195, Walkable Loss: 2.0394 (Center Penalty: 2.0394), Relational Loss: 0.0309 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.015 0.727 0.709 -0.254 0.005 -0.597 -90.43° +chair 0.492 1.007 0.647 0.442 0.002 -0.709 -89.91° +chair 0.447 1.043 0.559 0.571 0.002 0.002 -90.29° +chair 0.617 0.932 0.550 -0.910 0.003 -0.531 89.97° +chair 0.531 1.010 0.599 -0.965 0.003 0.197 90.15° +lamp 0.750 1.176 0.703 0.266 1.482 -0.503 90.12° +floor 2.299 -0.049 3.189 -0.510 -0.031 -1.053 -0.21° +_scene_ 0.065 0.003 0.020 -5.669 -0.003 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.492, 0.727, 0.566] + !! OVERLAP: table <-> chair depth=[0.406, 0.727, 0.035] + !! OVERLAP: table <-> chair depth=[0.617, 0.727, 0.550] + !! OVERLAP: table <-> floor depth=[1.901, -0.049, 0.709] + !! OVERLAP: chair <-> floor depth=[0.443, -0.049, 0.647] + !! OVERLAP: chair <-> floor depth=[0.292, -0.049, 0.559] + !! OVERLAP: chair <-> floor depth=[0.617, -0.049, 0.550] + !! OVERLAP: chair <-> floor depth=[0.531, -0.049, 0.599] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0109, Room Outer Loss: 0.0000, Walkable Loss: 1.6669 (Center Penalty: 1.6669), Relational Loss: 0.0309 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.906 0.678 0.439 -0.774 -0.008 -0.007 0.23° +chair 0.567 0.978 0.622 -0.978 0.001 0.611 179.91° +chair 0.696 1.010 0.094 -1.184 0.005 0.173 -0.92° +chair 0.433 0.973 0.594 0.460 0.006 0.699 -179.98° +chair 0.424 0.866 0.198 -0.765 -0.028 -0.330 -0.67° +lamp 0.251 0.840 0.230 -0.559 1.714 0.211 0.12° +floor 3.206 0.008 2.117 -0.593 -0.013 0.578 -0.80° +_scene_ 0.072 -0.000 0.025 -5.667 -0.004 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.696, 0.678, 0.087] + !! OVERLAP: table <-> floor depth=[1.906, 0.008, 0.439] + !! OVERLAP: chair <-> floor depth=[0.567, 0.008, 0.622] + !! OVERLAP: chair <-> floor depth=[0.696, 0.008, 0.094] + !! OVERLAP: chair <-> floor depth=[0.433, 0.008, 0.594] + !! OVERLAP: chair <-> floor depth=[0.424, 0.008, 0.198] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0000, Walkable Loss: 2.5172 (Center Penalty: 2.5172), Relational Loss: 0.0304 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.943 0.810 0.763 -0.099 -0.013 0.623 90.47° +chair 0.400 0.646 0.417 0.661 -0.000 0.702 -89.85° +chair 0.423 0.632 0.464 0.969 0.005 -0.306 -90.12° +chair 0.407 0.615 0.398 -0.666 -0.000 0.659 90.13° +chair 0.478 0.512 0.449 -0.720 0.004 -0.161 90.02° +lamp 0.625 0.826 0.600 0.431 1.914 -0.675 90.00° +floor 2.444 0.001 2.419 -0.011 0.000 -0.025 -0.03° +_scene_ 0.071 0.001 0.024 -5.668 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.400, 0.646, 0.417] + !! OVERLAP: table <-> chair depth=[0.407, 0.615, 0.398] + !! OVERLAP: table <-> floor depth=[1.943, 0.001, 0.763] + !! OVERLAP: chair <-> floor depth=[0.400, 0.001, 0.417] + !! OVERLAP: chair <-> floor depth=[0.423, 0.001, 0.464] + !! OVERLAP: chair <-> floor depth=[0.407, 0.001, 0.398] + !! OVERLAP: chair <-> floor depth=[0.478, 0.001, 0.449] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0071, Room Outer Loss: 0.0000, Walkable Loss: 1.3084 (Center Penalty: 1.3084), Relational Loss: 0.0234 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.381 0.681 0.693 -0.388 -0.005 -1.276 -89.98° +chair 0.428 0.928 0.492 0.124 -0.002 -0.892 -179.85° +chair 0.430 0.993 0.489 0.274 -0.004 -1.802 -37.80° +chair 0.523 1.000 0.582 -0.871 -0.000 -1.603 0.04° +chair 0.550 0.870 0.582 -1.088 -0.001 -0.798 98.67° +bookshelf 1.214 2.276 0.299 0.877 -0.001 1.086 -90.13° +lamp 0.706 0.856 0.229 0.160 1.787 1.276 -0.02° +lamp 0.538 1.110 0.525 -0.293 1.694 -1.371 -0.06° +floor 3.150 -0.003 4.490 -0.054 0.003 -0.092 0.01° +_scene_ 0.066 0.001 0.018 -5.669 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.392, 0.681, 0.209] + !! OVERLAP: table <-> chair depth=[0.243, 0.681, 0.065] + !! OVERLAP: table <-> chair depth=[0.469, 0.681, 0.311] + !! OVERLAP: table <-> chair depth=[0.266, 0.681, 0.160] + !! OVERLAP: table <-> floor depth=[1.381, -0.003, 0.693] + !! OVERLAP: chair <-> floor depth=[0.428, -0.003, 0.492] + !! OVERLAP: chair <-> floor depth=[0.430, -0.003, 0.489] + !! OVERLAP: chair <-> floor depth=[0.523, -0.003, 0.582] + !! OVERLAP: chair <-> floor depth=[0.550, -0.003, 0.582] + !! OVERLAP: bookshelf <-> floor depth=[1.214, -0.003, 0.299] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0089, Room Outer Loss: 0.0000, Walkable Loss: 0.8681 (Center Penalty: 0.8681), Relational Loss: 0.0596 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.493 0.927 0.571 -0.667 -0.000 -1.007 0.04° +chair 0.420 0.964 0.491 0.952 0.000 -0.422 -67.34° +chair 0.556 0.971 0.553 0.707 0.003 0.939 -140.56° +chair 0.540 0.980 0.596 -0.727 0.002 0.925 169.64° +chair 0.563 0.977 0.531 -1.158 0.003 -0.415 70.25° +table 1.665 0.780 0.750 0.756 -0.000 0.208 0.07° +floor 3.720 -0.023 4.995 -0.068 -0.001 0.850 -0.04° +_scene_ 0.132 -0.005 0.173 -5.421 -0.001 -5.482 -57.68° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.493, -0.023, 0.571] + !! OVERLAP: chair <-> floor depth=[0.420, -0.023, 0.491] + !! OVERLAP: chair <-> floor depth=[0.556, -0.023, 0.553] + !! OVERLAP: chair <-> floor depth=[0.540, -0.023, 0.596] + !! OVERLAP: chair <-> floor depth=[0.563, -0.023, 0.531] + !! OVERLAP: table <-> floor depth=[1.665, -0.023, 0.750] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0097, Room Outer Loss: 0.0000, Walkable Loss: 0.4123 (Center Penalty: 0.4123), Relational Loss: 0.0356 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.426 0.751 0.621 -1.018 0.002 1.806 89.87° +chair 0.583 0.805 0.641 -1.092 -0.001 0.963 135.45° +chair 0.538 0.771 0.499 -0.316 0.006 1.389 -159.65° +chair 0.535 0.803 0.589 0.416 0.003 1.186 -131.88° +chair 0.558 0.785 0.583 -1.197 0.001 -0.925 14.88° +chair 0.498 0.819 0.482 -0.426 -0.003 -1.281 -12.73° +chair 0.460 0.819 0.509 0.281 -0.003 -1.229 -43.38° +chair 0.449 0.848 0.567 0.908 -0.002 -0.192 -74.97° +chair 0.531 0.847 0.641 -1.763 0.000 0.307 89.85° +floor 4.783 -0.002 5.816 -1.111 0.001 0.162 0.17° +_scene_ 0.920 0.395 1.785 -2.518 0.004 -2.856 -83.61° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.281, 0.751, 0.143] + !! OVERLAP: table <-> floor depth=[1.426, -0.002, 0.621] + !! OVERLAP: chair <-> floor depth=[0.583, -0.002, 0.641] + !! OVERLAP: chair <-> floor depth=[0.538, -0.002, 0.499] + !! OVERLAP: chair <-> floor depth=[0.535, -0.002, 0.589] + !! OVERLAP: chair <-> floor depth=[0.558, -0.002, 0.583] + !! OVERLAP: chair <-> floor depth=[0.498, -0.002, 0.482] + !! OVERLAP: chair <-> floor depth=[0.460, -0.002, 0.509] + !! OVERLAP: chair <-> floor depth=[0.449, -0.002, 0.567] + !! OVERLAP: chair <-> floor depth=[0.531, -0.002, 0.641] + !! OVERLAP: floor <-> _scene_ depth=[0.920, -0.002, 0.783] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0086, Room Outer Loss: 0.0000, Walkable Loss: 2.2694 (Center Penalty: 2.2694), Relational Loss: 0.0331 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.022 0.713 1.023 0.470 -0.022 -0.726 90.00° +chair 0.522 0.947 0.511 -0.391 0.000 -0.978 0.08° +chair 0.514 0.884 0.487 0.211 -0.001 -1.248 0.03° +chair 0.512 0.935 0.527 -0.352 0.001 0.813 -179.98° +chair 0.481 0.896 0.498 0.288 0.000 0.851 179.91° +chair 0.570 0.976 0.620 -1.081 -0.000 -0.250 89.99° +chair 0.424 0.959 0.499 1.156 0.012 -0.163 -89.95° +lamp 0.860 1.149 0.570 0.329 1.489 -0.650 0.29° +floor 3.331 -0.006 3.189 -0.053 0.001 0.007 -0.01° +_scene_ 0.071 -0.005 0.070 -5.599 0.003 -5.641 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.509, 0.713, 0.234] + !! OVERLAP: table <-> chair depth=[0.037, 0.713, 0.198] + !! OVERLAP: table <-> floor depth=[1.022, -0.006, 1.023] + !! OVERLAP: chair <-> floor depth=[0.522, -0.006, 0.511] + !! OVERLAP: chair <-> floor depth=[0.514, -0.006, 0.487] + !! OVERLAP: chair <-> floor depth=[0.512, -0.006, 0.527] + !! OVERLAP: chair <-> floor depth=[0.481, -0.006, 0.498] + !! OVERLAP: chair <-> floor depth=[0.570, -0.006, 0.620] + !! OVERLAP: chair <-> floor depth=[0.424, -0.006, 0.499] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0255, Room Outer Loss: 0.0000, Walkable Loss: 2.3599 (Center Penalty: 2.3599), Relational Loss: 0.0489 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.467 0.817 0.912 0.414 -0.007 0.769 1.24° +chair 0.623 0.993 0.668 -0.691 0.005 0.892 90.09° +chair 0.501 0.961 0.554 0.884 0.005 0.370 -90.34° +chair 0.472 0.987 0.504 0.763 0.001 -0.277 -78.50° +chair 0.561 0.945 0.555 -0.939 0.002 -0.345 89.91° +chair 0.470 0.953 0.550 -0.052 0.001 1.163 179.75° +chair 0.539 0.959 0.551 -0.042 0.001 -1.216 -0.03° +lamp 0.328 0.741 0.322 -0.269 2.097 -0.619 -0.27° +floor 2.598 0.000 3.693 -0.077 -0.000 0.053 -0.00° +_scene_ 0.072 0.000 0.041 -5.646 -0.004 -5.687 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.501, 0.817, 0.334] + !! OVERLAP: table <-> chair depth=[0.470, 0.817, 0.337] + !! OVERLAP: table <-> floor depth=[1.467, 0.000, 0.912] + !! OVERLAP: chair <-> floor depth=[0.623, 0.000, 0.668] + !! OVERLAP: chair <-> floor depth=[0.501, 0.000, 0.554] + !! OVERLAP: chair <-> floor depth=[0.472, 0.000, 0.504] + !! OVERLAP: chair <-> floor depth=[0.561, 0.000, 0.555] + !! OVERLAP: chair <-> floor depth=[0.470, 0.000, 0.550] + !! OVERLAP: chair <-> floor depth=[0.539, 0.000, 0.551] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0289, Room Outer Loss: 0.0000, Walkable Loss: 2.1095 (Center Penalty: 2.1095), Relational Loss: 0.0347 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.323 0.762 0.665 -0.622 -0.003 -0.452 -0.13° +chair 0.495 0.966 0.615 -1.104 -0.000 0.236 89.95° +chair 0.253 0.871 0.196 -0.536 -0.019 0.464 -100.09° +chair 0.374 1.090 0.478 -0.258 -0.005 -0.702 -85.19° +chair 0.374 0.935 0.379 -1.097 -0.000 -0.232 67.85° +chair 0.482 0.897 0.439 -0.492 0.001 0.738 179.99° +chair 0.700 0.948 0.555 -0.501 -0.002 -1.111 0.07° +lamp 0.467 0.448 0.436 -0.638 2.288 -0.660 0.31° +floor 2.708 0.003 3.130 -0.405 -0.010 -0.418 0.15° +_scene_ 0.071 -0.002 0.036 -5.659 -0.005 -5.696 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.374, 0.762, 0.321] + !! OVERLAP: table <-> chair depth=[0.374, 0.762, 0.302] + !! OVERLAP: table <-> floor depth=[1.323, 0.003, 0.665] + !! OVERLAP: chair <-> chair depth=[0.374, 0.935, 0.029] + !! OVERLAP: chair <-> floor depth=[0.495, 0.003, 0.615] + !! OVERLAP: chair <-> chair depth=[0.253, 0.864, 0.044] + !! OVERLAP: chair <-> floor depth=[0.253, 0.003, 0.196] + !! OVERLAP: chair <-> chair depth=[0.295, 0.948, 0.108] + !! OVERLAP: chair <-> floor depth=[0.374, 0.003, 0.478] + !! OVERLAP: chair <-> floor depth=[0.374, 0.003, 0.379] + !! OVERLAP: chair <-> floor depth=[0.482, 0.003, 0.439] + !! OVERLAP: chair <-> floor depth=[0.700, 0.003, 0.555] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0008, Room Outer Loss: 0.0000, Walkable Loss: 0.6213 (Center Penalty: 0.6213), Relational Loss: 0.0366 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.915 1.484 -0.142 -0.550 0.011 -1.179 89.17° +chair 0.602 0.953 0.585 0.681 0.001 -1.224 -0.04° +chair 0.511 0.991 0.610 1.246 0.001 -1.286 0.02° +chair 0.457 0.975 0.514 1.039 0.005 0.798 179.85° +chair 0.449 0.956 0.548 1.603 0.003 0.608 -179.95° +table 1.587 0.735 0.968 1.164 -0.003 -0.220 0.06° +table 0.703 0.669 0.017 -0.325 0.071 -1.302 90.33° +cabinet 1.339 2.064 0.187 -0.444 -0.008 -1.013 91.31° +lamp 0.861 0.799 0.855 0.911 2.264 -0.236 0.00° +floor 4.078 0.031 3.675 0.909 -0.011 -0.110 0.73° +_scene_ 0.072 0.000 0.024 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.915, 0.031, -0.142] + !! OVERLAP: chair <-> floor depth=[0.602, 0.031, 0.585] + !! OVERLAP: chair <-> floor depth=[0.511, 0.031, 0.610] + !! OVERLAP: chair <-> floor depth=[0.457, 0.031, 0.514] + !! OVERLAP: chair <-> floor depth=[0.449, 0.031, 0.548] + !! OVERLAP: table <-> floor depth=[1.587, 0.031, 0.968] + !! OVERLAP: table <-> floor depth=[0.703, 0.031, 0.017] + !! OVERLAP: cabinet <-> floor depth=[1.339, 0.031, 0.187] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.0666, Room Outer Loss: 0.0000, Walkable Loss: 1.5223 (Center Penalty: 1.5223), Relational Loss: 0.0433 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.779 0.745 1.528 0.757 0.004 -0.592 89.80° +chair 0.485 0.896 0.496 0.693 0.000 0.718 -179.95° +chair 0.366 0.847 0.518 0.932 -0.004 0.250 -89.80° +chair 0.529 0.850 0.496 -0.278 0.002 0.619 -179.90° +chair 0.476 0.824 0.521 -0.218 -0.000 -0.878 0.00° +lamp 1.209 0.990 1.236 0.707 1.649 -0.764 -0.02° +lamp 1.244 0.827 0.619 0.733 1.661 0.534 -0.31° +lamp 1.222 0.971 1.263 1.030 1.535 -0.181 -0.32° +floor 3.650 0.012 2.489 1.169 -0.033 -0.178 -0.20° +_scene_ 0.067 -0.001 0.021 -5.671 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.366, 0.745, 0.181] + !! OVERLAP: table <-> chair depth=[0.152, 0.745, 0.521] + !! OVERLAP: table <-> floor depth=[1.779, 0.012, 1.528] + !! OVERLAP: chair <-> chair depth=[0.187, 0.847, 0.039] + !! OVERLAP: chair <-> floor depth=[0.485, 0.012, 0.496] + !! OVERLAP: chair <-> floor depth=[0.366, 0.012, 0.518] + !! OVERLAP: chair <-> floor depth=[0.529, 0.012, 0.496] + !! OVERLAP: chair <-> floor depth=[0.476, 0.012, 0.521] + !! OVERLAP: lamp <-> lamp depth=[0.892, 0.867, 0.667] + !! OVERLAP: lamp <-> lamp depth=[0.935, 0.773, 0.225] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.0050, Walkable Loss: 1.9629 (Center Penalty: 1.9629), Relational Loss: 0.0299 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.730 0.729 0.358 -0.343 0.002 1.308 179.92° +table 1.458 0.744 1.033 -0.548 0.007 -0.465 0.30° +chair 0.498 0.877 0.440 -0.297 -0.000 -1.209 0.03° +chair 0.462 0.877 0.531 -0.845 0.002 -1.167 0.04° +chair 0.440 0.943 0.531 -0.372 -0.004 0.831 179.95° +chair 0.511 0.884 0.541 -0.909 0.002 0.690 -179.96° +lamp 1.806 0.859 0.139 -0.250 1.905 -0.763 0.21° +floor 2.600 0.001 3.364 0.028 0.002 -0.093 -0.03° +_scene_ 0.062 0.004 0.018 -5.669 -0.006 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.730, 0.001, 0.358] + !! OVERLAP: table <-> chair depth=[0.462, 0.744, 0.080] + !! OVERLAP: table <-> floor depth=[1.453, 0.001, 1.033] + !! OVERLAP: chair <-> floor depth=[0.498, 0.001, 0.440] + !! OVERLAP: chair <-> floor depth=[0.462, 0.001, 0.531] + !! OVERLAP: chair <-> floor depth=[0.440, 0.001, 0.531] + !! OVERLAP: chair <-> floor depth=[0.511, 0.001, 0.541] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0158, Room Outer Loss: 0.0000, Walkable Loss: 2.0661 (Center Penalty: 2.0661), Relational Loss: 0.0524 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.062 0.799 1.136 -0.468 -0.002 0.592 89.70° +chair 0.676 0.960 0.618 -0.723 0.006 -0.825 39.51° +chair 0.612 1.019 0.625 0.191 0.002 -0.837 0.10° +chair 0.449 0.901 0.538 -0.126 -0.000 1.129 -179.90° +chair 0.416 0.970 0.489 0.435 0.001 1.055 -179.91° +lamp 0.862 0.939 0.908 0.606 1.803 -0.522 -0.27° +floor 3.250 -0.005 2.997 -0.006 0.001 0.019 -0.03° +_scene_ 0.078 0.007 0.045 -5.652 -0.004 -5.700 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.414, 0.799, 0.300] + !! OVERLAP: table <-> floor depth=[1.062, -0.005, 1.136] + !! OVERLAP: chair <-> floor depth=[0.676, -0.005, 0.618] + !! OVERLAP: chair <-> floor depth=[0.612, -0.005, 0.625] + !! OVERLAP: chair <-> floor depth=[0.449, -0.005, 0.538] + !! OVERLAP: chair <-> floor depth=[0.416, -0.005, 0.489] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0100, Room Outer Loss: 0.0000, Walkable Loss: 2.2880 (Center Penalty: 2.2880), Relational Loss: 0.0397 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.881 0.749 0.968 -0.619 0.011 -0.331 -0.09° +chair 0.477 0.815 0.405 -1.095 0.004 -0.921 55.01° +chair 0.493 0.783 0.556 -0.000 -0.001 -1.160 -0.01° +chair 0.712 0.749 0.610 0.708 -0.000 -0.932 -54.17° +chair 0.541 0.766 0.541 -0.905 0.005 0.586 157.59° +chair 0.566 0.757 0.584 0.836 0.004 0.216 -126.41° +chair 0.505 0.791 0.524 -0.227 0.005 0.904 179.88° +lamp 0.535 0.883 0.390 0.536 1.800 -0.593 0.29° +floor 3.647 -0.007 3.488 -0.073 0.000 0.014 -0.01° +_scene_ 0.060 0.009 0.026 -5.667 -0.006 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.477, 0.749, 0.096] + !! OVERLAP: table <-> floor depth=[1.881, -0.007, 0.968] + !! OVERLAP: chair <-> floor depth=[0.477, -0.007, 0.405] + !! OVERLAP: chair <-> floor depth=[0.493, -0.007, 0.556] + !! OVERLAP: chair <-> floor depth=[0.712, -0.007, 0.610] + !! OVERLAP: chair <-> floor depth=[0.541, -0.007, 0.541] + !! OVERLAP: chair <-> floor depth=[0.566, -0.007, 0.584] + !! OVERLAP: chair <-> floor depth=[0.505, -0.007, 0.524] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0080, Room Outer Loss: 0.0000, Walkable Loss: 1.8500 (Center Penalty: 1.8500), Relational Loss: 0.0316 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.270 0.828 1.193 0.573 0.002 -0.500 0.04° +chair 0.500 0.764 0.538 1.091 0.000 0.370 -90.03° +chair 0.420 0.729 0.373 1.337 0.003 -0.616 -90.19° +chair 0.474 0.744 0.510 0.420 0.001 1.121 -179.96° +chair 0.487 0.708 0.427 -0.843 0.001 -0.741 90.16° +chair 0.524 0.697 0.536 -1.022 -0.003 0.586 89.99° +chair 0.505 0.707 0.465 0.415 0.003 -1.191 0.03° +lamp 0.611 0.836 0.575 -0.581 1.874 -0.651 -0.05° +floor 3.586 -0.006 4.073 -0.010 0.000 0.057 -0.07° +_scene_ 0.057 -0.000 0.022 -5.662 -0.004 -5.704 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.081, 0.729, 0.373] + !! OVERLAP: table <-> chair depth=[0.505, 0.707, 0.138] + !! OVERLAP: table <-> floor depth=[1.270, -0.006, 1.193] + !! OVERLAP: chair <-> floor depth=[0.500, -0.006, 0.538] + !! OVERLAP: chair <-> floor depth=[0.420, -0.006, 0.373] + !! OVERLAP: chair <-> floor depth=[0.474, -0.006, 0.510] + !! OVERLAP: chair <-> floor depth=[0.487, -0.006, 0.427] + !! OVERLAP: chair <-> floor depth=[0.524, -0.006, 0.536] + !! OVERLAP: chair <-> floor depth=[0.505, -0.006, 0.465] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0026, Room Outer Loss: 0.0000, Walkable Loss: 0.3506 (Center Penalty: 0.3506), Relational Loss: 0.0135 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.571 0.862 0.584 0.053 1.948 -1.168 90.06° +table 1.690 1.188 0.206 -0.113 0.002 1.272 -179.73° +chair 0.468 0.603 0.460 -0.833 0.001 -0.942 90.00° +table 1.576 0.782 0.794 -0.069 0.011 -1.076 89.99° +chair 0.444 0.662 0.435 -0.624 0.001 -1.415 89.87° +chair 0.418 0.652 0.448 0.680 0.001 -1.073 -90.03° +chair 0.442 0.706 0.490 0.597 0.000 -1.544 -89.97° +floor 3.106 -0.033 5.146 0.198 0.020 -1.188 -0.39° +_scene_ 0.063 0.001 0.015 -5.670 -0.005 -5.717 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.690, -0.033, 0.206] + !! OVERLAP: chair <-> table depth=[0.257, 0.603, 0.460] + !! OVERLAP: chair <-> floor depth=[0.468, -0.033, 0.460] + !! OVERLAP: table <-> chair depth=[0.444, 0.662, 0.275] + !! OVERLAP: table <-> chair depth=[0.249, 0.652, 0.448] + !! OVERLAP: table <-> chair depth=[0.343, 0.706, 0.174] + !! OVERLAP: table <-> floor depth=[1.576, -0.033, 0.794] + !! OVERLAP: chair <-> floor depth=[0.444, -0.033, 0.435] + !! OVERLAP: chair <-> floor depth=[0.418, -0.033, 0.448] + !! OVERLAP: chair <-> floor depth=[0.442, -0.033, 0.490] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0117, Room Outer Loss: 0.0000, Walkable Loss: 1.2059 (Center Penalty: 1.2059), Relational Loss: 0.0333 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.522 0.655 0.480 -1.041 0.002 0.978 179.49° +table 1.318 0.750 1.038 -0.884 0.003 0.129 0.08° +chair 0.531 0.679 0.479 -0.541 0.000 1.094 177.01° +chair 0.582 0.740 0.484 -0.170 0.004 1.238 -163.67° +chair 0.458 0.669 0.441 -0.272 -0.001 -0.716 0.06° +chair 0.535 0.668 0.305 -0.978 0.017 -0.709 -0.36° +chair 0.497 0.701 0.507 -1.171 0.001 -0.632 0.00° +chair 0.463 0.675 0.562 0.921 0.004 0.158 -89.85° +chair 0.599 0.697 0.491 -1.653 -0.001 0.365 90.07° +table 1.676 0.829 0.383 1.627 0.000 0.696 -90.03° +lamp 0.672 0.900 0.713 -0.937 1.885 0.492 0.05° +floor 5.710 -0.022 3.615 -0.272 -0.009 0.836 0.13° +_scene_ 0.063 0.003 0.049 -5.616 -0.004 -5.689 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.027, 0.655, 0.364] + !! OVERLAP: chair <-> floor depth=[0.522, -0.022, 0.480] + !! OVERLAP: table <-> chair depth=[0.497, 0.701, 0.011] + !! OVERLAP: table <-> chair depth=[0.189, 0.697, 0.491] + !! OVERLAP: table <-> floor depth=[1.318, -0.022, 1.038] + !! OVERLAP: chair <-> chair depth=[0.186, 0.679, 0.338] + !! OVERLAP: chair <-> floor depth=[0.531, -0.022, 0.479] + !! OVERLAP: chair <-> floor depth=[0.582, -0.022, 0.484] + !! OVERLAP: chair <-> floor depth=[0.458, -0.022, 0.441] + !! OVERLAP: chair <-> chair depth=[0.323, 0.668, 0.305] + !! OVERLAP: chair <-> floor depth=[0.535, -0.022, 0.305] + !! OVERLAP: chair <-> floor depth=[0.497, -0.022, 0.507] + !! OVERLAP: chair <-> floor depth=[0.463, -0.022, 0.562] + !! OVERLAP: chair <-> floor depth=[0.599, -0.022, 0.491] + !! OVERLAP: table <-> floor depth=[1.676, -0.022, 0.383] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0058, Room Outer Loss: 0.0687, Walkable Loss: 1.1443 (Center Penalty: 1.1443), Relational Loss: 0.0344 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.431 0.654 0.446 -1.057 0.001 0.911 179.88° +table 1.188 0.734 0.927 -0.958 0.001 -0.006 0.00° +chair 0.508 0.670 0.443 -0.580 0.001 0.936 -179.95° +chair 0.504 0.628 0.424 -0.061 0.001 1.113 -179.99° +chair 0.421 0.644 0.467 -0.319 0.000 -0.982 -0.06° +chair 0.392 0.534 0.426 -0.766 0.000 -0.808 -0.06° +chair 0.590 0.621 0.527 -1.147 0.001 -0.767 -0.01° +chair 0.567 0.594 0.507 0.900 0.006 0.250 -89.44° +chair 0.552 0.639 0.474 -1.573 -0.000 0.069 89.96° +table 1.078 0.876 0.308 1.461 0.002 1.029 -90.03° +lamp 0.795 0.814 0.699 -1.072 1.700 0.240 -0.05° +floor 5.395 0.005 3.455 -0.766 -0.014 -0.146 -0.04° +_scene_ 0.138 -0.009 0.082 -5.625 -0.002 -5.645 -57.18° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.431, 0.005, 0.446] + !! OVERLAP: table <-> chair depth=[0.255, 0.639, 0.474] + !! OVERLAP: table <-> floor depth=[1.188, 0.005, 0.927] + !! OVERLAP: chair <-> floor depth=[0.508, 0.005, 0.443] + !! OVERLAP: chair <-> floor depth=[0.504, 0.005, 0.424] + !! OVERLAP: chair <-> floor depth=[0.421, 0.005, 0.467] + !! OVERLAP: chair <-> chair depth=[0.110, 0.534, 0.426] + !! OVERLAP: chair <-> floor depth=[0.392, 0.005, 0.426] + !! OVERLAP: chair <-> floor depth=[0.590, 0.005, 0.527] + !! OVERLAP: chair <-> floor depth=[0.567, 0.005, 0.507] + !! OVERLAP: chair <-> floor depth=[0.552, 0.005, 0.474] + !! OVERLAP: table <-> floor depth=[1.009, 0.005, 0.308] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0060, Room Outer Loss: 0.2254, Walkable Loss: 2.3402 (Center Penalty: 2.3402), Relational Loss: 0.0352 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.536 1.044 0.206 -1.456 0.003 -0.002 89.98° +lamp 1.340 1.261 0.656 -0.735 1.639 0.476 0.08° +table 1.258 0.749 1.109 -0.607 -0.003 -0.073 0.09° +chair 0.540 0.920 0.545 -0.700 -0.001 -0.848 0.04° +chair 0.562 0.955 0.579 -0.092 0.000 -0.834 0.01° +chair 0.513 0.921 0.549 -0.697 -0.001 0.764 179.99° +chair 0.464 0.868 0.495 -0.154 0.004 0.903 -179.96° +floor 3.022 -0.006 2.753 0.013 0.001 0.012 -0.05° +_scene_ 0.088 0.007 0.062 -5.640 -0.005 -5.669 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.049, 0.749, 0.206] + !! OVERLAP: table <-> floor depth=[0.311, -0.006, 0.206] + !! OVERLAP: table <-> chair depth=[0.540, 0.749, 0.052] + !! OVERLAP: table <-> chair depth=[0.394, 0.749, 0.083] + !! OVERLAP: table <-> floor depth=[1.258, -0.006, 1.109] + !! OVERLAP: chair <-> floor depth=[0.540, -0.006, 0.545] + !! OVERLAP: chair <-> floor depth=[0.562, -0.006, 0.579] + !! OVERLAP: chair <-> floor depth=[0.513, -0.006, 0.549] + !! OVERLAP: chair <-> floor depth=[0.464, -0.006, 0.495] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0070, Room Outer Loss: 0.1466, Walkable Loss: 2.1403 (Center Penalty: 2.1403), Relational Loss: 0.0298 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.340 0.914 0.476 0.805 0.002 -1.108 -90.11° +chair 0.529 0.900 0.552 -0.777 0.000 -1.167 -0.00° +table 1.360 0.675 1.077 -0.615 -0.001 -0.384 0.05° +chair 0.448 0.854 0.495 -0.215 0.000 -1.151 0.00° +chair 0.428 0.865 0.461 -0.616 0.001 0.861 -179.99° +chair 0.448 0.862 0.527 -0.280 0.003 1.006 180.00° +cabinet 0.978 1.092 0.419 -0.990 0.002 0.581 89.75° +lamp 0.714 0.769 0.691 -0.792 1.534 0.144 -0.20° +lamp 1.094 0.803 0.640 -0.817 1.872 -0.613 -0.05° +floor 2.808 -0.002 3.773 -0.007 0.001 -0.048 -0.01° +_scene_ 0.067 0.001 0.014 -5.676 -0.005 -5.721 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.262, -0.002, 0.476] + !! OVERLAP: chair <-> table depth=[0.529, 0.675, 0.031] + !! OVERLAP: chair <-> floor depth=[0.529, -0.002, 0.552] + !! OVERLAP: table <-> chair depth=[0.448, 0.675, 0.019] + !! OVERLAP: table <-> floor depth=[1.360, -0.002, 1.077] + !! OVERLAP: chair <-> floor depth=[0.448, -0.002, 0.495] + !! OVERLAP: chair <-> chair depth=[0.102, 0.861, 0.350] + !! OVERLAP: chair <-> cabinet depth=[0.328, 0.865, 0.160] + !! OVERLAP: chair <-> floor depth=[0.428, -0.002, 0.461] + !! OVERLAP: chair <-> cabinet depth=[0.002, 0.862, 0.049] + !! OVERLAP: chair <-> floor depth=[0.448, -0.002, 0.527] + !! OVERLAP: cabinet <-> floor depth=[0.909, -0.002, 0.419] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.0000, Walkable Loss: 2.5525 (Center Penalty: 2.5525), Relational Loss: 0.0278 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.017 0.763 0.934 -0.492 0.002 0.207 -179.84° +chair 0.413 0.682 0.444 -1.259 0.005 0.485 89.97° +chair 0.458 0.633 0.480 0.824 0.002 0.348 -90.13° +chair 0.444 0.586 0.502 -0.789 -0.005 -0.742 0.05° +chair 0.448 0.590 0.471 -0.118 0.006 -0.989 -0.09° +chair 0.394 0.546 0.465 0.046 0.001 1.064 179.93° +chair 0.465 0.535 0.414 -0.424 0.001 1.044 179.97° +lamp 0.782 0.688 0.672 -0.664 2.025 0.246 -0.03° +floor 3.351 -0.006 3.254 0.016 0.001 -0.107 -0.01° +_scene_ 0.064 0.003 0.031 -5.632 -0.004 -5.685 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.413, 0.682, 0.412] + !! OVERLAP: table <-> floor depth=[2.017, -0.006, 0.934] + !! OVERLAP: chair <-> floor depth=[0.413, -0.006, 0.444] + !! OVERLAP: chair <-> floor depth=[0.458, -0.006, 0.480] + !! OVERLAP: chair <-> floor depth=[0.444, -0.006, 0.502] + !! OVERLAP: chair <-> floor depth=[0.448, -0.006, 0.471] + !! OVERLAP: chair <-> floor depth=[0.394, -0.006, 0.465] + !! OVERLAP: chair <-> floor depth=[0.465, -0.006, 0.414] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0208, Room Outer Loss: 0.0468, Walkable Loss: 1.3055 (Center Penalty: 1.3055), Relational Loss: 0.0147 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.451 0.829 0.466 -0.906 -0.001 0.917 117.78° +chair 0.590 0.869 0.541 -0.098 0.001 0.854 -90.61° +chair 0.362 0.717 0.344 0.301 -0.034 0.823 -79.63° +chair 0.510 0.887 0.659 -0.711 0.004 0.589 -0.02° +lamp 1.056 1.068 1.050 -0.445 1.640 0.474 0.49° +table 0.425 1.155 0.447 1.228 0.002 -1.263 -90.02° +floor 3.307 -0.029 3.987 -0.260 -0.005 -0.840 -0.12° +_scene_ 0.067 0.001 0.019 -5.675 -0.004 -5.718 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.285, 0.829, 0.234] + !! OVERLAP: chair <-> floor depth=[0.451, -0.029, 0.466] + !! OVERLAP: chair <-> chair depth=[0.077, 0.717, 0.344] + !! OVERLAP: chair <-> floor depth=[0.590, -0.029, 0.541] + !! OVERLAP: chair <-> floor depth=[0.362, -0.029, 0.344] + !! OVERLAP: chair <-> floor depth=[0.510, -0.029, 0.659] + !! OVERLAP: table <-> floor depth=[0.378, -0.029, 0.447] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0206, Room Outer Loss: 0.0136, Walkable Loss: 0.8659 (Center Penalty: 0.8659), Relational Loss: 0.0330 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.703 1.972 0.233 0.800 0.007 1.029 -90.18° +table 1.158 0.727 1.185 -0.741 0.003 -0.609 90.06° +chair 0.504 0.973 0.562 -0.966 -0.002 -1.456 0.01° +chair 0.436 0.944 0.528 -0.370 0.001 -1.228 -90.07° +chair 0.541 0.944 0.613 -1.340 0.001 -0.213 89.85° +chair 0.463 0.955 0.642 -0.821 0.017 0.348 179.87° +lamp 1.612 0.765 0.154 -0.111 2.029 -0.816 -0.02° +floor 3.244 -0.012 3.989 -0.484 0.009 -0.848 -0.01° +_scene_ 0.059 -0.000 0.015 -5.673 -0.003 -5.721 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.689, -0.012, 0.233] + !! OVERLAP: table <-> chair depth=[0.504, 0.727, 0.027] + !! OVERLAP: table <-> chair depth=[0.426, 0.727, 0.238] + !! OVERLAP: table <-> chair depth=[0.250, 0.727, 0.502] + !! OVERLAP: table <-> floor depth=[1.158, -0.012, 1.185] + !! OVERLAP: chair <-> floor depth=[0.504, -0.012, 0.562] + !! OVERLAP: chair <-> floor depth=[0.436, -0.012, 0.528] + !! OVERLAP: chair <-> floor depth=[0.541, -0.012, 0.613] + !! OVERLAP: chair <-> floor depth=[0.463, -0.012, 0.642] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0021, Room Outer Loss: 0.0000, Walkable Loss: 0.9926 (Center Penalty: 0.9926), Relational Loss: 0.0172 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.651 1.799 0.359 -1.566 -0.002 0.157 89.98° +table 1.232 0.745 0.943 0.666 0.000 -0.338 0.04° +chair 0.617 0.951 0.580 0.208 -0.000 -1.126 -0.13° +chair 0.479 0.916 0.408 0.898 -0.004 -1.046 -0.01° +chair 0.403 0.911 0.398 0.632 0.008 0.335 179.43° +chair 0.417 0.896 0.467 1.018 0.002 0.354 -179.89° +floor 3.974 0.020 3.431 -0.517 -0.012 -0.922 -1.08° +_scene_ 0.067 -0.002 0.029 -5.671 -0.005 -5.707 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.651, 0.020, 0.359] + !! OVERLAP: table <-> chair depth=[0.417, 0.745, 0.013] + !! OVERLAP: table <-> floor depth=[1.232, 0.020, 0.943] + !! OVERLAP: chair <-> floor depth=[0.617, 0.020, 0.580] + !! OVERLAP: chair <-> floor depth=[0.479, 0.020, 0.408] + !! OVERLAP: chair <-> chair depth=[0.024, 0.896, 0.398] + !! OVERLAP: chair <-> floor depth=[0.403, 0.020, 0.398] + !! OVERLAP: chair <-> floor depth=[0.417, 0.020, 0.467] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0252, Room Outer Loss: 0.0000, Walkable Loss: 0.4985 (Center Penalty: 0.4985), Relational Loss: 0.0104 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.235 0.693 0.949 0.478 -0.004 1.378 -0.08° +chair 0.416 0.804 0.454 0.242 0.000 1.916 164.59° +chair 0.437 0.707 0.464 0.632 0.000 1.779 179.87° +chair 0.486 0.743 0.446 0.330 -0.001 0.878 0.21° +chair 0.538 0.768 0.583 0.955 0.001 0.637 -0.03° +chair 0.485 0.793 0.529 -0.484 -0.002 1.217 90.13° +chair 0.459 0.768 0.477 1.255 0.001 1.134 -90.12° +table 1.307 0.747 0.608 -1.628 0.002 -0.243 0.08° +lamp 0.417 0.619 0.377 0.451 1.969 1.489 -0.01° +floor 5.270 -0.018 5.644 -0.231 0.001 0.879 0.04° +_scene_ 0.067 0.000 0.023 -5.667 -0.003 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.416, 0.693, 0.163] + !! OVERLAP: table <-> chair depth=[0.437, 0.693, 0.305] + !! OVERLAP: table <-> chair depth=[0.486, 0.693, 0.198] + !! OVERLAP: table <-> chair depth=[0.410, 0.693, 0.025] + !! OVERLAP: table <-> chair depth=[0.071, 0.693, 0.470] + !! OVERLAP: table <-> floor depth=[1.235, -0.018, 0.949] + !! OVERLAP: chair <-> chair depth=[0.036, 0.707, 0.322] + !! OVERLAP: chair <-> floor depth=[0.416, -0.018, 0.454] + !! OVERLAP: chair <-> floor depth=[0.437, -0.018, 0.464] + !! OVERLAP: chair <-> floor depth=[0.486, -0.018, 0.446] + !! OVERLAP: chair <-> chair depth=[0.198, 0.768, 0.032] + !! OVERLAP: chair <-> floor depth=[0.538, -0.018, 0.583] + !! OVERLAP: chair <-> floor depth=[0.485, -0.018, 0.529] + !! OVERLAP: chair <-> floor depth=[0.459, -0.018, 0.477] + !! OVERLAP: table <-> floor depth=[1.307, -0.018, 0.608] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0049, Room Outer Loss: 0.0000, Walkable Loss: 2.4123 (Center Penalty: 2.4123), Relational Loss: 0.0320 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.398 0.759 1.035 0.536 0.009 0.030 0.00° +chair 0.518 0.885 0.512 -0.492 -0.004 0.752 138.88° +chair 0.490 0.949 0.540 0.576 0.002 0.800 179.84° +chair 0.510 0.914 0.574 -0.173 0.003 -1.021 0.42° +chair 0.484 0.917 0.536 0.777 -0.003 -0.798 -62.08° +lamp 0.351 0.751 0.405 0.759 1.880 -0.105 -0.09° +floor 2.598 -0.001 2.744 -0.022 0.000 -0.005 0.03° +_scene_ 0.065 -0.001 0.018 -5.665 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.490, 0.759, 0.018] + !! OVERLAP: table <-> floor depth=[1.398, -0.001, 1.035] + !! OVERLAP: chair <-> floor depth=[0.518, -0.001, 0.512] + !! OVERLAP: chair <-> floor depth=[0.490, -0.001, 0.540] + !! OVERLAP: chair <-> floor depth=[0.510, -0.001, 0.574] + !! OVERLAP: chair <-> floor depth=[0.484, -0.001, 0.536] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0000, Walkable Loss: 1.5478 (Center Penalty: 1.5478), Relational Loss: 0.0109 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.507 0.733 0.817 -0.137 0.005 -1.116 0.05° +chair 0.492 0.868 0.466 -1.125 0.001 -0.489 74.88° +chair 0.499 0.842 0.523 -0.508 0.002 0.884 -179.85° +chair 0.471 0.819 0.514 0.295 -0.000 1.042 179.94° +table 0.707 1.223 0.338 1.035 0.001 -0.873 -90.00° +lamp 0.506 0.438 0.561 -0.333 2.210 -0.873 -0.25° +floor 2.915 -0.004 3.660 -0.007 0.001 0.023 0.00° +_scene_ 0.065 0.002 0.019 -5.667 -0.005 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.011, 0.733, 0.014] + !! OVERLAP: table <-> floor depth=[1.507, -0.004, 0.817] + !! OVERLAP: chair <-> floor depth=[0.492, -0.004, 0.466] + !! OVERLAP: chair <-> floor depth=[0.499, -0.004, 0.523] + !! OVERLAP: chair <-> floor depth=[0.471, -0.004, 0.514] + !! OVERLAP: table <-> floor depth=[0.707, -0.004, 0.338] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.0452, Walkable Loss: 0.8923 (Center Penalty: 0.8923), Relational Loss: 0.0246 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.471 0.899 0.490 -1.062 0.001 0.224 89.96° +chair 0.503 0.937 0.526 -1.030 -0.000 0.788 90.02° +chair 0.448 0.914 0.552 0.995 0.002 0.150 -89.95° +chair 0.469 0.900 0.484 0.912 0.002 0.671 -90.24° +chair 0.521 0.860 0.532 0.277 -0.000 1.647 -179.99° +chair 0.541 0.860 0.535 0.099 -0.000 -1.088 0.11° +table 1.946 0.624 0.337 -0.182 -0.000 -1.550 0.14° +table 1.241 0.790 1.026 -0.329 -0.006 0.857 89.43° +lamp 0.866 0.785 0.661 0.132 1.725 1.107 90.10° +floor 3.233 0.005 5.187 -0.071 0.005 0.920 0.21° +_scene_ 0.077 0.008 0.050 -5.643 -0.004 -5.693 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.124, 0.790, 0.125] + !! OVERLAP: chair <-> floor depth=[0.471, 0.005, 0.490] + !! OVERLAP: chair <-> table depth=[0.172, 0.790, 0.526] + !! OVERLAP: chair <-> floor depth=[0.503, 0.005, 0.526] + !! OVERLAP: chair <-> floor depth=[0.448, 0.005, 0.552] + !! OVERLAP: chair <-> floor depth=[0.469, 0.005, 0.484] + !! OVERLAP: chair <-> floor depth=[0.521, 0.005, 0.532] + !! OVERLAP: chair <-> floor depth=[0.541, 0.005, 0.535] + !! OVERLAP: table <-> floor depth=[1.946, 0.005, 0.292] + !! OVERLAP: table <-> floor depth=[1.241, 0.005, 1.026] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0018, Room Outer Loss: 0.1269, Walkable Loss: 1.5276 (Center Penalty: 1.5276), Relational Loss: 0.0122 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.006 0.581 1.129 -0.782 0.004 0.179 90.02° +cabinet 1.900 2.679 0.255 -1.574 0.004 -0.801 89.90° +cabinet 0.499 1.173 0.409 1.020 0.006 -0.603 -90.08° +cabinet 0.467 0.897 0.485 1.060 -0.002 -1.614 -90.52° +chair 0.486 0.733 0.512 -1.186 0.002 -0.415 90.03° +chair 0.500 0.725 0.531 0.544 0.004 -0.986 -90.21° +chair 0.504 0.778 0.546 0.617 0.001 0.541 -89.87° +chair 0.454 0.774 0.466 -1.092 0.000 0.845 90.11° +chair 0.477 0.730 0.460 -0.477 0.003 1.357 161.55° +chair 0.429 0.741 0.408 -0.238 0.000 -1.268 0.13° +lamp 0.297 0.920 0.239 -0.045 1.521 1.021 -90.04° +lamp 0.177 1.018 0.151 0.470 1.516 0.680 -90.18° +lamp 0.200 0.721 0.238 1.067 1.834 -0.339 -89.99° +floor 3.691 -0.001 4.796 -0.567 -0.004 -0.570 -0.05° +_scene_ 0.062 0.001 0.015 -5.670 -0.005 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.343, 0.581, 0.227] + !! OVERLAP: table <-> chair depth=[0.420, 0.581, 0.131] + !! OVERLAP: table <-> floor depth=[1.006, -0.001, 1.129] + !! OVERLAP: cabinet <-> floor depth=[1.788, -0.001, 0.255] + !! OVERLAP: cabinet <-> chair depth=[0.024, 0.725, 0.087] + !! OVERLAP: cabinet <-> floor depth=[0.499, -0.001, 0.409] + !! OVERLAP: cabinet <-> floor depth=[0.452, -0.001, 0.485] + !! OVERLAP: chair <-> floor depth=[0.486, -0.001, 0.512] + !! OVERLAP: chair <-> floor depth=[0.500, -0.001, 0.531] + !! OVERLAP: chair <-> floor depth=[0.504, -0.001, 0.546] + !! OVERLAP: chair <-> floor depth=[0.454, -0.001, 0.466] + !! OVERLAP: chair <-> floor depth=[0.477, -0.001, 0.460] + !! OVERLAP: chair <-> floor depth=[0.429, -0.001, 0.408] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0086, Walkable Loss: 1.7338 (Center Penalty: 1.7338), Relational Loss: 0.0347 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.452 1.253 0.332 0.577 0.000 1.258 -179.92° +table 1.340 0.858 0.739 -0.280 0.011 -0.933 90.04° +chair 0.543 0.793 0.538 -1.050 -0.003 -0.950 67.86° +chair 0.352 0.855 0.408 -1.092 -0.000 -0.300 117.74° +chair 0.499 0.788 0.471 0.838 0.002 -0.796 0.04° +chair 0.444 0.835 0.564 1.029 0.004 -0.094 -90.18° +lamp 0.843 0.941 0.890 0.676 1.791 -0.422 -0.05° +floor 3.753 -0.002 2.846 0.001 0.000 -0.008 -0.02° +_scene_ 0.072 0.001 0.026 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.452, -0.002, 0.323] + !! OVERLAP: table <-> chair depth=[0.172, 0.793, 0.538] + !! OVERLAP: table <-> floor depth=[1.340, -0.002, 0.739] + !! OVERLAP: chair <-> floor depth=[0.543, -0.002, 0.538] + !! OVERLAP: chair <-> floor depth=[0.352, -0.002, 0.408] + !! OVERLAP: chair <-> floor depth=[0.499, -0.002, 0.471] + !! OVERLAP: chair <-> floor depth=[0.444, -0.002, 0.564] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0027, Room Outer Loss: 0.0216, Walkable Loss: 0.4377 (Center Penalty: 0.4377), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.422 1.304 0.237 -0.830 0.009 0.970 90.15° +table 1.345 0.939 0.564 1.239 0.000 0.330 0.05° +table 1.429 0.748 0.891 0.444 -0.000 -0.652 89.91° +floor 3.800 -0.049 3.643 0.875 -0.029 0.729 0.93° +_scene_ -0.017 0.073 0.077 -5.369 0.060 -5.486 -58.58° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.406, -0.049, 0.237] + !! OVERLAP: table <-> floor depth=[1.345, -0.049, 0.564] + !! OVERLAP: table <-> floor depth=[1.429, -0.049, 0.886] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0020, Room Outer Loss: 0.0000, Walkable Loss: 0.9092 (Center Penalty: 0.9092), Relational Loss: 0.0346 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.463 0.832 0.472 -1.083 0.001 0.773 90.03° +chair 0.511 0.839 0.563 -1.000 0.000 1.270 90.02° +chair 0.505 0.809 0.504 0.694 0.001 0.787 -90.01° +chair 0.527 0.828 0.505 0.573 0.001 1.326 -90.19° +chair 0.482 0.808 0.505 -0.208 0.001 2.110 -179.99° +chair 0.486 0.829 0.578 -0.303 -0.002 -0.679 -0.12° +table 1.861 0.619 0.554 -0.180 0.001 -1.451 0.03° +table 1.723 0.722 0.978 -0.263 -0.001 1.024 90.03° +lamp 0.803 0.906 0.763 -0.045 1.793 1.096 -0.02° +floor 4.514 -0.016 5.231 -0.086 0.001 0.883 0.16° +_scene_ 0.067 0.002 0.029 -5.650 -0.004 -5.698 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.404, 0.832, 0.020] + !! OVERLAP: chair <-> table depth=[0.273, 0.722, 0.472] + !! OVERLAP: chair <-> floor depth=[0.463, -0.016, 0.472] + !! OVERLAP: chair <-> table depth=[0.380, 0.722, 0.524] + !! OVERLAP: chair <-> floor depth=[0.511, -0.016, 0.563] + !! OVERLAP: chair <-> table depth=[0.156, 0.722, 0.504] + !! OVERLAP: chair <-> floor depth=[0.505, -0.016, 0.504] + !! OVERLAP: chair <-> table depth=[0.289, 0.722, 0.439] + !! OVERLAP: chair <-> floor depth=[0.527, -0.016, 0.505] + !! OVERLAP: chair <-> floor depth=[0.482, -0.016, 0.505] + !! OVERLAP: chair <-> floor depth=[0.486, -0.016, 0.578] + !! OVERLAP: table <-> floor depth=[1.861, -0.016, 0.554] + !! OVERLAP: table <-> floor depth=[1.723, -0.016, 0.978] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 0.0000, Walkable Loss: 1.4792 (Center Penalty: 1.4792), Relational Loss: 0.0386 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.582 1.014 0.751 -0.721 -0.028 0.411 -95.38° +chair 0.466 0.742 0.310 -1.185 -0.030 0.656 130.42° +chair 0.497 0.767 0.545 0.041 0.001 1.025 179.96° +chair 0.587 0.745 0.560 0.735 0.002 0.694 -113.21° +chair 0.629 0.738 0.576 0.814 -0.006 -0.911 -44.34° +chair 0.520 0.739 0.484 -0.143 0.001 -0.945 0.09° +chair 0.437 0.765 0.501 -0.897 0.002 -0.881 43.04° +chair 0.489 0.772 0.548 1.121 -0.000 0.169 -89.70° +chair 0.584 0.737 0.553 -1.322 0.000 0.039 90.04° +lamp 0.570 0.917 0.632 -0.803 1.727 -0.190 0.14° +floor 4.705 -0.004 3.596 -0.491 -0.004 0.554 0.29° +_scene_ 0.102 -0.002 0.158 -5.573 -0.000 -5.584 -57.49° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.466, 0.742, 0.285] + !! OVERLAP: table <-> chair depth=[0.277, 0.767, 0.034] + !! OVERLAP: table <-> chair depth=[0.481, 0.737, 0.280] + !! OVERLAP: table <-> floor depth=[1.582, -0.004, 0.751] + !! OVERLAP: chair <-> floor depth=[0.466, -0.004, 0.310] + !! OVERLAP: chair <-> floor depth=[0.497, -0.004, 0.545] + !! OVERLAP: chair <-> chair depth=[0.152, 0.745, 0.030] + !! OVERLAP: chair <-> floor depth=[0.587, -0.004, 0.560] + !! OVERLAP: chair <-> floor depth=[0.629, -0.004, 0.576] + !! OVERLAP: chair <-> floor depth=[0.520, -0.004, 0.484] + !! OVERLAP: chair <-> floor depth=[0.437, -0.004, 0.501] + !! OVERLAP: chair <-> floor depth=[0.489, -0.004, 0.548] + !! OVERLAP: chair <-> floor depth=[0.584, -0.004, 0.553] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0212, Room Outer Loss: 0.0000, Walkable Loss: 0.7635 (Center Penalty: 0.7635), Relational Loss: 0.0307 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.192 0.779 0.646 0.976 -0.000 -0.813 -89.92° +table 1.932 0.781 1.184 -0.812 -0.002 0.775 89.96° +chair 0.623 0.723 0.617 -1.696 0.000 -0.327 89.84° +chair 0.568 0.714 0.475 -1.006 -0.001 -0.508 0.02° +chair 0.492 0.719 0.549 -1.677 0.001 0.950 180.00° +chair 0.390 0.760 0.495 -1.111 0.001 0.771 179.87° +table 1.356 0.867 0.412 -1.198 0.001 -1.277 0.02° +lamp 0.339 0.807 0.298 -1.000 1.907 0.024 -0.02° +chair 0.482 0.729 0.460 -0.384 -0.001 -0.783 -59.91° +chair 0.481 0.712 0.447 0.287 0.004 1.017 -112.56° +floor 5.615 0.020 3.408 -1.126 0.002 0.200 -0.12° +_scene_ 0.067 0.000 0.027 -5.669 -0.006 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.192, 0.020, 0.646] + !! OVERLAP: table <-> chair depth=[0.347, 0.719, 0.549] + !! OVERLAP: table <-> chair depth=[0.390, 0.760, 0.495] + !! OVERLAP: table <-> chair depth=[0.108, 0.712, 0.447] + !! OVERLAP: table <-> floor depth=[1.932, 0.020, 1.184] + !! OVERLAP: chair <-> floor depth=[0.623, 0.020, 0.617] + !! OVERLAP: chair <-> floor depth=[0.568, 0.020, 0.475] + !! OVERLAP: chair <-> floor depth=[0.492, 0.020, 0.549] + !! OVERLAP: chair <-> floor depth=[0.390, 0.020, 0.495] + !! OVERLAP: table <-> floor depth=[1.356, 0.020, 0.412] + !! OVERLAP: chair <-> floor depth=[0.482, 0.020, 0.460] + !! OVERLAP: chair <-> floor depth=[0.481, 0.020, 0.447] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0557, Walkable Loss: 0.5172 (Center Penalty: 0.5172), Relational Loss: 0.0031 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.008 0.771 0.366 -1.619 0.002 1.700 179.87° +cabinet 0.428 1.034 0.455 0.695 0.005 -1.218 -89.87° +cabinet 0.499 1.012 0.364 0.656 0.003 -0.790 -89.82° +table 2.017 0.710 0.748 -0.661 0.001 -1.032 90.02° +chair 0.449 0.833 0.475 -0.044 0.007 -0.946 -90.07° +lamp 0.482 1.346 0.457 -0.618 1.561 -1.014 122.57° +chair 0.413 0.856 0.503 -0.072 0.004 -1.388 -90.06° +chair 0.391 0.880 0.438 -1.371 0.004 -1.233 89.92° +chair 0.439 0.885 0.484 -1.468 0.002 -0.517 90.02° +floor 3.959 0.007 4.565 -1.100 0.021 -0.336 0.07° +_scene_ 0.068 -0.000 0.024 -5.672 -0.005 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.008, 0.007, 0.366] + !! OVERLAP: cabinet <-> floor depth=[0.399, 0.007, 0.455] + !! OVERLAP: cabinet <-> floor depth=[0.473, 0.007, 0.364] + !! OVERLAP: table <-> chair depth=[0.449, 0.710, 0.475] + !! OVERLAP: table <-> chair depth=[0.413, 0.710, 0.270] + !! OVERLAP: table <-> chair depth=[0.391, 0.710, 0.392] + !! OVERLAP: table <-> chair depth=[0.421, 0.710, 0.101] + !! OVERLAP: table <-> floor depth=[2.017, 0.007, 0.748] + !! OVERLAP: chair <-> chair depth=[0.403, 0.833, 0.047] + !! OVERLAP: chair <-> floor depth=[0.449, 0.007, 0.475] + !! OVERLAP: chair <-> floor depth=[0.413, 0.007, 0.503] + !! OVERLAP: chair <-> floor depth=[0.391, 0.007, 0.438] + !! OVERLAP: chair <-> floor depth=[0.439, 0.007, 0.484] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0254, Room Outer Loss: 0.0682, Walkable Loss: 0.5584 (Center Penalty: 0.5584), Relational Loss: 0.0317 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.239 0.762 0.908 -0.704 -0.001 -0.836 -90.01° +chair 0.425 0.815 0.405 -1.107 0.001 0.003 179.92° +chair 0.499 0.814 0.542 -0.880 0.001 -1.519 -0.38° +chair 0.517 0.798 0.543 -1.527 -0.000 -1.374 0.07° +chair 0.514 0.837 0.489 -1.479 -0.000 0.215 -179.94° +table 1.140 0.942 0.324 0.603 -0.001 -1.427 -90.07° +lamp 0.790 0.933 0.726 -0.975 1.767 -1.122 0.01° +table 1.989 0.764 0.773 -0.419 0.001 1.806 179.84° +chair 0.569 0.474 0.480 0.554 -0.000 1.150 -0.08° +floor 3.739 0.000 5.203 -0.764 -0.003 -0.079 0.19° +_scene_ 0.070 0.002 0.023 -5.676 -0.005 -5.718 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.499, 0.762, 0.043] + !! OVERLAP: table <-> chair depth=[0.517, 0.762, 0.187] + !! OVERLAP: table <-> table depth=[0.382, 0.762, 0.025] + !! OVERLAP: table <-> floor depth=[2.239, 0.000, 0.908] + !! OVERLAP: chair <-> chair depth=[0.097, 0.815, 0.235] + !! OVERLAP: chair <-> floor depth=[0.425, 0.000, 0.405] + !! OVERLAP: chair <-> floor depth=[0.499, 0.000, 0.542] + !! OVERLAP: chair <-> floor depth=[0.517, 0.000, 0.543] + !! OVERLAP: chair <-> floor depth=[0.514, 0.000, 0.489] + !! OVERLAP: table <-> floor depth=[1.071, 0.000, 0.324] + !! OVERLAP: table <-> floor depth=[1.989, 0.000, 0.773] + !! OVERLAP: chair <-> floor depth=[0.569, 0.000, 0.480] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0119, Room Outer Loss: 0.0361, Walkable Loss: 0.5121 (Center Penalty: 0.5121), Relational Loss: 0.0202 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.096 0.860 0.287 -0.680 -0.005 0.947 -179.91° +chair 0.499 0.926 0.599 0.561 0.002 -1.447 -90.32° +chair 0.510 0.873 0.494 0.600 0.002 -0.883 -90.08° +chair 0.461 0.951 0.493 -0.915 0.002 -1.424 90.17° +chair 0.462 0.927 0.519 -0.843 -0.000 -0.806 90.06° +lamp 0.677 0.551 0.263 -0.433 1.841 -0.950 -89.99° +table 1.132 0.757 0.782 -0.130 0.004 -1.266 0.16° +floor 3.037 -0.053 4.179 0.108 -0.016 -1.035 -0.27° +_scene_ 0.064 0.001 0.027 -5.664 -0.004 -5.700 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.096, -0.053, 0.251] + !! OVERLAP: chair <-> table depth=[0.125, 0.757, 0.510] + !! OVERLAP: chair <-> floor depth=[0.499, -0.053, 0.599] + !! OVERLAP: chair <-> table depth=[0.091, 0.757, 0.255] + !! OVERLAP: chair <-> floor depth=[0.510, -0.053, 0.494] + !! OVERLAP: chair <-> table depth=[0.012, 0.757, 0.480] + !! OVERLAP: chair <-> floor depth=[0.461, -0.053, 0.493] + !! OVERLAP: chair <-> table depth=[0.085, 0.757, 0.191] + !! OVERLAP: chair <-> floor depth=[0.462, -0.053, 0.519] + !! OVERLAP: table <-> floor depth=[1.132, -0.053, 0.782] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0202, Room Outer Loss: 0.0000, Walkable Loss: 2.2547 (Center Penalty: 2.2547), Relational Loss: 0.0339 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.548 0.936 0.560 -0.141 -0.000 -1.262 -0.13° +table 1.324 0.747 1.081 -0.546 -0.000 -0.471 0.03° +chair 0.496 0.965 0.522 -0.312 0.000 1.164 -179.99° +chair 0.380 0.922 0.541 -0.814 -0.001 -0.820 89.59° +chair 0.462 0.924 0.498 -1.078 0.000 0.266 100.96° +chair 0.458 0.987 0.536 0.440 0.001 -0.824 -90.12° +chair 0.398 0.892 0.434 0.499 -0.001 0.794 -118.33° +lamp 0.764 0.840 0.766 -0.035 1.907 -0.767 -0.43° +floor 2.794 -0.002 3.940 0.009 0.000 -0.021 -0.02° +_scene_ 0.060 -0.001 0.012 -5.663 -0.002 -5.702 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.530, 0.747, 0.030] + !! OVERLAP: chair <-> floor depth=[0.548, -0.002, 0.560] + !! OVERLAP: table <-> chair depth=[0.380, 0.747, 0.462] + !! OVERLAP: table <-> chair depth=[0.361, 0.747, 0.053] + !! OVERLAP: table <-> floor depth=[1.324, -0.002, 1.081] + !! OVERLAP: chair <-> floor depth=[0.496, -0.002, 0.522] + !! OVERLAP: chair <-> floor depth=[0.380, -0.002, 0.541] + !! OVERLAP: chair <-> floor depth=[0.462, -0.002, 0.498] + !! OVERLAP: chair <-> floor depth=[0.458, -0.002, 0.536] + !! OVERLAP: chair <-> floor depth=[0.398, -0.002, 0.434] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0087, Room Outer Loss: 0.0000, Walkable Loss: 1.0268 (Center Penalty: 1.0268), Relational Loss: 0.0082 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.988 0.767 1.260 -0.826 0.001 0.727 90.05° +chair 0.569 0.974 0.588 0.328 -0.001 0.641 179.66° +chair 0.507 0.929 0.627 0.181 -0.000 -1.066 -90.16° +chair 0.572 0.920 0.583 -1.170 0.000 -0.238 179.97° +chair 0.552 0.920 0.591 -1.196 -0.000 -0.967 0.09° +table 1.559 1.454 0.395 -1.759 0.002 -0.093 89.83° +table 1.042 1.530 0.556 -2.124 0.001 -0.751 89.80° +lamp 1.236 1.185 1.262 -0.779 1.651 0.017 90.51° +cabinet 0.347 1.273 0.313 1.492 -0.001 -1.740 -0.05° +cabinet 0.569 1.167 0.334 1.182 0.000 -2.205 -0.26° +cabinet 0.656 1.183 0.318 0.900 0.001 -1.736 0.04° +cabinet 0.617 1.258 0.258 0.281 -0.002 -2.422 0.04° +floor 5.312 0.022 4.997 -0.937 0.013 -0.422 -0.16° +_scene_ 0.068 -0.000 0.022 -5.675 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.125, 0.767, 0.588] + !! OVERLAP: table <-> table depth=[0.840, 0.767, 0.008] + !! OVERLAP: table <-> floor depth=[1.988, 0.022, 1.260] + !! OVERLAP: chair <-> floor depth=[0.569, 0.022, 0.588] + !! OVERLAP: chair <-> floor depth=[0.507, 0.022, 0.627] + !! OVERLAP: chair <-> table depth=[0.476, 0.920, 0.344] + !! OVERLAP: chair <-> floor depth=[0.572, 0.022, 0.583] + !! OVERLAP: chair <-> floor depth=[0.552, 0.022, 0.591] + !! OVERLAP: table <-> floor depth=[1.559, 0.022, 0.395] + !! OVERLAP: table <-> floor depth=[1.042, 0.022, 0.556] + !! OVERLAP: cabinet <-> floor depth=[0.347, 0.022, 0.313] + !! OVERLAP: cabinet <-> floor depth=[0.569, 0.022, 0.334] + !! OVERLAP: cabinet <-> floor depth=[0.656, 0.022, 0.318] + !! OVERLAP: cabinet <-> floor depth=[0.617, 0.022, 0.258] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.0435, Room Outer Loss: 0.0000, Walkable Loss: 1.6065 (Center Penalty: 1.6065), Relational Loss: 0.0587 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.766 0.722 0.875 0.386 -0.013 -0.371 -0.16° +chair 0.556 0.969 0.446 -0.718 -0.026 -0.164 179.84° +chair 0.458 0.885 0.344 -0.957 -0.001 0.110 159.64° +chair 0.498 0.933 0.539 0.073 -0.002 -0.998 0.10° +chair 0.466 0.928 0.468 -0.677 -0.001 -0.783 47.11° +chair 0.414 0.915 0.425 1.116 -0.004 0.004 -143.29° +chair 0.474 0.877 0.518 0.997 -0.001 -0.903 -56.71° +floor 3.336 -0.003 3.832 0.282 -0.019 -0.871 -0.07° +_scene_ 0.070 0.030 0.081 -5.295 -0.000 -5.465 -58.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.058, 0.722, 0.446] + !! OVERLAP: table <-> chair depth=[0.498, 0.722, 0.080] + !! OVERLAP: table <-> chair depth=[0.053, 0.722, 0.260] + !! OVERLAP: table <-> chair depth=[0.361, 0.722, 0.274] + !! OVERLAP: table <-> chair depth=[0.474, 0.722, 0.165] + !! OVERLAP: table <-> floor depth=[1.766, -0.003, 0.875] + !! OVERLAP: chair <-> chair depth=[0.268, 0.885, 0.121] + !! OVERLAP: chair <-> floor depth=[0.556, -0.003, 0.446] + !! OVERLAP: chair <-> floor depth=[0.458, -0.003, 0.344] + !! OVERLAP: chair <-> floor depth=[0.498, -0.003, 0.539] + !! OVERLAP: chair <-> floor depth=[0.466, -0.003, 0.468] + !! OVERLAP: chair <-> floor depth=[0.414, -0.003, 0.425] + !! OVERLAP: chair <-> floor depth=[0.474, -0.003, 0.518] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4113 (Center Penalty: 2.4113), Relational Loss: 0.0168 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.827 0.725 0.580 0.506 0.001 -0.281 -0.15° +chair 0.510 0.988 0.533 -0.239 0.001 -0.892 0.06° +chair 0.517 0.988 0.570 0.724 0.003 -0.968 0.11° +chair 0.614 0.979 0.639 -0.106 0.000 0.875 179.77° +chair 0.538 0.997 0.619 0.913 0.003 0.537 179.96° +lamp 0.474 0.746 0.218 -0.584 1.913 -0.425 0.15° +floor 3.262 -0.007 2.851 -0.053 0.001 -0.002 -0.03° +_scene_ 0.071 0.000 0.024 -5.667 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.827, -0.007, 0.580] + !! OVERLAP: chair <-> floor depth=[0.510, -0.007, 0.533] + !! OVERLAP: chair <-> floor depth=[0.517, -0.007, 0.570] + !! OVERLAP: chair <-> floor depth=[0.614, -0.007, 0.639] + !! OVERLAP: chair <-> floor depth=[0.538, -0.007, 0.619] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0162, Room Outer Loss: 0.0061, Walkable Loss: 1.0678 (Center Penalty: 1.0678), Relational Loss: 0.0117 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.655 0.662 0.715 0.108 0.004 0.795 89.91° +chair 0.534 0.892 0.559 -0.644 0.001 0.960 89.99° +chair 0.377 0.875 0.435 -0.699 -0.000 0.589 90.04° +chair 0.484 0.920 0.536 1.097 -0.001 0.296 -90.12° +chair 0.411 0.921 0.451 0.893 0.003 0.791 -90.15° +table 0.830 1.110 0.298 -0.574 -0.015 1.393 91.51° +lamp 0.866 1.168 0.945 0.370 1.716 0.877 0.03° +floor 3.410 0.017 4.583 0.723 -0.007 0.466 0.02° +_scene_ 0.062 0.002 0.022 -5.675 -0.006 -5.719 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.342, 0.662, 0.473] + !! OVERLAP: table <-> chair depth=[0.208, 0.662, 0.368] + !! OVERLAP: table <-> chair depth=[0.080, 0.662, 0.126] + !! OVERLAP: table <-> chair depth=[0.249, 0.662, 0.451] + !! OVERLAP: table <-> floor depth=[1.655, 0.017, 0.715] + !! OVERLAP: chair <-> chair depth=[0.377, 0.875, 0.126] + !! OVERLAP: chair <-> floor depth=[0.534, 0.017, 0.559] + !! OVERLAP: chair <-> floor depth=[0.377, 0.017, 0.435] + !! OVERLAP: chair <-> floor depth=[0.484, 0.017, 0.536] + !! OVERLAP: chair <-> floor depth=[0.411, 0.017, 0.451] + !! OVERLAP: table <-> floor depth=[0.824, 0.017, 0.298] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.0277, Room Outer Loss: 0.0000, Walkable Loss: 0.1329 (Center Penalty: 0.1329), Relational Loss: 0.0380 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.232 0.464 1.297 0.797 -0.003 -1.338 -0.06° +sofa 1.973 0.773 1.108 1.855 0.002 -1.755 -0.09° +wardrobe 0.510 2.518 0.605 -1.881 -0.006 0.983 88.93° +chair 0.527 0.860 0.628 -0.554 -0.001 -1.731 -90.12° +chair 0.609 0.907 0.628 -0.692 0.001 -1.129 89.74° +lamp 0.798 0.867 0.805 0.997 1.771 -1.195 -0.04° +chair 0.715 0.790 0.747 1.424 0.004 0.040 -164.72° +sofa 2.530 0.872 0.975 0.480 0.001 -2.550 -0.06° +sofa 2.159 0.817 0.825 1.446 -0.000 -0.734 0.12° +table 0.819 1.133 0.569 2.384 0.000 1.024 -179.99° +cabinet 0.634 1.382 0.206 -1.718 0.013 1.548 89.78° +table 0.502 1.274 0.339 -0.729 0.003 1.577 -179.89° +floor 5.694 -0.013 5.700 0.641 0.004 -0.994 -0.25° +_scene_ 0.075 -0.000 0.029 -5.672 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.545, 0.464, 0.786] + !! OVERLAP: table <-> sofa depth=[1.047, 0.464, 0.457] + !! OVERLAP: table <-> floor depth=[1.232, -0.013, 1.297] + !! OVERLAP: sofa <-> sofa depth=[0.877, 0.773, 0.246] + !! OVERLAP: sofa <-> floor depth=[1.973, -0.013, 1.108] + !! OVERLAP: wardrobe <-> floor depth=[0.510, -0.013, 0.605] + !! OVERLAP: chair <-> chair depth=[0.429, 0.860, 0.025] + !! OVERLAP: chair <-> floor depth=[0.527, -0.013, 0.628] + !! OVERLAP: chair <-> floor depth=[0.609, -0.013, 0.628] + !! OVERLAP: chair <-> sofa depth=[0.715, 0.790, 0.012] + !! OVERLAP: chair <-> floor depth=[0.715, -0.013, 0.747] + !! OVERLAP: sofa <-> floor depth=[2.530, -0.013, 0.975] + !! OVERLAP: sofa <-> floor depth=[2.159, -0.013, 0.825] + !! OVERLAP: table <-> floor depth=[0.819, -0.013, 0.569] + !! OVERLAP: cabinet <-> floor depth=[0.634, -0.013, 0.206] + !! OVERLAP: table <-> floor depth=[0.502, -0.013, 0.339] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0057, Room Outer Loss: 0.0000, Walkable Loss: 1.9353 (Center Penalty: 1.9353), Relational Loss: 0.0386 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.878 0.769 0.681 0.337 -0.003 -0.662 90.24° +chair 0.524 0.829 0.554 1.078 -0.003 -1.128 -89.94° +chair 0.526 0.821 0.527 1.064 -0.000 -0.415 -90.03° +chair 0.540 0.799 0.551 0.266 0.001 1.186 179.95° +chair 0.595 0.820 0.624 -0.907 0.009 -0.394 90.12° +chair 0.533 0.796 0.552 -0.705 0.001 -1.024 90.03° +chair 0.555 0.803 0.554 0.057 0.000 -1.470 0.01° +chair 0.643 0.831 0.701 -1.044 0.002 0.391 89.99° +chair 0.607 0.807 0.639 1.107 0.002 0.313 -89.96° +lamp 0.581 0.952 0.543 0.586 1.703 -0.811 -0.25° +floor 3.613 -0.001 5.000 0.095 -0.001 0.017 -0.04° +_scene_ 0.077 -0.001 0.062 -5.643 -0.004 -5.662 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.460, 0.769, 0.152] + !! OVERLAP: table <-> chair depth=[0.475, 0.769, 0.357] + !! OVERLAP: table <-> chair depth=[0.163, 0.769, 0.254] + !! OVERLAP: table <-> floor depth=[1.878, -0.001, 0.681] + !! OVERLAP: chair <-> floor depth=[0.524, -0.001, 0.554] + !! OVERLAP: chair <-> floor depth=[0.526, -0.001, 0.527] + !! OVERLAP: chair <-> floor depth=[0.540, -0.001, 0.551] + !! OVERLAP: chair <-> floor depth=[0.595, -0.001, 0.624] + !! OVERLAP: chair <-> floor depth=[0.533, -0.001, 0.552] + !! OVERLAP: chair <-> floor depth=[0.555, -0.001, 0.554] + !! OVERLAP: chair <-> floor depth=[0.643, -0.001, 0.701] + !! OVERLAP: chair <-> floor depth=[0.607, -0.001, 0.639] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0077, Room Outer Loss: 0.0000, Walkable Loss: 1.4599 (Center Penalty: 1.4599), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.177 0.806 0.528 0.602 -0.020 -0.437 90.08° +chair 0.529 0.772 0.538 1.171 0.001 -0.141 -90.00° +chair 0.479 0.836 0.483 1.103 0.005 -0.805 -90.16° +chair 0.527 0.825 0.262 0.106 0.012 -0.744 90.59° +chair 0.457 0.706 0.564 -0.189 0.006 -0.873 90.28° +lamp 0.549 1.042 0.591 0.787 1.707 -0.393 90.01° +floor 2.871 0.010 4.095 0.766 -0.003 0.091 0.76° +_scene_ 0.080 0.006 0.037 -5.647 -0.005 -5.690 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.283, 0.769, 0.237] + !! OVERLAP: table <-> chair depth=[0.327, 0.797, 0.137] + !! OVERLAP: table <-> chair depth=[0.357, 0.784, 0.088] + !! OVERLAP: table <-> chair depth=[0.026, 0.706, 0.110] + !! OVERLAP: table <-> floor depth=[1.177, 0.010, 0.528] + !! OVERLAP: chair <-> floor depth=[0.529, 0.010, 0.538] + !! OVERLAP: chair <-> floor depth=[0.479, 0.010, 0.483] + !! OVERLAP: chair <-> chair depth=[0.196, 0.706, 0.262] + !! OVERLAP: chair <-> floor depth=[0.527, 0.010, 0.262] + !! OVERLAP: chair <-> floor depth=[0.457, 0.010, 0.564] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0289, Room Outer Loss: 0.2007, Walkable Loss: 0.5891 (Center Penalty: 0.5891), Relational Loss: 0.0094 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.430 0.758 0.657 -1.170 -0.004 0.412 -0.09° +chair 0.494 0.941 0.511 -0.655 0.000 1.035 -179.84° +chair 0.418 0.952 0.516 -0.887 0.001 0.573 -89.86° +chair 0.500 0.968 0.607 -1.704 -0.000 0.855 90.00° +chair 0.494 0.993 0.458 -1.599 0.003 -0.003 -0.02° +lamp 0.587 1.152 0.556 -0.481 1.655 -0.694 -90.04° +cabinet 0.464 1.998 0.341 0.763 -0.003 -1.428 0.47° +lamp 0.276 1.014 0.227 -1.342 1.363 0.936 0.05° +floor 3.452 0.026 3.440 -0.932 -0.005 -0.393 0.01° +_scene_ 0.066 0.001 0.015 -5.673 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.418, 0.758, 0.425] + !! OVERLAP: table <-> chair depth=[0.431, 0.758, 0.189] + !! OVERLAP: table <-> chair depth=[0.494, 0.758, 0.143] + !! OVERLAP: table <-> floor depth=[1.430, 0.026, 0.657] + !! OVERLAP: chair <-> chair depth=[0.224, 0.941, 0.052] + !! OVERLAP: chair <-> floor depth=[0.494, 0.026, 0.511] + !! OVERLAP: chair <-> floor depth=[0.418, 0.026, 0.516] + !! OVERLAP: chair <-> floor depth=[0.500, 0.026, 0.607] + !! OVERLAP: chair <-> floor depth=[0.494, 0.026, 0.458] + !! OVERLAP: cabinet <-> floor depth=[0.263, 0.026, 0.341] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0094, Room Outer Loss: 0.0000, Walkable Loss: 1.3328 (Center Penalty: 1.3328), Relational Loss: 0.0119 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.367 0.699 0.601 -0.827 0.001 -0.178 0.08° +chair 0.526 0.942 0.450 -0.803 0.009 0.438 -179.83° +chair 0.463 0.870 0.512 -1.288 -0.002 0.405 -179.96° +chair 0.503 0.969 0.366 -0.624 -0.006 -0.637 0.03° +chair 0.454 0.942 0.443 -1.221 -0.001 -0.593 0.01° +lamp 0.442 0.720 0.441 -0.626 2.615 0.049 -0.02° +floor 4.006 0.014 1.612 -0.900 0.005 -0.049 -0.31° +_scene_ 0.065 0.000 0.020 -5.667 -0.002 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.503, 0.699, 0.025] + !! OVERLAP: table <-> chair depth=[0.454, 0.699, 0.107] + !! OVERLAP: table <-> floor depth=[1.367, 0.014, 0.601] + !! OVERLAP: chair <-> chair depth=[0.010, 0.870, 0.448] + !! OVERLAP: chair <-> floor depth=[0.526, 0.014, 0.450] + !! OVERLAP: chair <-> floor depth=[0.463, 0.014, 0.512] + !! OVERLAP: chair <-> floor depth=[0.503, 0.014, 0.366] + !! OVERLAP: chair <-> floor depth=[0.454, 0.014, 0.443] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0145, Room Outer Loss: 0.0000, Walkable Loss: 1.2597 (Center Penalty: 1.2597), Relational Loss: 0.0546 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.418 0.765 1.147 -0.313 -0.007 -0.590 0.03° +chair 0.521 0.760 0.457 0.709 0.007 0.436 -162.96° +chair 0.508 0.725 0.239 -0.962 0.007 0.470 163.28° +chair 0.521 0.727 0.514 -1.202 0.001 -0.006 88.41° +chair 0.429 0.751 0.385 -0.491 0.000 -1.133 11.89° +chair 0.413 0.813 0.494 0.597 -0.004 -1.124 -23.88° +chair 0.493 0.785 0.495 1.038 0.000 -0.187 -83.14° +cabinet 1.703 2.123 0.296 -1.236 0.000 -1.137 89.97° +floor 5.018 -0.010 3.109 -0.012 -0.003 -0.838 -0.54° +_scene_ 0.071 0.003 0.054 -5.637 -0.006 -5.672 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.080, 0.727, 0.247] + !! OVERLAP: table <-> chair depth=[0.429, 0.751, 0.224] + !! OVERLAP: table <-> chair depth=[0.006, 0.765, 0.287] + !! OVERLAP: table <-> cabinet depth=[0.637, 0.765, 0.175] + !! OVERLAP: table <-> floor depth=[1.418, -0.010, 1.147] + !! OVERLAP: chair <-> floor depth=[0.521, -0.010, 0.457] + !! OVERLAP: chair <-> floor depth=[0.508, -0.010, 0.239] + !! OVERLAP: chair <-> floor depth=[0.521, -0.010, 0.514] + !! OVERLAP: chair <-> cabinet depth=[0.321, 0.751, 0.296] + !! OVERLAP: chair <-> floor depth=[0.429, -0.010, 0.385] + !! OVERLAP: chair <-> floor depth=[0.413, -0.010, 0.494] + !! OVERLAP: chair <-> floor depth=[0.493, -0.010, 0.495] + !! OVERLAP: cabinet <-> floor depth=[1.703, -0.010, 0.296] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0782, Walkable Loss: 1.7727 (Center Penalty: 1.7727), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.088 0.727 0.466 0.837 0.002 -0.570 -90.55° +chair 0.644 0.691 0.583 -0.885 0.007 -0.396 88.28° +bookshelf 0.867 2.054 0.218 -0.734 0.004 1.282 -179.99° +lamp 1.205 1.211 1.065 -0.282 1.367 -0.537 -0.18° +floor 2.621 -0.001 2.816 -0.008 0.001 -0.008 -0.01° +_scene_ 0.069 0.001 0.020 -5.674 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.010, -0.001, 0.466] + !! OVERLAP: chair <-> floor depth=[0.644, -0.001, 0.583] + !! OVERLAP: bookshelf <-> floor depth=[0.867, -0.001, 0.218] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.0143, Room Outer Loss: 0.0439, Walkable Loss: 1.0127 (Center Penalty: 1.0127), Relational Loss: 0.0318 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.301 2.011 0.116 -0.262 0.010 0.531 -179.61° +lamp 0.532 1.250 0.541 -0.496 0.569 -0.940 0.33° +desk 1.998 2.861 0.717 0.102 -0.004 -1.247 -89.83° +lamp 0.595 0.164 0.505 -0.367 2.328 -0.710 -0.22° +floor 2.758 -0.028 3.243 -0.206 -0.028 -1.077 0.63° +_scene_ 0.066 0.003 0.063 -5.671 -0.005 -5.688 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.301, -0.028, 0.072] + !! OVERLAP: lamp <-> desk depth=[0.532, 1.250, 0.322] + !! OVERLAP: lamp <-> floor depth=[0.532, -0.028, 0.541] + !! OVERLAP: desk <-> floor depth=[1.998, -0.028, 0.717] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0418, Walkable Loss: 1.4149 (Center Penalty: 1.4149), Relational Loss: 0.0192 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.541 0.876 0.623 0.742 2.018 -0.433 0.03° +bookshelf 0.600 2.544 0.489 1.476 -0.003 0.975 -90.15° +bookshelf 0.663 2.524 0.470 1.424 -0.001 -1.063 -90.04° +bookshelf 0.786 2.351 0.453 1.285 0.002 -0.111 -90.18° +desk 1.386 0.729 0.462 0.151 0.001 1.185 -179.99° +sofa 2.061 0.789 0.883 -0.485 -0.000 -0.733 -0.11° +floor 4.004 -0.002 2.958 -0.257 0.003 -0.006 0.03° +_scene_ 0.070 0.000 0.025 -5.667 -0.004 -5.701 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.569, -0.002, 0.489] + !! OVERLAP: bookshelf <-> floor depth=[0.652, -0.002, 0.470] + !! OVERLAP: bookshelf <-> floor depth=[0.786, -0.002, 0.453] + !! OVERLAP: desk <-> floor depth=[1.386, -0.002, 0.462] + !! OVERLAP: sofa <-> floor depth=[2.061, -0.002, 0.883] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.1184, Walkable Loss: 2.2262 (Center Penalty: 2.2262), Relational Loss: 0.0314 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.554 2.706 0.276 0.185 0.025 -0.852 -90.27° +bookshelf 1.734 2.504 0.336 0.658 0.016 -0.277 -89.76° +desk 1.359 0.900 0.529 -0.459 0.012 0.741 90.15° +chair 0.688 0.659 0.595 0.319 -0.004 0.821 -90.30° +lamp 0.532 0.751 0.441 -0.431 1.938 0.759 -0.03° +floor 2.907 -0.001 3.185 -0.019 0.001 -0.025 -0.01° +_scene_ 0.073 0.001 0.033 -5.665 -0.004 -5.692 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.526, -0.001, 0.276] + !! OVERLAP: bookshelf <-> floor depth=[1.644, -0.001, 0.336] + !! OVERLAP: desk <-> chair depth=[0.245, 0.659, 0.482] + !! OVERLAP: desk <-> floor depth=[1.359, -0.001, 0.529] + !! OVERLAP: chair <-> floor depth=[0.688, -0.001, 0.595] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0201, Walkable Loss: 0.5257 (Center Penalty: 0.5257), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.256 0.791 0.250 -1.227 -0.002 0.055 179.91° +chair 0.434 0.985 0.405 -1.171 0.008 -0.372 -49.47° +bookshelf 1.416 2.134 0.288 -1.088 -0.002 -1.533 0.04° +lamp 1.047 1.068 0.984 0.508 1.641 -0.589 90.37° +chair 0.465 0.543 0.465 1.042 0.004 -0.592 -103.63° +floor 3.742 0.014 2.580 -0.183 -0.022 -1.130 -0.62° +_scene_ 0.067 0.001 0.023 -5.671 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.256, 0.014, 0.230] + !! OVERLAP: chair <-> floor depth=[0.434, 0.014, 0.405] + !! OVERLAP: bookshelf <-> floor depth=[1.416, 0.014, 0.288] + !! OVERLAP: chair <-> floor depth=[0.465, 0.014, 0.465] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0098, Room Outer Loss: 0.0311, Walkable Loss: 0.8883 (Center Penalty: 0.8883), Relational Loss: 0.0136 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.862 0.858 0.762 -0.212 0.012 -0.693 -89.94° +bookshelf 1.619 2.441 0.407 -0.198 0.001 -1.320 0.05° +lamp 0.394 1.000 0.687 0.065 2.036 -0.766 -0.03° +floor 2.460 0.033 2.945 -0.649 0.018 -0.611 -0.51° +_scene_ 0.063 -0.014 0.135 -5.494 0.015 -5.519 -57.82° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.862, 0.033, 0.762] + !! OVERLAP: bookshelf <-> floor depth=[1.588, 0.033, 0.407] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0788, Walkable Loss: 1.5343 (Center Penalty: 1.5343), Relational Loss: 0.0116 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.840 2.394 0.197 -0.506 -0.014 -0.988 90.81° +desk 0.913 1.720 0.239 0.125 0.010 -0.702 179.72° +chair 0.437 0.765 0.361 0.395 -0.011 -1.028 0.16° +floor 2.679 -0.002 3.105 -0.007 0.000 -0.018 -0.03° +_scene_ 0.043 0.002 0.039 -5.614 0.001 -5.679 -57.44° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.238, 0.765, 0.197] + !! OVERLAP: bookshelf <-> floor depth=[1.761, -0.002, 0.197] + !! OVERLAP: desk <-> floor depth=[0.913, -0.002, 0.239] + !! OVERLAP: chair <-> floor depth=[0.437, -0.002, 0.361] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0226, Room Outer Loss: 0.0589, Walkable Loss: 0.5052 (Center Penalty: 0.5052), Relational Loss: 0.0074 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.845 2.339 0.331 0.585 0.001 -1.210 -90.50° +chair 0.739 0.841 0.791 -0.766 0.002 -1.604 -9.83° +desk 0.487 0.537 -0.112 -0.942 -0.052 0.523 0.77° +sofa 0.819 1.056 0.624 -0.800 -0.048 0.833 88.17° +table 0.708 0.450 0.560 -0.477 -0.002 1.271 -0.10° +floor 3.305 -0.013 4.451 0.338 -0.001 -0.717 -0.27° +_scene_ 0.073 0.001 0.026 -5.667 -0.004 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.441, 0.841, 0.167] + !! OVERLAP: bookshelf <-> floor depth=[2.828, -0.013, 0.331] + !! OVERLAP: chair <-> floor depth=[0.739, -0.013, 0.791] + !! OVERLAP: desk <-> floor depth=[0.487, -0.013, -0.112] + !! OVERLAP: sofa <-> table depth=[0.441, 0.450, 0.154] + !! OVERLAP: sofa <-> floor depth=[0.819, -0.013, 0.624] + !! OVERLAP: table <-> floor depth=[0.708, -0.013, 0.518] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0114, Room Outer Loss: 0.0000, Walkable Loss: 1.2489 (Center Penalty: 1.2489), Relational Loss: 0.0065 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.586 0.469 0.582 -0.932 -0.000 0.561 0.01° +bookshelf 0.684 1.907 0.391 1.156 0.001 0.906 -90.17° +lamp 0.492 0.681 0.225 -0.739 2.097 0.816 0.34° +desk 2.053 0.820 0.714 -0.408 0.002 1.098 179.90° +sofa 2.072 0.844 0.916 -0.394 0.000 -1.264 0.01° +floor 3.314 -0.001 3.265 -0.114 0.002 -0.090 0.00° +_scene_ 0.059 0.000 0.025 -5.655 -0.004 -5.701 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.586, 0.469, 0.110] + !! OVERLAP: chair <-> floor depth=[0.586, -0.001, 0.582] + !! OVERLAP: bookshelf <-> floor depth=[0.684, -0.001, 0.391] + !! OVERLAP: desk <-> floor depth=[2.053, -0.001, 0.714] + !! OVERLAP: sofa <-> floor depth=[2.072, -0.001, 0.916] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0063, Walkable Loss: 1.3627 (Center Penalty: 1.3627), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.386 2.306 0.506 -1.244 0.010 0.392 89.98° +chair 0.957 0.788 0.899 0.499 -0.002 0.977 -179.37° +lamp 0.300 0.612 0.373 0.555 2.178 0.633 -0.29° +floor 3.796 -0.002 3.142 -0.033 0.001 0.020 -0.08° +_scene_ 0.046 0.001 0.057 -5.592 -0.002 -5.616 -57.53° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.380, -0.002, 0.506] + !! OVERLAP: chair <-> floor depth=[0.957, -0.002, 0.899] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.0145, Room Outer Loss: 0.0000, Walkable Loss: 2.7271 (Center Penalty: 2.7271), Relational Loss: 0.0076 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.350 2.470 0.201 -0.192 0.009 1.037 87.46° +bookshelf 0.535 1.943 0.357 0.802 0.004 0.959 -179.96° +chair 0.448 0.733 0.482 0.024 -0.003 -0.541 89.67° +lamp 0.618 0.358 0.606 0.168 2.232 -0.098 -0.07° +desk 1.698 0.751 0.701 0.413 0.005 -0.988 0.09° +floor 2.685 -0.002 2.962 -0.039 0.002 -0.055 -0.00° +_scene_ 0.063 0.003 0.020 -5.678 -0.004 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[0.450, 1.943, 0.201] + !! OVERLAP: bookshelf <-> floor depth=[2.350, -0.002, 0.201] + !! OVERLAP: bookshelf <-> floor depth=[0.535, -0.002, 0.357] + !! OVERLAP: chair <-> desk depth=[0.448, 0.733, 0.145] + !! OVERLAP: chair <-> floor depth=[0.448, -0.002, 0.482] + !! OVERLAP: desk <-> floor depth=[1.698, -0.002, 0.701] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0376 (Center Penalty: 1.0376), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.929 1.072 0.979 0.242 1.697 -0.716 0.07° +chair 0.449 0.910 0.491 -0.900 -0.001 0.214 89.94° +desk 1.134 0.710 0.614 0.319 0.001 -0.701 -90.18° +bookshelf 1.473 2.696 0.507 -1.110 -0.007 -0.877 90.41° +floor 2.924 -0.019 2.857 -0.453 -0.020 -0.751 -0.66° +_scene_ 0.047 0.004 0.029 -5.502 -0.004 -5.601 -58.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.449, -0.019, 0.491] + !! OVERLAP: desk <-> floor depth=[1.134, -0.019, 0.614] + !! OVERLAP: bookshelf <-> floor depth=[1.473, -0.019, 0.507] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0028, Room Outer Loss: 0.2564, Walkable Loss: 1.4667 (Center Penalty: 1.4667), Relational Loss: 0.0034 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.693 2.784 0.132 1.252 0.001 -0.095 -89.96° +bookshelf 2.085 2.282 0.284 0.974 0.009 0.471 -90.40° +desk 1.431 0.843 0.585 -0.447 -0.003 1.215 -179.80° +chair 0.568 0.896 0.526 0.451 0.001 1.020 -90.23° +chair 0.701 0.871 0.881 -1.387 0.007 -1.171 39.77° +chair 0.476 0.416 0.450 -1.566 -0.002 -0.339 72.93° +table 0.624 0.596 0.692 -0.456 0.005 -1.224 0.05° +lamp 0.358 0.618 0.323 -0.338 2.173 0.878 -0.12° +floor 3.849 -0.002 3.765 0.005 0.000 0.008 -0.04° +_scene_ 0.068 0.002 0.023 -5.671 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.524, -0.002, 0.132] + !! OVERLAP: bookshelf <-> floor depth=[1.998, -0.002, 0.284] + !! OVERLAP: desk <-> chair depth=[0.101, 0.843, 0.360] + !! OVERLAP: desk <-> floor depth=[1.431, -0.002, 0.585] + !! OVERLAP: chair <-> floor depth=[0.568, -0.002, 0.526] + !! OVERLAP: chair <-> floor depth=[0.701, -0.002, 0.881] + !! OVERLAP: chair <-> floor depth=[0.476, -0.002, 0.450] + !! OVERLAP: table <-> floor depth=[0.624, -0.002, 0.692] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.0065, Room Outer Loss: 0.0000, Walkable Loss: 1.6553 (Center Penalty: 1.6553), Relational Loss: 0.0051 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.047 0.746 0.399 -0.330 -0.006 1.098 179.06° +chair 0.517 1.010 0.443 -0.684 0.001 0.637 21.15° +bookshelf 1.012 2.143 0.393 0.921 0.001 0.638 -89.85° +lamp 1.292 1.517 1.221 -0.445 1.414 0.593 0.08° +floor 2.826 -0.004 3.372 0.033 0.002 0.036 -0.02° +_scene_ 0.022 0.009 0.020 -5.595 -0.005 -5.679 -57.56° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.047, -0.004, 0.399] + !! OVERLAP: chair <-> floor depth=[0.517, -0.004, 0.443] + !! OVERLAP: bookshelf <-> floor depth=[1.012, -0.004, 0.393] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0067, Room Outer Loss: 0.0760, Walkable Loss: 0.8674 (Center Penalty: 0.8674), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.161 0.772 0.366 -0.619 0.002 0.900 -179.92° +bookshelf 0.203 1.801 0.097 0.583 -0.000 1.021 -179.31° +chair 0.511 0.740 0.538 -0.723 -0.001 0.501 0.04° +bookshelf 1.805 2.005 0.385 -1.081 0.001 -0.843 0.06° +lamp 1.226 1.054 0.832 -0.762 2.128 -0.097 0.19° +floor 3.139 0.010 2.558 -0.915 0.002 -0.226 -0.28° +_scene_ 0.069 -0.001 0.030 -5.674 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.511, 0.740, 0.052] + !! OVERLAP: desk <-> floor depth=[1.161, 0.010, 0.335] + !! OVERLAP: bookshelf <-> floor depth=[0.174, 0.010, 0.081] + !! OVERLAP: chair <-> floor depth=[0.511, 0.010, 0.538] + !! OVERLAP: bookshelf <-> floor depth=[1.805, 0.010, 0.385] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.0867, Room Outer Loss: 0.0000, Walkable Loss: 0.8794 (Center Penalty: 0.8794), Relational Loss: 0.0113 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.276 0.879 0.175 -0.223 0.002 -0.943 -90.46° +bookshelf 1.283 2.340 0.118 0.428 -0.032 -0.806 -179.92° +cabinet 1.693 1.270 0.150 -0.177 0.007 -1.154 90.25° +lamp 0.596 0.522 0.521 -0.022 2.108 -0.851 -0.06° +chair 0.314 0.848 0.383 0.374 0.001 -1.484 -19.52° +floor 2.237 -0.024 3.995 -0.008 -0.012 -0.860 -0.21° +_scene_ 0.063 -0.001 0.003 -5.664 -0.007 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.628, 0.879, 0.010] + !! OVERLAP: desk <-> floor depth=[1.276, -0.024, 0.175] + !! OVERLAP: bookshelf <-> floor depth=[1.283, -0.024, 0.118] + !! OVERLAP: cabinet <-> floor depth=[1.693, -0.024, 0.150] + !! OVERLAP: chair <-> floor depth=[0.314, -0.024, 0.383] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6760 (Center Penalty: 0.6760), Relational Loss: 0.0376 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.439 0.833 0.360 -0.717 -0.003 -0.652 90.29° +bookshelf 1.371 2.068 -0.166 0.802 -0.024 0.554 -179.63° +desk 1.530 0.759 1.089 0.829 -0.003 -0.519 -89.78° +floor 2.743 -0.018 3.319 0.361 0.008 -0.783 -0.08° +_scene_ 0.100 0.005 0.073 -5.651 -0.005 -5.685 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.439, -0.018, 0.360] + !! OVERLAP: bookshelf <-> floor depth=[1.371, -0.018, -0.166] + !! OVERLAP: desk <-> floor depth=[1.530, -0.018, 1.089] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0802, Walkable Loss: 0.9506 (Center Penalty: 0.9506), Relational Loss: 0.0173 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.359 0.699 0.550 -0.754 -0.005 0.052 0.96° +lamp 0.760 0.795 0.020 0.305 1.856 0.729 0.21° +bookshelf 0.438 2.036 0.275 1.213 -0.000 -0.396 -0.15° +chair 0.484 0.927 0.557 -0.235 -0.002 0.901 -179.99° +bookshelf 0.910 1.935 0.340 1.106 -0.002 1.289 -90.17° +bookshelf 0.569 2.064 0.234 1.160 -0.001 0.531 -90.07° +floor 3.381 0.007 3.110 -0.021 0.001 1.102 0.00° +_scene_ 0.048 0.003 0.014 -5.676 -0.006 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.359, 0.007, 0.550] + !! OVERLAP: bookshelf <-> floor depth=[0.438, 0.007, 0.195] + !! OVERLAP: chair <-> floor depth=[0.484, 0.007, 0.557] + !! OVERLAP: bookshelf <-> floor depth=[0.910, 0.007, 0.340] + !! OVERLAP: bookshelf <-> floor depth=[0.569, 0.007, 0.234] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0093, Room Outer Loss: 0.0000, Walkable Loss: 0.6089 (Center Penalty: 0.6089), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.618 2.451 0.303 0.565 0.009 -1.008 -90.17° +desk 1.427 1.009 0.620 -0.435 0.001 -0.757 90.29° +chair 0.418 0.838 0.501 0.110 -0.008 -0.887 -90.53° +floor 2.657 0.030 3.272 0.087 0.004 -1.025 0.08° +_scene_ 0.061 0.038 0.091 -5.239 -0.003 -5.447 -57.80° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.522, 1.009, 0.211] + !! OVERLAP: bookshelf <-> chair depth=[0.418, 0.838, 0.281] + !! OVERLAP: bookshelf <-> floor depth=[1.618, 0.030, 0.303] + !! OVERLAP: desk <-> chair depth=[0.377, 0.838, 0.431] + !! OVERLAP: desk <-> floor depth=[1.427, 0.030, 0.620] + !! OVERLAP: chair <-> floor depth=[0.418, 0.030, 0.501] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.0339, Room Outer Loss: 0.0974, Walkable Loss: 0.8137 (Center Penalty: 0.8137), Relational Loss: 0.0238 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.538 2.338 0.342 -0.757 0.018 -0.695 90.12° +bookshelf 1.534 2.277 0.240 0.576 -0.004 -0.711 -90.77° +desk 1.582 0.714 0.383 -0.043 0.010 -1.621 -0.61° +chair 0.486 0.754 0.442 -0.819 0.013 0.187 -179.63° +floor 2.771 -0.005 3.399 -0.089 0.009 -0.819 -0.46° +_scene_ 0.063 -0.001 0.022 -5.662 -0.004 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[0.202, 2.277, 0.240] + !! OVERLAP: bookshelf <-> floor depth=[1.486, -0.005, 0.342] + !! OVERLAP: bookshelf <-> floor depth=[1.488, -0.005, 0.240] + !! OVERLAP: desk <-> floor depth=[1.582, -0.005, 0.383] + !! OVERLAP: chair <-> floor depth=[0.486, -0.005, 0.442] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0018, Room Outer Loss: 0.0392, Walkable Loss: 0.9509 (Center Penalty: 0.9509), Relational Loss: 0.0074 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.471 2.041 0.297 -1.139 0.003 -0.126 90.02° +bookshelf 0.943 2.183 0.178 -0.930 0.003 -0.680 90.15° +desk 1.438 0.689 0.609 0.069 0.005 -0.817 -89.81° +chair 0.462 0.903 0.451 -0.562 0.002 -0.715 83.36° +lamp 0.634 0.393 0.581 -0.383 2.587 -0.801 -0.08° +floor 2.834 -0.014 4.355 0.049 0.009 -0.972 0.06° +_scene_ 0.060 -0.001 0.022 -5.676 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.465, -0.014, 0.297] + !! OVERLAP: bookshelf <-> desk depth=[0.192, 0.689, 0.178] + !! OVERLAP: bookshelf <-> chair depth=[0.335, 0.903, 0.178] + !! OVERLAP: bookshelf <-> floor depth=[0.910, -0.014, 0.178] + !! OVERLAP: desk <-> chair depth=[0.319, 0.689, 0.428] + !! OVERLAP: desk <-> floor depth=[1.438, -0.014, 0.609] + !! OVERLAP: chair <-> floor depth=[0.462, -0.014, 0.451] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0079, Room Outer Loss: 0.0000, Walkable Loss: 0.8455 (Center Penalty: 0.8455), Relational Loss: 0.0138 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.755 2.159 0.319 -0.991 0.009 0.493 179.98° +bookshelf 0.682 2.100 0.203 -1.031 -0.004 -0.836 89.97° +bookshelf 1.012 2.094 0.395 1.281 -0.001 -0.161 -89.99° +chair 0.568 0.823 0.656 -0.661 -0.003 -0.817 89.82° +lamp 0.477 0.339 0.444 0.856 2.348 0.196 -90.05° +chair 0.547 0.518 0.627 0.022 0.002 -0.825 90.01° +floor 3.441 -0.012 3.367 0.212 0.002 -1.017 0.08° +_scene_ 0.059 -0.002 0.016 -5.665 -0.005 -5.711 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.755, -0.012, 0.319] + !! OVERLAP: bookshelf <-> chair depth=[0.255, 0.823, 0.203] + !! OVERLAP: bookshelf <-> floor depth=[0.682, -0.012, 0.203] + !! OVERLAP: bookshelf <-> floor depth=[1.012, -0.012, 0.395] + !! OVERLAP: chair <-> floor depth=[0.568, -0.012, 0.656] + !! OVERLAP: chair <-> floor depth=[0.547, -0.012, 0.627] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1000, Walkable Loss: 1.4920 (Center Penalty: 1.4920), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.815 1.702 0.283 -0.877 -0.004 -0.601 89.98° +desk 1.907 0.763 0.698 0.209 0.001 -0.599 -90.43° +chair 0.353 0.758 0.398 -0.347 -0.001 -0.483 89.89° +lamp 1.210 0.979 0.722 0.204 1.651 -0.779 0.11° +floor 2.347 -0.010 3.137 -0.042 0.004 -0.933 -0.11° +_scene_ 0.064 -0.001 0.014 -5.664 -0.002 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.275, 0.763, 0.283] + !! OVERLAP: bookshelf <-> chair depth=[0.054, 0.758, 0.223] + !! OVERLAP: bookshelf <-> floor depth=[0.746, -0.010, 0.283] + !! OVERLAP: desk <-> chair depth=[0.353, 0.758, 0.398] + !! OVERLAP: desk <-> floor depth=[1.876, -0.010, 0.698] + !! OVERLAP: chair <-> floor depth=[0.353, -0.010, 0.398] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0086, Room Outer Loss: 0.0000, Walkable Loss: 1.6934 (Center Penalty: 1.6934), Relational Loss: 0.0311 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.419 0.717 0.338 0.035 -0.003 0.667 0.34° +desk 1.439 1.182 0.339 0.613 0.018 0.845 -179.75° +chair 0.337 0.733 0.425 -0.877 -0.009 0.537 0.02° +bookshelf 0.839 1.313 0.239 0.266 -0.002 -1.395 -0.02° +bookshelf 0.688 1.020 0.384 -0.837 0.000 -1.342 0.03° +desk 1.616 1.199 0.491 -0.389 0.003 1.292 -179.94° +floor 2.807 0.001 3.190 -0.004 0.000 -0.011 -0.03° +_scene_ 0.069 0.000 0.019 -5.673 -0.004 -5.720 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.350, 0.717, 0.161] + !! OVERLAP: chair <-> floor depth=[0.419, 0.001, 0.338] + !! OVERLAP: desk <-> floor depth=[1.439, 0.001, 0.339] + !! OVERLAP: chair <-> floor depth=[0.337, 0.001, 0.425] + !! OVERLAP: bookshelf <-> floor depth=[0.839, 0.001, 0.239] + !! OVERLAP: bookshelf <-> floor depth=[0.688, 0.001, 0.384] + !! OVERLAP: desk <-> floor depth=[1.616, 0.001, 0.491] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0217, Walkable Loss: 1.0069 (Center Penalty: 1.0069), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.461 1.011 0.526 -0.874 -0.010 0.103 -163.90° +desk 2.311 0.812 1.140 -0.461 0.003 -0.858 -0.01° +lamp 0.688 0.700 0.286 -0.768 1.892 -0.285 0.16° +bookshelf 1.491 2.365 0.217 -0.650 0.005 0.898 -179.80° +floor 2.768 -0.004 3.136 -0.515 0.002 -0.583 -0.48° +_scene_ 0.062 -0.002 0.034 -5.655 -0.004 -5.691 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.461, -0.004, 0.526] + !! OVERLAP: desk <-> floor depth=[2.311, -0.004, 1.140] + !! OVERLAP: bookshelf <-> floor depth=[1.491, -0.004, 0.195] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.0348, Room Outer Loss: 0.0000, Walkable Loss: 2.0565 (Center Penalty: 2.0565), Relational Loss: 0.0027 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.629 0.291 0.576 -0.412 2.512 0.564 0.18° +bookshelf 1.658 2.047 0.313 0.050 -0.002 -1.111 0.11° +desk 2.290 0.663 1.092 -0.136 -0.009 0.705 -179.85° +chair 0.658 0.907 0.466 0.411 0.017 -0.740 -12.65° +floor 2.785 -0.005 2.665 -0.010 0.001 -0.005 -0.03° +_scene_ 0.045 0.007 0.019 -5.619 -0.006 -5.679 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.658, 0.907, 0.018] + !! OVERLAP: bookshelf <-> floor depth=[1.658, -0.005, 0.313] + !! OVERLAP: desk <-> floor depth=[2.290, -0.005, 1.092] + !! OVERLAP: chair <-> floor depth=[0.658, -0.005, 0.466] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0010, Room Outer Loss: 0.0719, Walkable Loss: 1.2801 (Center Penalty: 1.2801), Relational Loss: 0.0192 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.583 0.304 0.544 -0.701 2.285 0.749 0.49° +chair 0.432 0.894 0.397 0.987 0.000 -0.689 -121.68° +desk 1.480 0.759 0.376 0.202 -0.002 -1.149 0.04° +bookshelf 2.511 1.858 0.391 0.094 -0.001 1.277 -179.96° +floor 2.678 0.001 2.811 0.000 0.001 0.005 -0.01° +_scene_ 0.081 0.002 0.037 -5.658 -0.005 -5.701 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.432, 0.001, 0.397] + !! OVERLAP: desk <-> floor depth=[1.480, 0.001, 0.376] + !! OVERLAP: bookshelf <-> floor depth=[2.501, 0.001, 0.329] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0078, Room Outer Loss: 0.0000, Walkable Loss: 2.0333 (Center Penalty: 2.0333), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.790 0.856 0.847 -0.401 0.001 0.582 89.73° +chair 0.563 0.734 0.543 0.690 -0.000 -0.419 -89.87° +bookshelf 0.859 2.000 0.394 0.881 0.002 0.230 -89.97° +lamp 0.650 0.370 0.547 -0.859 2.269 -0.231 0.12° +floor 2.671 -0.001 3.320 -0.000 -0.000 -0.027 -0.04° +_scene_ 0.056 0.003 0.020 -5.646 -0.004 -5.700 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.043, 0.856, 0.268] + !! OVERLAP: desk <-> floor depth=[1.790, -0.001, 0.847] + !! OVERLAP: chair <-> floor depth=[0.563, -0.001, 0.543] + !! OVERLAP: bookshelf <-> floor depth=[0.859, -0.001, 0.394] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7303 (Center Penalty: 0.7303), Relational Loss: 0.0079 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.413 0.883 0.616 0.246 0.004 -1.041 -0.03° +chair 0.389 1.023 0.599 0.793 0.003 0.009 -179.63° +lamp 0.481 0.609 1.079 -0.073 2.018 -0.816 -0.45° +floor 2.830 -0.025 3.396 0.177 0.006 -1.100 -1.44° +_scene_ -0.003 0.128 0.123 -4.767 0.196 -4.629 -61.98° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.413, -0.025, 0.616] + !! OVERLAP: chair <-> floor depth=[0.389, -0.025, 0.599] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0478, Walkable Loss: 1.9621 (Center Penalty: 1.9621), Relational Loss: 0.0306 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.482 2.631 0.214 0.357 -0.002 -0.649 -90.75° +bookshelf 2.782 2.776 0.276 0.093 -0.041 0.908 -90.10° +desk 1.771 0.725 0.481 -0.372 -0.007 0.973 89.13° +chair 0.610 1.096 0.499 -0.139 0.015 -0.857 -90.84° +lamp 0.384 0.628 0.579 -0.889 2.060 0.569 -0.35° +floor 3.094 -0.003 2.940 0.003 0.000 -0.039 -0.04° +_scene_ 0.077 -0.000 0.027 -5.658 -0.005 -5.700 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.610, 1.096, 0.149] + !! OVERLAP: bookshelf <-> floor depth=[2.434, -0.003, 0.214] + !! OVERLAP: bookshelf <-> desk depth=[1.771, 0.725, 0.276] + !! OVERLAP: bookshelf <-> floor depth=[2.782, -0.003, 0.276] + !! OVERLAP: desk <-> floor depth=[1.771, -0.003, 0.481] + !! OVERLAP: chair <-> floor depth=[0.610, -0.003, 0.499] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1079 (Center Penalty: 1.1079), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.848 2.413 0.318 0.215 -0.001 -0.857 -90.55° +lamp 0.816 1.015 1.085 -0.678 1.650 -0.509 0.08° +table 1.275 0.730 0.407 -0.794 -0.000 -0.397 90.03° +floor 2.821 0.003 3.323 -0.041 -0.004 -0.626 0.07° +_scene_ 0.102 0.010 0.146 -5.508 -0.003 -5.629 -57.10° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> lamp depth=[0.439, 0.063, 0.318] + !! OVERLAP: bookshelf <-> floor depth=[1.848, 0.003, 0.318] + !! OVERLAP: table <-> floor depth=[1.275, 0.003, 0.407] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0209, Room Outer Loss: 0.1066, Walkable Loss: 1.3912 (Center Penalty: 1.3912), Relational Loss: 0.0349 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.637 0.704 0.370 0.702 0.025 0.374 -86.93° +chair 0.320 0.821 0.204 -0.753 -0.007 0.610 89.76° +bookshelf 2.813 2.399 0.024 -0.792 0.023 -0.410 89.98° +bookshelf 2.605 2.323 -0.304 -0.758 -0.002 -0.669 90.64° +bookshelf 3.195 2.504 -0.061 -0.686 -0.016 -0.724 91.68° +lamp 0.993 0.902 0.244 0.419 1.950 0.565 -89.45° +floor 3.302 -0.008 3.002 -0.736 -0.002 -0.733 -0.61° +_scene_ 0.069 0.002 0.070 -5.638 -0.002 -5.646 -57.44° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.531, -0.008, 0.370] + !! OVERLAP: chair <-> floor depth=[0.320, -0.008, 0.204] + !! OVERLAP: bookshelf <-> floor depth=[2.813, -0.008, 0.024] + !! OVERLAP: bookshelf <-> floor depth=[2.605, -0.008, -0.304] + !! OVERLAP: bookshelf <-> floor depth=[3.195, -0.008, -0.061] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0978, Walkable Loss: 0.7742 (Center Penalty: 0.7742), Relational Loss: 0.0041 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.333 0.786 0.443 -0.123 0.002 1.353 179.93° +bookshelf 0.290 1.766 0.264 0.803 -0.009 0.864 -90.10° +chair 0.428 0.760 0.489 -0.431 -0.002 0.748 0.00° +bookshelf 1.896 1.889 0.297 -0.852 -0.009 -0.513 0.06° +lamp 0.875 1.161 0.458 -0.241 1.910 0.937 -0.13° +floor 2.793 0.003 2.899 -0.546 -0.030 0.767 1.15° +_scene_ 0.057 0.002 0.024 -5.675 -0.004 -5.704 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.333, 0.003, 0.443] + !! OVERLAP: bookshelf <-> floor depth=[0.193, 0.003, 0.264] + !! OVERLAP: chair <-> floor depth=[0.428, 0.003, 0.489] + !! OVERLAP: bookshelf <-> floor depth=[1.896, 0.003, 0.297] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0710, Walkable Loss: 1.2323 (Center Penalty: 1.2323), Relational Loss: 0.0012 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.344 0.895 0.587 0.902 0.012 -0.528 0.59° +desk 0.871 0.735 0.566 0.426 -0.004 -0.582 -89.95° +bookshelf 1.449 2.519 0.238 -0.749 0.007 -0.691 89.51° +lamp 0.896 1.233 0.882 0.353 1.528 -0.564 0.04° +floor 2.586 0.022 3.052 -0.109 0.005 -0.851 -0.40° +_scene_ 0.062 -0.000 0.037 -5.642 -0.002 -5.679 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.132, 0.735, 0.522] + !! OVERLAP: chair <-> floor depth=[0.344, 0.022, 0.587] + !! OVERLAP: desk <-> floor depth=[0.871, 0.022, 0.566] + !! OVERLAP: bookshelf <-> lamp depth=[0.072, 0.355, 0.238] + !! OVERLAP: bookshelf <-> floor depth=[1.378, 0.022, 0.238] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0135, Room Outer Loss: 0.0000, Walkable Loss: 1.2202 (Center Penalty: 1.2202), Relational Loss: 0.0071 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.304 0.823 0.581 -0.287 0.001 -0.765 -90.70° +chair 0.430 0.997 0.563 -0.713 -0.001 -0.294 0.10° +bookshelf 1.785 2.296 0.291 1.124 -0.002 -0.301 -90.18° +lamp 0.400 0.759 0.429 0.450 1.745 -0.504 -0.33° +floor 3.038 0.001 2.380 0.558 -0.032 -0.729 -0.34° +_scene_ 0.063 0.003 0.026 -5.657 -0.004 -5.688 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.430, 0.823, 0.102] + !! OVERLAP: desk <-> floor depth=[1.304, 0.001, 0.581] + !! OVERLAP: chair <-> floor depth=[0.430, 0.001, 0.563] + !! OVERLAP: bookshelf <-> floor depth=[1.785, 0.001, 0.291] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0400 (Center Penalty: 1.0400), Relational Loss: 0.0197 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.736 1.402 0.503 -0.223 -0.002 -1.051 0.11° +chair 0.404 0.744 0.457 -0.713 -0.005 -0.490 179.85° +lamp 0.126 0.580 0.463 -0.193 1.903 -0.667 -88.56° +floor 1.968 0.036 2.622 -0.296 -0.012 -0.676 -0.33° +_scene_ -0.069 0.304 -0.159 -2.997 1.249 -2.918 -72.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.736, 0.036, 0.503] + !! OVERLAP: chair <-> floor depth=[0.404, 0.036, 0.457] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6611 (Center Penalty: 0.6611), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.138 0.701 0.539 -0.192 0.005 -0.806 0.03° +bookshelf 1.213 2.216 0.387 -1.162 0.002 -0.388 89.97° +lamp 0.666 0.637 0.815 0.015 2.406 -0.911 0.08° +floor 2.638 0.000 3.009 -0.461 0.010 -0.824 0.44° +_scene_ 0.047 0.105 0.080 -4.685 -0.002 -4.883 -59.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.205, 0.701, 0.045] + !! OVERLAP: desk <-> floor depth=[1.138, 0.000, 0.539] + !! OVERLAP: bookshelf <-> floor depth=[1.213, 0.000, 0.387] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4638 (Center Penalty: 1.4638), Relational Loss: 0.0239 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.867 1.450 0.553 -0.271 -0.001 -1.159 0.08° +chair 0.507 0.881 0.552 -0.750 -0.002 -0.419 -179.79° +lamp 0.773 0.320 0.557 -0.486 2.264 0.776 -0.27° +floor 2.539 -0.001 3.374 -0.064 0.002 -0.033 -0.05° +_scene_ 0.095 -0.005 0.089 -5.589 0.013 -5.610 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.867, -0.001, 0.553] + !! OVERLAP: chair <-> floor depth=[0.507, -0.001, 0.552] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 0.1091, Walkable Loss: 0.7701 (Center Penalty: 0.7701), Relational Loss: 0.0399 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.872 2.476 0.186 -0.125 0.064 -0.783 179.93° +desk 1.548 0.720 0.688 0.925 -0.014 -0.359 0.26° +chair 0.431 0.933 0.369 1.193 0.000 -0.007 179.87° +chair 0.577 1.029 0.590 -0.637 0.002 -1.448 11.39° +chair 0.532 0.964 0.625 1.146 0.001 -1.360 0.05° +table 0.626 0.544 0.540 0.296 0.002 -1.398 0.01° +lamp 0.695 0.630 0.568 0.298 1.914 -0.773 -0.20° +floor 3.359 -0.036 3.042 0.448 0.005 -1.453 1.13° +_scene_ 0.068 -0.000 0.022 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.660, 0.720, 0.013] + !! OVERLAP: bookshelf <-> floor depth=[1.872, -0.036, 0.186] + !! OVERLAP: desk <-> chair depth=[0.431, 0.720, 0.177] + !! OVERLAP: desk <-> floor depth=[1.548, -0.036, 0.688] + !! OVERLAP: chair <-> floor depth=[0.431, -0.036, 0.260] + !! OVERLAP: chair <-> floor depth=[0.577, -0.036, 0.590] + !! OVERLAP: chair <-> floor depth=[0.532, -0.036, 0.625] + !! OVERLAP: table <-> floor depth=[0.626, -0.036, 0.540] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1075, Walkable Loss: 1.0198 (Center Penalty: 1.0198), Relational Loss: 0.0171 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.713 0.763 0.700 0.364 -0.001 -0.748 89.90° +bookshelf 0.863 2.552 0.334 -0.532 0.002 -1.120 0.12° +bookshelf 0.364 2.339 0.195 1.071 0.002 -0.685 -90.13° +bookshelf 0.838 2.160 0.294 -0.440 0.008 0.166 -178.68° +floor 2.249 -0.037 3.783 0.058 0.032 -1.262 0.34° +_scene_ 0.130 0.222 0.308 -2.857 0.000 -3.061 -80.08° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.393, 0.763, 0.145] + !! OVERLAP: desk <-> bookshelf depth=[0.332, 0.763, 0.195] + !! OVERLAP: desk <-> floor depth=[1.675, -0.037, 0.700] + !! OVERLAP: bookshelf <-> floor depth=[0.863, -0.037, 0.334] + !! OVERLAP: bookshelf <-> floor depth=[0.294, -0.037, 0.195] + !! OVERLAP: bookshelf <-> floor depth=[0.838, -0.037, 0.294] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.0333, Room Outer Loss: 0.0815, Walkable Loss: 0.8402 (Center Penalty: 0.8402), Relational Loss: 0.0354 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.157 0.794 1.682 -0.155 -0.002 -0.848 0.04° +chair 0.373 0.870 0.366 0.718 0.007 -0.936 90.00° +wardrobe 1.416 2.196 0.403 -1.214 -0.002 0.938 -179.86° +wardrobe 1.001 2.433 0.670 -1.937 -0.001 -0.531 89.86° +wardrobe 0.669 2.172 0.490 1.145 0.001 -0.901 -90.33° +wardrobe 0.326 1.984 0.773 1.427 -0.004 0.008 -90.43° +lamp 0.375 0.140 0.397 0.240 2.783 -0.852 -0.12° +floor 4.413 0.005 3.775 -0.698 0.010 -0.333 -0.26° +_scene_ 0.041 -0.001 0.005 -5.673 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.373, 0.794, 0.366] + !! OVERLAP: desk <-> wardrobe depth=[0.114, 0.794, 0.490] + !! OVERLAP: desk <-> floor depth=[2.157, 0.005, 1.682] + !! OVERLAP: chair <-> wardrobe depth=[0.094, 0.870, 0.366] + !! OVERLAP: chair <-> floor depth=[0.373, 0.005, 0.366] + !! OVERLAP: wardrobe <-> floor depth=[1.416, 0.005, 0.403] + !! OVERLAP: wardrobe <-> floor depth=[1.001, 0.005, 0.670] + !! OVERLAP: wardrobe <-> floor depth=[0.669, 0.005, 0.490] + !! OVERLAP: wardrobe <-> floor depth=[0.245, 0.005, 0.773] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0000, Walkable Loss: 1.0543 (Center Penalty: 1.0543), Relational Loss: 0.0093 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.617 0.782 0.655 -0.493 0.003 0.710 -155.10° +chair 0.496 0.846 0.690 -0.603 0.002 -0.031 -0.01° +lamp 0.441 0.729 0.510 1.439 2.186 -0.028 179.80° +lamp 0.389 0.752 0.381 -0.405 1.711 -0.710 0.14° +floor 3.157 -0.004 4.118 0.709 -0.006 -0.913 0.01° +_scene_ 0.064 0.002 0.024 -5.652 -0.005 -5.688 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.617, -0.004, 0.655] + !! OVERLAP: chair <-> floor depth=[0.496, -0.004, 0.690] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.0630, Room Outer Loss: 0.0909, Walkable Loss: 2.3383 (Center Penalty: 2.3383), Relational Loss: 0.0161 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.764 2.415 0.117 -0.688 -0.002 -0.213 -89.70° +bookshelf 1.164 2.440 -0.371 -0.765 0.032 -0.148 -90.74° +bookshelf 1.539 2.461 -0.241 -0.333 0.016 -0.172 -90.48° +bookshelf 1.809 2.359 0.229 -0.579 -0.024 -0.058 -90.12° +desk 0.951 0.687 0.504 -1.086 0.005 -0.488 90.57° +floor 1.956 0.050 3.296 -0.632 0.028 -0.323 -0.93° +_scene_ 0.230 0.357 1.678 -3.476 0.009 -2.894 -81.13° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[1.678, 2.359, 0.018] + !! OVERLAP: bookshelf <-> desk depth=[0.951, 0.687, 0.035] + !! OVERLAP: bookshelf <-> floor depth=[1.764, 0.050, 0.117] + !! OVERLAP: bookshelf <-> floor depth=[1.164, 0.050, -0.371] + !! OVERLAP: bookshelf <-> floor depth=[1.448, 0.050, -0.241] + !! OVERLAP: bookshelf <-> floor depth=[1.809, 0.050, 0.229] + !! OVERLAP: desk <-> floor depth=[0.951, 0.050, 0.504] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0144, Room Outer Loss: 0.0000, Walkable Loss: 1.4767 (Center Penalty: 1.4767), Relational Loss: 0.0020 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.575 0.730 0.613 -0.032 0.011 -1.499 -0.01° +chair 0.354 0.951 0.543 -0.247 0.007 -1.035 -99.15° +bookshelf 0.924 1.961 0.520 0.689 0.001 0.836 -90.28° +lamp 1.279 1.179 1.229 -0.384 1.568 0.713 0.12° +floor 2.454 -0.000 3.877 -0.028 0.002 -0.029 0.00° +_scene_ 0.065 0.001 0.021 -5.651 -0.004 -5.702 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.354, 0.730, 0.114] + !! OVERLAP: desk <-> floor depth=[1.575, -0.000, 0.613] + !! OVERLAP: chair <-> floor depth=[0.354, -0.000, 0.543] + !! OVERLAP: bookshelf <-> lamp depth=[0.029, 0.003, 0.520] + !! OVERLAP: bookshelf <-> floor depth=[0.924, -0.000, 0.520] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0797, Walkable Loss: 0.6409 (Center Penalty: 0.6409), Relational Loss: 0.0149 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.665 0.713 0.769 -0.873 -0.004 -0.210 0.02° +bookshelf 0.948 2.432 0.357 -1.026 0.002 1.345 179.97° +bookshelf 0.782 2.264 0.365 0.633 -0.001 1.316 -179.88° +bookshelf 0.485 2.213 0.328 -0.230 0.002 1.341 179.97° +lamp 0.830 0.122 0.771 -0.777 2.520 0.016 -0.17° +floor 3.775 0.027 2.584 -0.943 -0.026 0.507 -0.62° +_scene_ 0.018 -0.006 0.006 -5.637 -0.003 -5.678 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.665, 0.027, 0.769] + !! OVERLAP: bookshelf <-> floor depth=[0.948, 0.027, 0.357] + !! OVERLAP: bookshelf <-> floor depth=[0.703, 0.027, 0.365] + !! OVERLAP: bookshelf <-> floor depth=[0.485, 0.027, 0.328] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.1130, Room Outer Loss: 0.0965, Walkable Loss: 1.0217 (Center Penalty: 1.0217), Relational Loss: 0.0360 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.956 2.029 0.262 -1.758 0.003 0.410 89.94° +bookshelf 1.951 2.036 0.253 -0.640 -0.001 0.995 -179.99° +bookshelf 1.617 2.079 0.162 -1.753 0.007 0.551 89.92° +bookshelf 1.961 1.977 0.134 -1.663 0.002 0.370 89.87° +bookshelf 1.467 1.957 0.266 0.247 0.006 -1.291 -0.00° +bookshelf 1.842 2.025 0.165 0.143 -0.001 -1.025 0.16° +desk 2.366 2.688 0.324 -1.167 0.024 -0.775 179.70° +lamp 0.647 0.408 0.634 -0.602 2.213 0.092 -0.06° +floor 3.761 0.019 3.049 -0.761 0.007 -0.063 0.05° +_scene_ 0.156 0.288 0.997 -2.763 0.795 -1.974 -82.78° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[1.617, 2.029, 0.071] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.864, 1.977, 0.134] + !! OVERLAP: bookshelf <-> floor depth=[1.862, 0.019, 0.262] + !! OVERLAP: bookshelf <-> floor depth=[1.951, 0.019, 0.253] + !! OVERLAP: bookshelf <-> floor depth=[1.617, 0.019, 0.162] + !! OVERLAP: bookshelf <-> floor depth=[1.959, 0.019, 0.134] + !! OVERLAP: bookshelf <-> floor depth=[1.467, 0.019, 0.266] + !! OVERLAP: bookshelf <-> floor depth=[1.842, 0.019, 0.165] + !! OVERLAP: desk <-> floor depth=[2.366, 0.019, 0.324] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0105, Room Outer Loss: 0.0000, Walkable Loss: 0.9786 (Center Penalty: 0.9786), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.264 2.287 0.385 0.983 0.001 -1.041 -89.49° +desk 1.384 0.995 0.659 -0.462 -0.002 -0.679 89.70° +chair 0.451 0.818 0.569 0.673 0.001 -0.300 -89.88° +lamp 0.277 0.618 0.245 0.508 1.901 -0.662 -0.48° +floor 3.071 -0.056 2.954 0.097 0.032 -1.033 0.05° +_scene_ 0.072 -0.003 0.042 -5.652 -0.006 -5.686 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.264, -0.056, 0.385] + !! OVERLAP: desk <-> floor depth=[1.384, -0.056, 0.659] + !! OVERLAP: chair <-> floor depth=[0.451, -0.056, 0.569] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 0.1088, Room Outer Loss: 0.0354, Walkable Loss: 1.1830 (Center Penalty: 1.1830), Relational Loss: 0.0286 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.148 2.594 0.392 -0.508 0.010 0.635 179.81° +bookshelf 2.801 2.365 0.371 -0.641 0.028 0.247 179.89° +desk 2.125 0.629 -0.055 -0.617 0.053 0.765 -179.41° +chair 0.479 0.784 0.485 -0.487 -0.002 -0.962 0.06° +floor 3.138 0.001 3.481 -0.538 -0.005 -0.582 0.36° +_scene_ 0.069 0.004 0.043 -5.674 -0.005 -5.696 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[2.125, 0.629, -0.055] + !! OVERLAP: bookshelf <-> floor depth=[3.113, 0.001, 0.392] + !! OVERLAP: bookshelf <-> floor depth=[2.801, 0.001, 0.371] + !! OVERLAP: desk <-> floor depth=[2.125, 0.001, -0.055] + !! OVERLAP: chair <-> floor depth=[0.479, 0.001, 0.485] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0202, Room Outer Loss: 0.0713, Walkable Loss: 1.2401 (Center Penalty: 1.2401), Relational Loss: 0.0286 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.654 0.855 0.918 0.073 0.003 -0.870 -0.06° +bookshelf 0.574 1.995 0.147 -0.465 0.019 0.880 -179.15° +bookshelf 0.904 2.101 0.245 -0.312 0.002 1.035 -179.94° +chair 0.459 0.762 0.504 -0.905 0.006 -0.433 0.08° +bookshelf 0.787 2.096 0.328 -1.802 0.001 -1.198 89.95° +bookshelf 0.762 2.087 0.235 -0.802 0.006 1.138 -179.85° +lamp 0.464 0.167 0.606 0.031 2.462 -0.836 0.11° +floor 3.423 0.009 2.917 -0.631 0.011 -0.275 0.06° +_scene_ 0.072 0.051 0.201 -5.478 -0.011 -5.532 -59.88° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.078, 0.762, 0.274] + !! OVERLAP: desk <-> floor depth=[1.654, 0.009, 0.918] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.574, 1.995, 0.042] + !! OVERLAP: bookshelf <-> floor depth=[0.574, 0.009, 0.147] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.343, 2.087, 0.137] + !! OVERLAP: bookshelf <-> floor depth=[0.904, 0.009, 0.245] + !! OVERLAP: chair <-> floor depth=[0.459, 0.009, 0.504] + !! OVERLAP: bookshelf <-> floor depth=[0.787, 0.009, 0.328] + !! OVERLAP: bookshelf <-> floor depth=[0.762, 0.009, 0.163] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0039, Room Outer Loss: 0.0847, Walkable Loss: 1.1004 (Center Penalty: 1.1004), Relational Loss: 0.0234 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.502 0.747 0.845 0.174 -0.002 -0.697 -90.06° +chair 0.502 0.890 0.485 -0.475 0.001 -0.801 90.03° +bookshelf 0.768 1.789 0.339 0.827 0.001 -0.229 -89.94° +lamp 0.846 0.483 0.533 -0.526 2.240 -0.727 0.14° +floor 2.508 -0.024 2.567 -0.128 0.006 -0.985 -0.06° +_scene_ 0.066 -0.002 0.029 -5.646 -0.002 -5.695 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.353, 0.747, 0.485] + !! OVERLAP: desk <-> bookshelf depth=[0.482, 0.747, 0.124] + !! OVERLAP: desk <-> floor depth=[1.502, -0.024, 0.845] + !! OVERLAP: chair <-> floor depth=[0.502, -0.024, 0.485] + !! OVERLAP: bookshelf <-> floor depth=[0.684, -0.024, 0.339] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6505 (Center Penalty: 1.6505), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.211 0.778 0.541 0.446 -0.000 0.807 179.91° +chair 0.479 0.983 0.526 -0.547 0.017 -0.642 15.52° +bookshelf 2.084 2.471 0.316 0.099 0.000 -1.234 0.03° +lamp 1.483 0.739 0.681 -0.414 1.925 0.827 0.61° +floor 2.698 -0.003 2.803 -0.006 0.001 -0.016 -0.01° +_scene_ 0.034 0.001 0.020 -5.647 -0.005 -5.695 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.211, -0.003, 0.541] + !! OVERLAP: chair <-> floor depth=[0.479, -0.003, 0.526] + !! OVERLAP: bookshelf <-> floor depth=[2.084, -0.003, 0.316] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0213, Room Outer Loss: 0.0000, Walkable Loss: 1.8267 (Center Penalty: 1.8267), Relational Loss: 0.0038 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.230 0.754 0.504 -0.461 0.023 -0.728 0.22° +chair 0.484 0.916 0.517 -0.716 -0.006 -0.174 -99.57° +bookshelf 2.639 2.570 0.292 -0.026 0.003 1.647 179.96° +bookshelf 2.784 2.565 0.242 -0.007 0.001 1.394 -179.93° +lamp 0.887 0.796 0.960 0.036 1.989 -0.844 -0.27° +floor 2.834 0.000 3.660 -0.009 0.000 0.026 -0.00° +_scene_ 0.070 0.001 0.036 -5.668 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.230, 0.000, 0.504] + !! OVERLAP: chair <-> floor depth=[0.484, 0.000, 0.517] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.639, 2.565, 0.014] + !! OVERLAP: bookshelf <-> floor depth=[2.639, 0.000, 0.292] + !! OVERLAP: bookshelf <-> floor depth=[2.784, 0.000, 0.242] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1277 (Center Penalty: 1.1277), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.505 1.159 0.777 0.446 0.005 -0.733 89.76° +chair 0.584 0.812 0.650 1.261 -0.000 -0.358 -89.87° +lamp 0.530 0.273 0.469 -0.308 2.338 -0.035 0.04° +floor 2.717 -0.076 3.122 0.399 -0.009 -1.199 2.56° +_scene_ 0.055 0.005 0.023 -5.657 -0.004 -5.667 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.230, 0.812, 0.339] + !! OVERLAP: desk <-> floor depth=[1.505, -0.076, 0.777] + !! OVERLAP: chair <-> floor depth=[0.584, -0.076, 0.650] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 1.7111 (Center Penalty: 1.7111), Relational Loss: 0.0208 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.159 2.175 0.708 -0.033 0.005 -0.779 90.00° +desk 0.470 0.759 0.219 -0.647 -0.012 -0.970 2.14° +chair 0.653 0.813 0.732 -0.795 0.000 -0.525 90.30° +lamp 0.416 0.362 0.492 -0.336 2.428 -0.850 0.15° +floor 2.312 0.003 3.151 0.005 0.002 0.027 -0.01° +_scene_ 0.065 0.002 0.022 -5.670 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> desk depth=[0.470, 0.759, 0.219] + !! OVERLAP: wardrobe <-> chair depth=[0.644, 0.813, 0.466] + !! OVERLAP: wardrobe <-> floor depth=[2.159, 0.003, 0.708] + !! OVERLAP: desk <-> chair depth=[0.413, 0.759, 0.031] + !! OVERLAP: desk <-> floor depth=[0.470, 0.003, 0.219] + !! OVERLAP: chair <-> floor depth=[0.653, 0.003, 0.732] +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0936, Walkable Loss: 1.5613 (Center Penalty: 1.5613), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.703 2.759 0.206 0.314 -0.002 -1.291 0.14° +bookshelf 2.416 2.484 0.239 -0.734 0.001 -1.597 0.02° +desk 1.085 0.760 0.541 0.399 0.002 -0.175 179.96° +chair 0.539 1.022 0.580 0.050 0.001 -0.759 0.05° +table 0.551 1.021 0.060 1.004 -0.013 -0.750 -91.41° +chair 0.742 0.926 0.838 -1.442 -0.002 1.107 169.86° +lamp 0.451 0.923 0.473 -0.585 2.064 0.421 0.19° +floor 4.522 0.016 3.392 -1.001 0.001 0.054 -0.15° +_scene_ 0.066 0.000 0.021 -5.668 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.703, 0.016, 0.206] + !! OVERLAP: bookshelf <-> floor depth=[2.416, 0.016, 0.165] + !! OVERLAP: desk <-> floor depth=[1.085, 0.016, 0.541] + !! OVERLAP: chair <-> floor depth=[0.539, 0.016, 0.580] + !! OVERLAP: table <-> floor depth=[0.532, 0.016, 0.060] + !! OVERLAP: chair <-> floor depth=[0.742, 0.016, 0.838] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0021, Walkable Loss: 1.3560 (Center Penalty: 1.3560), Relational Loss: 0.0197 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.581 0.726 0.514 0.376 1.986 -0.780 0.31° +desk 1.465 0.769 0.581 -0.125 0.003 -1.210 0.06° +bookshelf 2.953 1.581 0.284 0.409 -0.002 1.198 179.91° +chair 0.471 1.043 0.508 -1.382 -0.000 -0.230 110.11° +chair 0.600 0.977 0.748 1.374 -0.001 -0.756 -89.77° +table 0.571 0.683 0.486 1.443 0.000 0.278 -179.99° +floor 3.759 -0.000 3.118 0.004 0.001 -0.006 -0.01° +_scene_ 0.071 0.001 0.022 -5.669 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.465, -0.000, 0.581] + !! OVERLAP: bookshelf <-> floor depth=[2.951, -0.000, 0.284] + !! OVERLAP: chair <-> floor depth=[0.471, -0.000, 0.508] + !! OVERLAP: chair <-> floor depth=[0.600, -0.000, 0.748] + !! OVERLAP: table <-> floor depth=[0.571, -0.000, 0.486] +============================================================ + diff --git a/current_works/work_42_2/extracted/2050/echoscene/Bedroom-11202_echoscene.glb b/current_works/work_42_2/extracted/2050/echoscene/Bedroom-11202_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..86bfd7823cb6f4ca657725cfc944ef2e476e95aa --- /dev/null +++ b/current_works/work_42_2/extracted/2050/echoscene/Bedroom-11202_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf910be585df9bf8a8b2b589c6391498a61add091e86d8679d2ad0adc127aebd +size 1748580 diff --git a/current_works/work_42_2/extracted/2050/echoscene/Bedroom-12864_echoscene.glb b/current_works/work_42_2/extracted/2050/echoscene/Bedroom-12864_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..3d765096735689fdb953cb00e5ff6af7b5accb4b --- /dev/null +++ b/current_works/work_42_2/extracted/2050/echoscene/Bedroom-12864_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c87fb7cac38cd214aaf93fda06b15dde91f6a9d70adf320a50cf33ecdead286 +size 3013664