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+current_works/work_43/2050/echoscene/LivingRoom-68491_echoscene.glb filter=lfs diff=lfs merge=lfs -text +current_works/work_43/2050/echoscene/LivingRoom-71071_echoscene.glb filter=lfs diff=lfs merge=lfs -text +current_works/work_43/2050/echoscene/LivingRoom-791_echoscene.glb filter=lfs diff=lfs merge=lfs -text +current_works/work_43/2050/echoscene/LivingRoom-860_echoscene.glb filter=lfs diff=lfs merge=lfs -text +current_works/work_43/2050/echoscene/LivingRoom-88425_echoscene.glb filter=lfs diff=lfs merge=lfs -text diff --git a/current_works/work_43/2050/debug_bbox.txt b/current_works/work_43/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..8ccf753ef459cfb4e22d1adc4e1db74a241d0fef --- /dev/null +++ b/current_works/work_43/2050/debug_bbox.txt @@ -0,0 +1,10339 @@ + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0509, Walkable Loss: 0.7641 (C1 Heatmap: 0.4948, C2 Repulsion: 1.8416), Relational Loss: 0.0358 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.994 1.040 0.298 -2.333 0.001 -1.179 -0.06° +nightstand 0.522 0.567 0.251 0.147 -0.006 -1.203 0.13° +chair 0.302 0.429 0.371 -2.150 -0.008 -0.506 -89.89° +bed 0.698 1.491 0.900 -1.123 -0.061 -0.649 -0.72° +cabinet 0.784 1.020 0.367 -2.154 0.002 1.208 -179.98° +lamp 0.679 0.859 0.667 -1.138 1.948 0.061 -0.02° +wardrobe 2.857 2.354 0.275 0.861 -0.007 0.331 -90.22° +floor 5.831 0.000 2.913 -0.528 -0.002 0.154 -0.02° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.994, 0.000, 0.273] + !! OVERLAP: nightstand <-> floor depth=[0.522, 0.000, 0.225] + !! OVERLAP: chair <-> floor depth=[0.302, 0.000, 0.371] + !! OVERLAP: bed <-> floor depth=[0.698, 0.000, 0.900] + !! OVERLAP: cabinet <-> floor depth=[0.784, 0.000, 0.367] + !! OVERLAP: wardrobe <-> floor depth=[2.857, 0.000, 0.275] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1173, Walkable Loss: 1.2990 (C1 Heatmap: 0.5850, C2 Repulsion: 4.1550), Relational Loss: 0.0329 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.324 1.435 0.932 0.447 -0.039 0.000 -90.88° +wardrobe 1.814 2.330 0.260 0.396 -0.006 -1.736 0.11° +wardrobe 1.693 2.355 -0.193 0.270 -0.018 -1.044 0.53° +nightstand 0.474 0.678 0.485 1.451 -0.000 1.656 -90.07° +nightstand 0.621 0.667 0.367 1.441 0.002 -0.979 -89.88° +tv_stand 1.959 0.424 0.362 -1.106 -0.008 0.514 90.20° +floor 3.719 -0.001 4.788 -0.123 0.001 0.062 -0.01° +_scene_ 0.079 0.001 0.026 -5.669 -0.005 -5.710 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.089, 0.424, 0.133] + !! OVERLAP: bed <-> floor depth=[1.324, -0.001, 0.932] + !! OVERLAP: wardrobe <-> floor depth=[1.814, -0.001, 0.260] + !! OVERLAP: wardrobe <-> floor depth=[1.693, -0.001, -0.193] + !! OVERLAP: nightstand <-> floor depth=[0.474, -0.001, 0.485] + !! OVERLAP: nightstand <-> floor depth=[0.607, -0.001, 0.367] + !! OVERLAP: tv_stand <-> floor depth=[1.856, -0.001, 0.362] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3150 (C1 Heatmap: 0.1735, C2 Repulsion: 0.8808), Relational Loss: 0.0132 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.095 1.167 0.828 0.482 0.030 1.071 -87.59° +nightstand 0.478 0.596 0.340 1.250 0.002 1.428 -89.91° +nightstand 0.470 0.510 0.394 1.298 0.002 -1.241 -90.13° +lamp 0.470 0.780 0.487 0.045 2.115 0.178 -0.02° +floor 3.135 -0.002 3.382 -0.010 0.000 -0.007 -0.01° +_scene_ 0.070 0.001 0.020 -5.662 -0.005 -5.706 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.019, 0.596, 0.226] + !! OVERLAP: bed <-> floor depth=[1.095, -0.002, 0.828] + !! OVERLAP: nightstand <-> floor depth=[0.478, -0.002, 0.340] + !! OVERLAP: nightstand <-> floor depth=[0.470, -0.002, 0.394] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0922, Walkable Loss: 0.6302 (C1 Heatmap: 0.3866, C2 Repulsion: 1.6045), Relational Loss: 0.0047 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.860 1.013 1.642 -0.728 0.015 -1.111 -1.10° +chair 0.428 0.870 0.614 -1.012 -0.014 0.863 137.40° +nightstand 0.539 0.769 0.498 -1.423 0.001 -1.210 0.02° +table 0.557 0.611 0.496 -1.444 -0.005 1.738 90.03° +wardrobe 1.097 2.286 0.372 1.213 0.002 -0.635 -90.20° +lamp 0.724 0.390 0.286 -0.248 2.507 0.075 -0.04° +floor 3.391 -0.001 4.415 -0.007 0.000 0.022 0.00° +_scene_ 0.069 0.001 0.022 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.004, 0.769, 0.498] + !! OVERLAP: bed <-> floor depth=[0.860, -0.001, 1.642] + !! OVERLAP: chair <-> floor depth=[0.428, -0.001, 0.614] + !! OVERLAP: nightstand <-> floor depth=[0.539, -0.001, 0.498] + !! OVERLAP: table <-> floor depth=[0.537, -0.001, 0.496] + !! OVERLAP: wardrobe <-> floor depth=[1.025, -0.001, 0.372] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0152, Walkable Loss: 0.8495 (C1 Heatmap: 0.4078, C2 Repulsion: 2.6161), Relational Loss: 0.0584 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.178 2.161 1.529 -0.658 -0.001 0.099 90.42° +cabinet 1.018 0.940 0.311 -0.965 0.001 -1.796 0.00° +table 0.750 1.613 0.479 1.150 -0.006 1.157 -89.95° +lamp 0.185 0.696 0.132 0.282 0.563 1.522 0.08° +lamp 0.687 0.720 0.668 0.023 1.844 0.243 0.02° +nightstand 0.369 0.684 0.340 -1.290 0.004 1.272 89.98° +nightstand 0.515 0.692 0.445 -1.274 0.003 -1.115 90.01° +floor 3.042 -0.000 4.425 -0.004 -0.001 0.020 0.00° +_scene_ 0.067 0.000 0.020 -5.673 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.178, -0.000, 1.529] + !! OVERLAP: cabinet <-> floor depth=[1.018, -0.000, 0.311] + !! OVERLAP: table <-> floor depth=[0.742, -0.000, 0.479] + !! OVERLAP: nightstand <-> floor depth=[0.369, -0.000, 0.340] + !! OVERLAP: nightstand <-> floor depth=[0.508, -0.000, 0.445] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.0019, Room Outer Loss: 0.0349, Walkable Loss: 0.9726 (C1 Heatmap: 0.3803, C2 Repulsion: 3.3419), Relational Loss: 0.0148 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.082 1.028 1.557 0.100 0.006 0.131 -179.38° +nightstand 0.411 0.581 0.395 -1.190 -0.000 -0.237 0.04° +nightstand 0.245 0.555 0.298 0.756 -0.002 0.269 -0.08° +wardrobe 0.999 2.278 0.061 -1.620 0.016 -0.254 91.33° +desk 1.158 1.104 0.409 1.536 -0.000 0.237 -89.65° +floor 4.234 0.000 2.736 -0.037 -0.001 -0.018 -0.05° +_scene_ 0.052 0.002 0.015 -5.674 -0.005 -5.721 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.008, 0.555, 0.298] + !! OVERLAP: bed <-> floor depth=[1.082, 0.000, 1.557] + !! OVERLAP: nightstand <-> wardrobe depth=[0.274, 0.581, 0.061] + !! OVERLAP: nightstand <-> floor depth=[0.411, 0.000, 0.395] + !! OVERLAP: nightstand <-> floor depth=[0.245, 0.000, 0.298] + !! OVERLAP: wardrobe <-> floor depth=[0.999, 0.000, 0.061] + !! OVERLAP: desk <-> floor depth=[1.123, 0.000, 0.409] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4553 (C1 Heatmap: 0.4746, C2 Repulsion: 0.3783), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.012 1.003 1.917 0.092 0.011 -0.345 -89.64° +wardrobe 1.869 2.564 0.578 0.223 0.004 1.657 179.91° +lamp 0.661 0.658 0.677 -0.023 1.949 -0.191 0.01° +floor 2.763 -0.003 4.084 0.005 -0.000 -0.006 -0.00° +_scene_ 0.069 0.000 0.021 -5.676 -0.003 -5.709 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.012, -0.003, 1.917] + !! OVERLAP: wardrobe <-> floor depth=[1.869, -0.003, 0.578] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0579, Walkable Loss: 0.6590 (C1 Heatmap: 0.4845, C2 Repulsion: 1.3572), Relational Loss: 0.0211 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.224 0.853 1.764 -0.737 -0.001 0.235 90.11° +wardrobe 1.373 2.245 0.358 -0.740 -0.001 -1.494 0.15° +nightstand 0.563 0.596 0.443 -1.510 0.001 1.474 90.01° +tv_stand 1.269 0.470 0.118 1.200 -0.005 0.565 -89.87° +lamp 0.771 0.719 0.765 -0.087 1.965 0.202 0.03° +floor 3.568 0.001 4.182 0.007 0.000 0.065 -0.04° +_scene_ 0.069 -0.000 0.024 -5.667 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.224, 0.001, 1.764] + !! OVERLAP: wardrobe <-> floor depth=[1.373, 0.001, 0.358] + !! OVERLAP: nightstand <-> floor depth=[0.548, 0.001, 0.443] + !! OVERLAP: tv_stand <-> floor depth=[1.227, 0.001, 0.118] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0217, Walkable Loss: 0.7000 (C1 Heatmap: 0.3476, C2 Repulsion: 2.1099), Relational Loss: 0.0165 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.305 0.491 0.330 -1.089 0.000 -1.441 0.04° +bookshelf 2.298 2.249 -0.118 -0.409 -0.002 -0.795 91.10° +table 0.601 1.309 0.299 -1.175 0.000 1.095 89.95° +bed 0.901 0.801 1.259 -0.046 0.026 0.871 90.28° +lamp 0.432 0.606 0.427 0.045 2.462 -0.350 -0.01° +chair 0.413 0.830 0.477 0.922 0.002 -0.685 -90.03° +floor 3.064 -0.002 3.441 -0.005 0.001 0.027 -0.01° +_scene_ 0.069 0.001 0.020 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.305, -0.002, 0.330] + !! OVERLAP: bookshelf <-> chair depth=[0.024, 0.830, -0.118] + !! OVERLAP: bookshelf <-> floor depth=[2.276, -0.002, -0.118] + !! OVERLAP: table <-> floor depth=[0.601, -0.002, 0.299] + !! OVERLAP: bed <-> floor depth=[0.901, -0.002, 1.259] + !! OVERLAP: chair <-> floor depth=[0.413, -0.002, 0.477] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0339, Walkable Loss: 0.3545 (C1 Heatmap: 0.2786, C2 Repulsion: 0.6580), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.142 1.225 1.387 0.065 0.002 0.100 89.01° +table 0.462 0.465 0.434 -1.139 0.002 0.990 89.99° +table 0.480 0.612 0.509 -1.262 -0.000 -1.317 90.01° +lamp 0.792 0.777 0.927 -0.024 2.111 -0.013 -0.01° +floor 2.922 -0.004 3.424 -0.007 0.000 -0.045 -0.01° +_scene_ 0.110 0.002 0.138 -5.538 -0.001 -5.607 -57.55° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.142, -0.004, 1.387] + !! OVERLAP: table <-> floor depth=[0.462, -0.004, 0.434] + !! OVERLAP: table <-> floor depth=[0.446, -0.004, 0.509] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1072, Walkable Loss: 0.7812 (C1 Heatmap: 0.5908, C2 Repulsion: 1.5425), Relational Loss: 0.0424 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.355 0.648 1.256 -0.735 0.002 0.589 90.46° +nightstand 0.490 0.763 0.336 -1.366 -0.001 -0.567 90.03° +nightstand 0.397 0.685 0.412 -1.367 -0.001 1.988 90.07° +wardrobe 2.260 2.541 0.425 -0.526 -0.003 -1.985 0.06° +tv_stand 1.500 0.379 0.367 1.058 0.020 0.765 -89.94° +lamp 0.775 0.910 0.744 -0.024 1.752 0.576 0.00° +floor 3.357 0.002 4.870 0.028 -0.002 0.226 -0.02° +_scene_ 0.069 -0.001 0.021 -5.673 -0.006 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.355, 0.002, 1.256] + !! OVERLAP: nightstand <-> floor depth=[0.490, 0.002, 0.336] + !! OVERLAP: nightstand <-> floor depth=[0.397, 0.002, 0.412] + !! OVERLAP: wardrobe <-> floor depth=[2.255, 0.002, 0.425] + !! OVERLAP: tv_stand <-> floor depth=[1.398, 0.002, 0.367] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2897 (C1 Heatmap: 0.1953, C2 Repulsion: 0.6676), Relational Loss: 0.0585 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.718 1.173 1.273 -0.227 -0.003 -0.497 -1.39° +nightstand 0.577 0.581 0.456 -1.500 -0.000 -1.241 0.05° +nightstand 0.462 0.546 0.409 0.728 -0.001 -1.284 0.11° +lamp 0.630 0.577 0.658 -0.271 2.532 0.067 -0.02° +floor 4.253 -0.000 2.954 -0.212 -0.001 -0.015 -0.01° +_scene_ 0.064 -0.000 0.014 -5.678 -0.005 -5.718 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.718, -0.000, 1.273] + !! OVERLAP: nightstand <-> floor depth=[0.577, -0.000, 0.456] + !! OVERLAP: nightstand <-> floor depth=[0.462, -0.000, 0.409] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0015, Room Outer Loss: 0.1212, Walkable Loss: 0.6179 (C1 Heatmap: 0.4097, C2 Repulsion: 1.4508), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.551 0.862 1.381 -0.447 -0.010 -0.156 89.81° +nightstand 0.436 0.542 0.557 -1.412 0.002 -0.204 90.05° +desk 1.029 1.177 0.556 1.264 -0.000 -0.124 -89.91° +lamp 0.404 0.378 0.384 -0.188 2.249 -0.111 90.14° +floor 3.319 -0.001 3.040 -0.002 0.001 -0.024 -0.02° +_scene_ 0.074 0.001 0.026 -5.662 -0.002 -5.719 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.030, 0.542, 0.557] + !! OVERLAP: bed <-> floor depth=[1.551, -0.001, 1.381] + !! OVERLAP: nightstand <-> floor depth=[0.436, -0.001, 0.557] + !! OVERLAP: desk <-> floor depth=[0.908, -0.001, 0.556] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0020, Room Outer Loss: 0.1297, Walkable Loss: 0.7212 (C1 Heatmap: 0.4172, C2 Repulsion: 1.9371), Relational Loss: 0.0181 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.766 1.367 1.234 0.953 0.023 -0.458 -89.96° +nightstand 0.428 0.750 0.330 1.662 0.000 0.679 -89.95° +chair 1.198 0.558 0.577 0.092 -0.001 -0.954 -90.10° +wardrobe 1.045 2.293 0.340 1.035 0.003 1.517 -179.94° +tv_stand 1.409 0.534 0.336 -1.186 0.001 -0.837 90.13° +lamp 0.499 0.378 0.512 0.086 2.125 1.270 0.01° +lamp 0.561 0.152 0.569 0.122 2.454 -0.490 0.00° +floor 3.637 -0.001 3.566 0.013 0.000 -0.025 -0.02° +_scene_ 0.067 -0.000 0.021 -5.674 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.121, 0.558, 0.409] + !! OVERLAP: bed <-> floor depth=[0.766, -0.001, 1.234] + !! OVERLAP: nightstand <-> floor depth=[0.384, -0.001, 0.330] + !! OVERLAP: chair <-> tv_stand depth=[0.025, 0.534, 0.336] + !! OVERLAP: chair <-> floor depth=[1.198, -0.001, 0.577] + !! OVERLAP: wardrobe <-> floor depth=[1.045, -0.001, 0.340] + !! OVERLAP: tv_stand <-> floor depth=[1.324, -0.001, 0.336] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 0.8579 (C1 Heatmap: 0.4570, C2 Repulsion: 2.4618), Relational Loss: 0.0329 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.970 1.518 1.235 -0.137 0.042 -0.891 1.44° +nightstand 0.589 0.561 0.348 -1.152 0.001 -1.436 -0.00° +nightstand 0.433 0.514 0.371 0.966 0.002 -1.348 0.08° +wardrobe 2.114 2.254 0.244 -0.029 -0.008 1.498 -179.98° +lamp 0.732 1.349 0.756 -0.009 1.467 -0.116 0.03° +floor 3.218 -0.000 3.346 -0.033 -0.000 0.009 0.02° +_scene_ 0.072 -0.001 0.024 -5.667 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> lamp depth=[0.724, 0.009, 0.221] + !! OVERLAP: bed <-> floor depth=[0.970, -0.000, 1.235] + !! OVERLAP: nightstand <-> floor depth=[0.589, -0.000, 0.348] + !! OVERLAP: nightstand <-> floor depth=[0.433, -0.000, 0.371] + !! OVERLAP: wardrobe <-> floor depth=[2.114, -0.000, 0.244] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.0122, Room Outer Loss: 0.0024, Walkable Loss: 1.0584 (C1 Heatmap: 0.5322, C2 Repulsion: 3.1631), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.131 0.996 1.265 -1.218 -0.002 -0.205 91.32° +nightstand 0.516 0.564 0.345 -1.559 0.001 1.188 90.00° +nightstand 0.527 0.510 0.427 -1.534 0.002 -1.222 89.89° +tv_stand 1.492 0.386 0.275 1.142 -0.010 -0.149 -90.27° +lamp 0.908 0.708 0.904 -0.110 1.779 -0.129 -0.02° +chair 1.340 0.806 1.002 -0.242 -0.000 0.461 89.91° +floor 3.780 -0.003 3.605 -0.004 0.000 0.006 -0.01° +_scene_ 0.072 0.001 0.025 -5.673 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.259, 0.806, 0.467] + !! OVERLAP: bed <-> floor depth=[1.131, -0.003, 1.265] + !! OVERLAP: nightstand <-> floor depth=[0.516, -0.003, 0.345] + !! OVERLAP: nightstand <-> floor depth=[0.527, -0.003, 0.427] + !! OVERLAP: tv_stand <-> chair depth=[0.033, 0.386, 0.028] + !! OVERLAP: tv_stand <-> floor depth=[1.490, -0.003, 0.275] + !! OVERLAP: chair <-> floor depth=[1.340, -0.003, 1.002] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4139 (C1 Heatmap: 0.3293, C2 Repulsion: 0.7522), Relational Loss: 0.0259 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.804 1.030 1.433 0.968 0.026 -0.463 -92.79° +wardrobe 1.795 2.419 0.204 0.455 0.002 2.090 179.84° +nightstand 0.430 0.556 0.406 1.166 -0.002 0.934 -90.21° +nightstand 0.447 0.610 0.378 1.058 0.000 -1.607 -89.99° +lamp 0.696 0.759 0.342 0.860 1.880 0.797 0.07° +lamp 0.291 0.724 0.323 0.962 1.759 -1.310 0.00° +floor 2.830 -0.001 4.574 0.003 -0.001 0.013 0.02° +_scene_ 0.070 0.001 0.026 -5.672 -0.005 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.804, -0.001, 1.433] + !! OVERLAP: wardrobe <-> floor depth=[1.795, -0.001, 0.204] + !! OVERLAP: nightstand <-> floor depth=[0.430, -0.001, 0.406] + !! OVERLAP: nightstand <-> floor depth=[0.447, -0.001, 0.378] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9463 (C1 Heatmap: 0.8274, C2 Repulsion: 1.4216), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.957 0.964 2.009 -0.428 0.001 0.746 179.92° +tv_stand 2.242 0.644 0.506 -0.628 0.006 -1.317 -0.09° +wardrobe 1.218 2.304 0.549 1.411 -0.000 0.700 -90.00° +lamp 0.690 0.767 0.636 -0.335 1.873 0.399 179.82° +floor 4.410 -0.003 3.653 -0.091 -0.000 -0.020 -0.04° +_scene_ 0.066 0.001 0.018 -5.671 -0.006 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.957, -0.003, 2.009] + !! OVERLAP: tv_stand <-> floor depth=[2.242, -0.003, 0.506] + !! OVERLAP: wardrobe <-> floor depth=[1.218, -0.003, 0.549] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1359, Walkable Loss: 0.5825 (C1 Heatmap: 0.3920, C2 Repulsion: 1.3448), Relational Loss: 0.0730 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.004 2.132 0.473 0.827 0.020 0.019 -90.02° +bed 0.948 0.852 1.141 -0.924 0.004 -0.012 91.09° +nightstand 0.431 0.490 0.276 -1.394 -0.001 -1.200 89.89° +nightstand 0.595 0.480 0.396 -1.434 0.001 1.067 90.01° +lamp 0.444 0.987 0.395 -0.263 1.773 -0.230 -0.00° +floor 3.431 -0.002 3.665 -0.023 0.000 -0.006 -0.01° +_scene_ 0.070 0.000 0.020 -5.671 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.868, -0.002, 0.473] + !! OVERLAP: bed <-> floor depth=[0.948, -0.002, 1.141] + !! OVERLAP: nightstand <-> floor depth=[0.431, -0.002, 0.276] + !! OVERLAP: nightstand <-> floor depth=[0.595, -0.002, 0.396] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5909 (C1 Heatmap: 0.4638, C2 Repulsion: 1.0994), Relational Loss: 0.0569 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.467 0.651 0.883 1.089 -0.001 -0.208 -89.93° +bed 1.004 1.102 1.589 -1.126 -0.010 0.031 92.41° +nightstand 0.473 0.734 0.397 -1.570 -0.000 -1.300 89.95° +nightstand 0.481 0.599 0.461 -1.559 0.001 1.337 90.10° +floor 3.863 -0.002 4.450 -0.008 -0.000 0.025 -0.02° +_scene_ 0.080 0.000 0.029 -5.669 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.467, -0.002, 0.883] + !! OVERLAP: bed <-> floor depth=[1.004, -0.002, 1.589] + !! OVERLAP: nightstand <-> floor depth=[0.473, -0.002, 0.397] + !! OVERLAP: nightstand <-> floor depth=[0.481, -0.002, 0.461] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.1902 (C1 Heatmap: 0.1318, C2 Repulsion: 0.4234), Relational Loss: 0.0463 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.600 0.994 0.898 -0.965 -0.022 0.224 86.99° +nightstand 0.522 0.697 0.441 -1.115 0.001 -0.907 89.99° +nightstand 0.487 0.712 0.361 -1.233 -0.001 1.293 90.02° +lamp 0.796 0.873 0.459 0.006 1.872 0.270 -0.02° +floor 2.987 -0.002 4.514 -0.008 0.000 0.036 -0.01° +_scene_ 0.069 -0.001 0.021 -5.671 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.600, -0.002, 0.898] + !! OVERLAP: nightstand <-> floor depth=[0.522, -0.002, 0.441] + !! OVERLAP: nightstand <-> floor depth=[0.487, -0.002, 0.361] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0087, Walkable Loss: 0.5477 (C1 Heatmap: 0.5033, C2 Repulsion: 0.7251), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.944 0.871 1.411 -0.806 -0.034 1.265 92.14° +nightstand 0.331 0.553 0.281 -1.291 0.000 2.143 90.29° +lamp 0.916 0.936 0.177 0.005 1.890 0.394 89.94° +wardrobe 2.687 2.593 0.524 0.286 -0.003 -1.367 0.02° +floor 3.196 -0.001 4.420 0.023 0.000 0.127 -0.03° +_scene_ 0.066 0.000 0.016 -5.674 -0.005 -5.711 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.944, -0.001, 1.411] + !! OVERLAP: nightstand <-> floor depth=[0.331, -0.001, 0.281] + !! OVERLAP: wardrobe <-> floor depth=[2.679, -0.001, 0.524] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0201, Walkable Loss: 0.9955 (C1 Heatmap: 0.8851, C2 Repulsion: 1.4371), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.535 0.545 0.547 0.135 2.404 -0.156 -0.04° +bed 1.820 1.179 1.829 0.806 0.001 -0.442 -89.72° +bookshelf 3.433 2.599 0.301 -0.129 0.003 1.431 -179.99° +wardrobe 1.314 2.008 0.388 -1.172 0.008 -0.859 90.03° +floor 3.613 0.000 4.367 -0.020 0.000 -0.006 -0.01° +_scene_ 0.069 0.000 0.023 -5.670 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.820, 0.000, 1.829] + !! OVERLAP: bookshelf <-> floor depth=[3.415, 0.000, 0.301] + !! OVERLAP: wardrobe <-> floor depth=[1.312, 0.000, 0.388] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8584 (C1 Heatmap: 0.5234, C2 Repulsion: 2.1986), Relational Loss: 0.0318 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.149 2.298 0.544 1.485 -0.004 -0.508 -90.01° +bed 1.403 0.887 1.815 -0.079 0.002 -0.291 0.17° +table 0.893 1.322 0.373 -1.643 -0.001 -1.215 0.04° +chair 0.469 0.475 0.405 -1.502 -0.001 -0.431 179.85° +lamp 0.688 0.636 0.649 -0.244 2.050 -0.000 -0.01° +floor 4.381 -0.001 2.781 -0.064 -0.001 -0.029 -0.04° +_scene_ 0.066 0.000 0.019 -5.669 -0.005 -5.709 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.149, -0.001, 0.544] + !! OVERLAP: bed <-> floor depth=[1.403, -0.001, 1.815] + !! OVERLAP: table <-> floor depth=[0.893, -0.001, 0.373] + !! OVERLAP: chair <-> floor depth=[0.469, -0.001, 0.405] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3985 (C1 Heatmap: 0.3621, C2 Repulsion: 0.5445), Relational Loss: 0.0369 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.942 0.929 0.993 -0.058 2.016 -0.104 -0.02° +bed 1.448 1.342 1.819 0.414 0.022 -0.100 -90.93° +table 0.081 0.623 0.233 0.985 0.009 -1.012 -89.58° +floor 3.011 -0.004 4.037 -0.005 -0.001 0.005 -0.03° +_scene_ 0.048 0.005 0.007 -5.633 -0.003 -5.717 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.081, 0.623, 0.113] + !! OVERLAP: bed <-> floor depth=[1.448, -0.004, 1.819] + !! OVERLAP: table <-> floor depth=[0.081, -0.004, 0.233] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6166 (C1 Heatmap: 0.3170, C2 Repulsion: 1.8152), Relational Loss: 0.0587 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.062 1.050 1.572 -0.323 -0.016 -0.592 -0.54° +nightstand 0.371 0.542 0.307 0.880 0.000 -1.203 0.08° +nightstand 0.453 0.532 0.299 -1.438 0.002 -1.240 0.00° +wardrobe 1.551 2.310 -0.144 1.181 -0.004 -0.457 -91.60° +lamp 0.878 1.027 0.843 -0.297 1.832 0.059 0.11° +floor 4.222 -0.001 2.803 -0.014 -0.001 -0.043 -0.04° +_scene_ 0.072 0.001 0.020 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.062, -0.001, 1.572] + !! OVERLAP: nightstand <-> floor depth=[0.371, -0.001, 0.307] + !! OVERLAP: nightstand <-> floor depth=[0.453, -0.001, 0.299] + !! OVERLAP: wardrobe <-> floor depth=[1.551, -0.001, -0.144] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.0367, Room Outer Loss: 0.0000, Walkable Loss: 0.3932 (C1 Heatmap: 0.2415, C2 Repulsion: 1.0000), Relational Loss: 0.0186 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.339 0.538 0.282 0.241 -0.003 -0.028 0.09° +bed 1.275 1.157 1.316 -0.015 0.017 -0.711 0.43° +lamp 1.049 0.877 1.006 0.082 1.885 -0.184 -0.01° +floor 2.564 -0.003 2.961 -0.002 0.001 -0.055 0.02° +_scene_ 0.070 0.000 0.020 -5.675 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.339, 0.538, 0.116] + !! OVERLAP: nightstand <-> floor depth=[0.339, -0.003, 0.282] + !! OVERLAP: bed <-> floor depth=[1.275, -0.003, 1.316] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0264, Walkable Loss: 1.0794 (C1 Heatmap: 0.5064, C2 Repulsion: 3.3714), Relational Loss: 0.0087 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.208 1.084 1.912 -0.549 -0.006 -0.400 90.17° +wardrobe 1.475 2.184 0.406 -0.739 -0.001 1.527 179.96° +nightstand 0.446 0.553 0.294 -1.230 0.001 0.959 90.09° +table 0.842 1.033 0.200 1.155 0.001 -0.440 -89.88° +chair 0.340 0.455 0.368 1.471 0.000 -0.844 89.62° +floor 3.244 -0.003 3.508 -0.007 0.001 0.003 -0.03° +_scene_ 0.064 0.001 0.017 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.208, -0.003, 1.912] + !! OVERLAP: wardrobe <-> floor depth=[1.475, -0.003, 0.406] + !! OVERLAP: nightstand <-> floor depth=[0.446, -0.003, 0.294] + !! OVERLAP: table <-> floor depth=[0.842, -0.003, 0.200] + !! OVERLAP: chair <-> floor depth=[0.314, -0.003, 0.368] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0650, Walkable Loss: 0.6551 (C1 Heatmap: 0.3611, C2 Repulsion: 1.8311), Relational Loss: 0.0322 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.897 2.531 0.337 1.083 0.005 -0.343 -90.89° +nightstand 0.604 0.681 0.331 -1.364 0.003 -1.397 0.01° +nightstand 0.301 0.777 0.100 0.672 0.003 -1.042 -0.50° +bed 1.245 0.510 1.009 -0.556 -0.010 -0.214 1.32° +lamp 0.297 1.120 0.215 -0.232 1.616 -0.158 0.02° +floor 3.997 -0.002 3.371 -0.032 -0.000 -0.004 -0.04° +_scene_ 0.066 0.001 0.022 -5.670 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.832, -0.002, 0.337] + !! OVERLAP: nightstand <-> floor depth=[0.604, -0.002, 0.331] + !! OVERLAP: nightstand <-> floor depth=[0.301, -0.002, 0.100] + !! OVERLAP: bed <-> floor depth=[1.245, -0.002, 1.009] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 1.0796 (C1 Heatmap: 0.5074, C2 Repulsion: 3.3683), Relational Loss: 0.0448 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.326 1.025 1.582 0.355 0.005 -0.483 0.51° +nightstand 0.395 0.727 0.446 1.522 -0.006 -1.254 0.15° +cabinet 0.945 1.455 0.432 0.046 0.002 1.279 -179.94° +wardrobe 1.154 2.295 0.413 -1.094 0.004 -0.723 89.05° +nightstand 0.409 0.763 0.301 -0.761 0.001 -1.445 0.02° +chair 0.542 0.786 0.496 1.390 0.004 0.846 -150.02° +lamp 0.927 1.041 0.554 0.286 1.767 0.078 0.00° +floor 3.601 -0.002 3.231 -0.003 0.000 -0.011 -0.01° +_scene_ 0.069 0.000 0.023 -5.675 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.326, -0.002, 1.582] + !! OVERLAP: nightstand <-> floor depth=[0.395, -0.002, 0.446] + !! OVERLAP: cabinet <-> floor depth=[0.945, -0.002, 0.432] + !! OVERLAP: wardrobe <-> floor depth=[1.154, -0.002, 0.413] + !! OVERLAP: nightstand <-> floor depth=[0.409, -0.002, 0.301] + !! OVERLAP: chair <-> floor depth=[0.542, -0.002, 0.496] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4716 (C1 Heatmap: 0.3587, C2 Repulsion: 0.9230), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.509 0.897 1.530 -0.155 -0.009 -0.069 90.72° +nightstand 0.382 0.481 0.370 -1.269 -0.001 0.871 89.99° +nightstand 0.508 0.599 0.358 -1.251 0.001 -1.455 90.07° +lamp 0.764 0.934 0.753 -0.035 2.171 -0.229 -0.04° +floor 3.070 -0.001 3.249 0.020 0.002 -0.070 -0.02° +_scene_ 0.065 0.001 0.019 -5.670 -0.005 -5.712 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.509, -0.001, 1.530] + !! OVERLAP: nightstand <-> floor depth=[0.382, -0.001, 0.370] + !! OVERLAP: nightstand <-> floor depth=[0.508, -0.001, 0.358] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0024, Walkable Loss: 0.7167 (C1 Heatmap: 0.4779, C2 Repulsion: 1.6721), Relational Loss: 0.0237 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.538 0.423 0.560 0.293 2.418 -0.121 -0.04° +wardrobe 1.274 2.345 -0.085 -1.177 0.029 -0.413 89.38° +bed 1.511 1.152 1.906 0.787 0.020 -0.004 0.15° +nightstand 0.606 0.641 0.330 1.432 0.002 -1.319 0.07° +nightstand 0.563 0.572 0.337 -0.843 -0.001 -1.354 0.01° +floor 3.636 -0.001 3.521 0.006 0.000 -0.020 0.01° +_scene_ 0.069 -0.000 0.016 -5.677 -0.006 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.272, -0.001, -0.085] + !! OVERLAP: bed <-> floor depth=[1.511, -0.001, 1.906] + !! OVERLAP: nightstand <-> floor depth=[0.606, -0.001, 0.330] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.001, 0.337] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0069, Walkable Loss: 0.6205 (C1 Heatmap: 0.6684, C2 Repulsion: 0.4286), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.153 0.942 1.966 0.506 -0.003 0.652 -90.04° +wardrobe 1.620 2.112 0.516 0.585 0.000 -1.748 0.03° +lamp 0.484 0.177 0.485 0.018 2.416 0.071 -0.01° +floor 3.209 -0.002 4.120 -0.029 0.000 -0.012 0.02° +_scene_ 0.074 -0.005 0.128 -5.593 -0.009 -5.643 -57.47° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.146, -0.002, 1.966] + !! OVERLAP: wardrobe <-> floor depth=[1.620, -0.002, 0.516] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4575 (C1 Heatmap: 0.3230, C2 Repulsion: 0.9958), Relational Loss: 0.0248 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.115 1.319 1.937 -0.615 0.000 0.108 90.29° +lamp 0.859 1.056 0.398 -0.189 1.776 0.867 0.01° +nightstand 0.343 0.573 0.300 -0.916 0.001 -0.709 89.94° +floor 2.802 -0.003 3.155 -0.002 -0.001 0.008 -0.03° +_scene_ 0.070 0.001 0.027 -5.666 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.343, 0.573, 0.300] + !! OVERLAP: bed <-> floor depth=[1.115, -0.003, 1.937] + !! OVERLAP: nightstand <-> floor depth=[0.343, -0.003, 0.300] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0960, Walkable Loss: 0.8956 (C1 Heatmap: 0.5808, C2 Repulsion: 2.1548), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.374 1.243 1.982 0.647 0.002 -0.491 -89.82° +wardrobe 1.540 2.299 0.374 0.740 -0.000 1.645 -179.99° +table 0.336 0.548 0.338 1.403 0.001 0.675 -89.97° +cabinet 0.783 1.696 0.489 -1.194 0.000 -1.618 90.03° +lamp 0.652 1.006 0.667 0.010 1.651 -0.286 -0.03° +table 0.429 0.572 0.441 1.360 -0.002 -1.691 -90.09° +floor 3.092 -0.002 3.852 -0.003 0.001 -0.034 -0.02° +_scene_ 0.081 0.001 0.031 -5.668 -0.004 -5.705 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.188, 0.572, 0.011] + !! OVERLAP: bed <-> floor depth=[1.374, -0.002, 1.982] + !! OVERLAP: wardrobe <-> floor depth=[1.540, -0.002, 0.374] + !! OVERLAP: table <-> floor depth=[0.308, -0.002, 0.338] + !! OVERLAP: cabinet <-> floor depth=[0.747, -0.002, 0.489] + !! OVERLAP: table <-> floor depth=[0.397, -0.002, 0.441] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0241, Walkable Loss: 0.6878 (C1 Heatmap: 0.6819, C2 Repulsion: 0.7115), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.553 0.712 1.652 -0.332 0.001 0.429 89.78° +lamp 1.052 0.937 0.115 0.222 1.911 0.351 179.86° +wardrobe 3.108 2.479 0.403 -0.035 -0.013 -1.582 -0.37° +floor 3.119 -0.002 3.869 -0.006 0.000 0.044 -0.04° +_scene_ 0.040 0.008 0.009 -5.662 -0.004 -5.719 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.553, -0.002, 1.652] + !! OVERLAP: wardrobe <-> floor depth=[3.084, -0.002, 0.403] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0662, Walkable Loss: 1.7068 (C1 Heatmap: 0.7282, C2 Repulsion: 5.6214), Relational Loss: 0.0255 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.953 0.761 0.322 1.445 0.001 -1.006 -90.40° +lamp 0.432 0.646 0.425 0.125 2.053 0.407 -0.07° +lamp 0.909 0.941 0.841 1.219 1.684 1.776 -89.97° +lamp 0.829 1.091 0.460 1.361 1.367 -1.381 -0.15° +chair 0.375 0.829 0.460 0.466 0.001 -0.946 89.96° +bed 1.393 0.767 1.431 0.733 -0.002 0.721 -89.90° +wardrobe 2.074 2.328 0.421 0.410 0.000 -2.022 0.24° +tv_stand 1.778 0.761 0.226 -0.966 -0.005 1.155 90.18° +nightstand 0.452 0.429 0.460 1.680 0.001 1.742 -90.10° +floor 3.732 0.000 4.704 0.077 0.001 0.080 -0.04° +_scene_ 0.069 0.001 0.024 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.953, 0.000, 0.322] + !! OVERLAP: chair <-> floor depth=[0.375, 0.000, 0.460] + !! OVERLAP: bed <-> floor depth=[1.393, 0.000, 1.431] + !! OVERLAP: wardrobe <-> floor depth=[2.074, 0.000, 0.421] + !! OVERLAP: tv_stand <-> floor depth=[1.712, 0.000, 0.226] + !! OVERLAP: nightstand <-> floor depth=[0.452, 0.000, 0.460] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6299 (C1 Heatmap: 0.5445, C2 Repulsion: 0.9716), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.486 2.679 0.303 -0.218 -0.000 -1.219 0.01° +lamp 0.801 0.640 0.820 0.172 1.874 0.268 -0.04° +bed 1.488 1.183 1.965 -0.578 0.001 0.367 179.99° +chair 0.569 0.667 0.649 1.484 0.002 0.798 -95.18° +floor 3.980 -0.002 3.425 0.015 0.002 -0.076 -0.02° +_scene_ 0.066 0.004 0.035 -5.622 -0.004 -5.678 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.486, -0.002, 0.303] + !! OVERLAP: bed <-> floor depth=[1.488, -0.002, 1.965] + !! OVERLAP: chair <-> floor depth=[0.569, -0.002, 0.649] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0141, Walkable Loss: 0.9961 (C1 Heatmap: 0.6771, C2 Repulsion: 2.2719), Relational Loss: 0.0267 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.529 0.894 1.846 0.456 0.004 0.580 -179.80° +wardrobe 1.491 2.216 0.385 -1.654 -0.001 0.800 89.67° +nightstand 0.352 0.409 0.287 1.641 0.004 1.375 179.97° +nightstand 0.394 0.419 0.318 -0.792 0.001 1.359 179.89° +tv_stand 1.952 0.553 0.317 0.300 -0.001 -1.449 -0.05° +lamp 0.494 0.149 0.501 0.257 2.451 -0.074 -0.02° +floor 4.716 -0.003 3.182 -0.030 -0.000 -0.014 -0.04° +_scene_ 0.069 -0.000 0.022 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.529, -0.003, 1.846] + !! OVERLAP: wardrobe <-> floor depth=[1.479, -0.003, 0.385] + !! OVERLAP: nightstand <-> floor depth=[0.352, -0.003, 0.287] + !! OVERLAP: nightstand <-> floor depth=[0.394, -0.003, 0.318] + !! OVERLAP: tv_stand <-> floor depth=[1.952, -0.003, 0.315] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2490 (C1 Heatmap: 0.2210, C2 Repulsion: 0.3609), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.642 0.789 1.543 -0.615 0.008 0.152 89.46° +nightstand 0.481 0.608 0.497 -0.832 -0.001 1.690 -0.01° +nightstand 0.537 0.599 0.421 -0.976 0.003 -1.149 89.71° +floor 3.572 -0.002 5.012 -0.018 -0.000 0.039 -0.02° +_scene_ 0.059 0.007 0.013 -5.666 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.642, -0.002, 1.543] + !! OVERLAP: nightstand <-> floor depth=[0.481, -0.002, 0.497] + !! OVERLAP: nightstand <-> floor depth=[0.537, -0.002, 0.421] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4821 (C1 Heatmap: 0.3028, C2 Repulsion: 1.1995), Relational Loss: 0.0541 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.374 1.107 1.430 -0.652 0.007 0.194 90.57° +table 0.331 0.467 0.287 -1.140 -0.002 1.298 89.82° +table 0.438 0.501 0.382 -1.194 0.002 -0.945 89.97° +lamp 0.522 1.011 0.663 -0.102 1.719 0.101 0.00° +floor 2.837 -0.003 3.581 -0.006 0.001 0.021 -0.04° +_scene_ 0.051 0.032 0.076 -5.517 -0.004 -5.517 -58.01° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.374, -0.003, 1.430] + !! OVERLAP: table <-> floor depth=[0.331, -0.003, 0.287] + !! OVERLAP: table <-> floor depth=[0.438, -0.003, 0.382] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4811 (C1 Heatmap: 0.3354, C2 Repulsion: 1.0640), Relational Loss: 0.0580 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.293 1.375 1.697 0.463 -0.009 -0.021 -89.65° +nightstand 0.368 0.528 0.310 1.245 0.009 1.035 -89.76° +nightstand 0.400 0.607 0.325 1.246 0.004 -1.159 -90.24° +lamp 0.842 0.610 0.810 0.010 2.236 -0.120 -0.01° +floor 2.920 -0.001 3.760 0.001 0.001 -0.046 -0.01° +_scene_ 0.070 0.001 0.020 -5.667 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.293, -0.001, 1.697] + !! OVERLAP: nightstand <-> floor depth=[0.368, -0.001, 0.310] + !! OVERLAP: nightstand <-> floor depth=[0.400, -0.001, 0.325] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 0.6148 (C1 Heatmap: 0.3632, C2 Repulsion: 1.6214), Relational Loss: 0.0396 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.291 2.164 0.539 1.366 -0.006 0.555 -90.12° +bed 1.195 1.348 1.368 -0.728 -0.008 0.522 -179.15° +nightstand 0.413 0.523 0.300 0.662 0.001 1.330 179.89° +nightstand 0.325 0.496 0.277 -1.430 0.000 1.330 179.92° +lamp 0.780 0.838 0.752 -0.257 1.874 -0.032 0.03° +floor 4.030 -0.003 3.110 0.002 0.000 -0.069 -0.02° +_scene_ 0.064 -0.000 0.018 -5.672 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.291, -0.003, 0.539] + !! OVERLAP: bed <-> nightstand depth=[0.058, 0.496, 0.014] + !! OVERLAP: bed <-> floor depth=[1.195, -0.003, 1.368] + !! OVERLAP: nightstand <-> floor depth=[0.413, -0.003, 0.300] + !! OVERLAP: nightstand <-> floor depth=[0.325, -0.003, 0.277] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0014, Room Outer Loss: 0.0000, Walkable Loss: 0.6616 (C1 Heatmap: 0.4899, C2 Repulsion: 1.3487), Relational Loss: 0.0202 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.103 0.793 1.660 -0.810 0.010 -0.632 90.12° +wardrobe 2.065 2.454 0.532 -0.276 -0.002 1.428 -179.92° +nightstand 0.464 0.586 0.369 -1.101 0.001 -1.413 90.10° +floor 3.095 -0.000 4.033 -0.002 0.001 -0.023 -0.02° +_scene_ 0.075 0.002 0.024 -5.667 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.464, 0.586, 0.234] + !! OVERLAP: bed <-> floor depth=[1.103, -0.000, 1.660] + !! OVERLAP: wardrobe <-> floor depth=[2.065, -0.000, 0.532] + !! OVERLAP: nightstand <-> floor depth=[0.464, -0.000, 0.369] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.0000, Walkable Loss: 0.9849 (C1 Heatmap: 0.5660, C2 Repulsion: 2.6605), Relational Loss: 0.0383 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.289 0.888 0.276 -0.058 1.781 0.285 -0.04° +bed 1.293 1.015 1.658 0.664 0.005 0.242 -89.16° +nightstand 0.590 0.546 0.486 1.395 -0.000 -1.144 -90.06° +nightstand 0.469 0.612 0.550 1.382 0.001 1.621 -90.23° +wardrobe 1.801 2.631 0.390 0.595 -0.010 -1.580 0.50° +shelf 0.822 1.871 0.393 -1.248 0.000 1.724 90.00° +floor 3.440 -0.001 4.291 -0.013 -0.000 -0.006 -0.04° +_scene_ 0.071 0.000 0.018 -5.670 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.293, -0.001, 1.658] + !! OVERLAP: nightstand <-> wardrobe depth=[0.395, 0.546, 0.002] + !! OVERLAP: nightstand <-> floor depth=[0.590, -0.001, 0.486] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.001, 0.550] + !! OVERLAP: wardrobe <-> floor depth=[1.801, -0.001, 0.390] + !! OVERLAP: shelf <-> floor depth=[0.822, -0.001, 0.393] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0047, Walkable Loss: 0.9034 (C1 Heatmap: 0.6197, C2 Repulsion: 2.0381), Relational Loss: 0.0071 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.508 1.090 0.773 0.538 1.313 -0.066 0.01° +bed 1.556 1.476 2.128 0.531 -0.006 -0.335 -0.61° +wardrobe 1.054 1.892 0.836 -1.033 -0.005 -0.575 89.96° +floor 3.106 -0.002 3.558 -0.002 -0.000 -0.012 -0.02° +_scene_ 0.050 0.004 0.032 -5.604 -0.004 -5.678 -57.48° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.556, -0.002, 2.128] + !! OVERLAP: wardrobe <-> floor depth=[1.049, -0.002, 0.836] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3436 (C1 Heatmap: 0.2160, C2 Repulsion: 0.8541), Relational Loss: 0.0227 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.857 1.180 0.857 0.786 0.043 -0.816 -1.73° +nightstand 0.662 0.723 0.446 1.757 0.000 -1.572 -0.00° +nightstand 0.435 0.608 0.365 -0.187 0.001 -1.670 0.00° +wardrobe 0.839 1.788 0.418 -1.152 0.001 -0.849 89.99° +lamp 0.484 0.219 0.495 0.787 2.452 -0.513 -0.08° +lamp 0.433 0.503 0.405 -1.211 2.283 1.001 0.02° +floor 4.275 -0.001 4.123 -0.034 0.001 -0.035 -0.02° +_scene_ 0.062 0.001 0.022 -5.675 -0.005 -5.710 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.857, -0.001, 0.857] + !! OVERLAP: nightstand <-> floor depth=[0.662, -0.001, 0.446] + !! OVERLAP: nightstand <-> floor depth=[0.435, -0.001, 0.365] + !! OVERLAP: wardrobe <-> floor depth=[0.839, -0.001, 0.418] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6358 (C1 Heatmap: 0.5148, C2 Repulsion: 1.1199), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.691 1.072 1.902 -0.067 0.005 -0.022 -0.21° +nightstand 0.589 0.624 0.546 1.343 0.001 -1.278 0.03° +nightstand 0.543 0.568 0.525 -1.237 -0.001 -1.302 -0.04° +lamp 0.310 0.600 0.307 0.034 2.162 -0.059 0.10° +floor 3.370 0.001 3.406 -0.006 0.001 -0.004 -0.02° +_scene_ 0.070 -0.000 0.023 -5.672 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.691, 0.001, 1.902] + !! OVERLAP: nightstand <-> floor depth=[0.589, 0.001, 0.546] + !! OVERLAP: nightstand <-> floor depth=[0.543, 0.001, 0.525] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0581, Walkable Loss: 0.5908 (C1 Heatmap: 0.2374, C2 Repulsion: 2.0043), Relational Loss: 0.0344 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.453 1.096 0.844 0.327 0.014 0.580 -0.13° +desk 1.436 0.695 0.412 -0.959 0.013 0.637 -179.94° +nightstand 0.257 0.476 0.342 1.102 -0.001 0.690 -90.33° +wardrobe 0.599 2.083 0.013 1.236 -0.040 0.111 -90.49° +wardrobe 0.875 2.309 0.350 1.436 0.001 -0.663 -90.34° +floor 3.815 -0.000 3.097 -0.092 0.001 -0.059 -0.01° +_scene_ 0.063 0.000 0.021 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.453, -0.000, 0.844] + !! OVERLAP: desk <-> floor depth=[1.436, -0.000, 0.412] + !! OVERLAP: nightstand <-> floor depth=[0.257, -0.000, 0.342] + !! OVERLAP: wardrobe <-> floor depth=[0.599, -0.000, 0.013] + !! OVERLAP: wardrobe <-> floor depth=[0.817, -0.000, 0.350] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8726 (C1 Heatmap: 0.4808, C2 Repulsion: 2.4395), Relational Loss: 0.0370 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.131 1.393 1.355 0.578 0.006 0.319 -90.28° +table 0.472 0.526 0.497 1.272 -0.000 -0.961 -90.05° +table 0.522 0.536 0.455 1.245 0.001 1.564 -90.13° +wardrobe 1.483 1.959 0.468 0.613 0.005 -1.710 0.04° +lamp 0.639 0.139 0.596 0.093 2.514 0.032 -0.01° +chair 0.772 0.765 0.799 -1.057 0.004 -0.153 50.50° +floor 3.069 -0.002 4.095 -0.006 0.001 0.006 -0.01° +_scene_ 0.074 0.003 0.016 -5.674 -0.003 -5.710 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.131, -0.002, 1.355] + !! OVERLAP: table <-> floor depth=[0.472, -0.002, 0.497] + !! OVERLAP: table <-> floor depth=[0.522, -0.002, 0.455] + !! OVERLAP: wardrobe <-> floor depth=[1.483, -0.002, 0.468] + !! OVERLAP: chair <-> floor depth=[0.772, -0.002, 0.799] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7805 (C1 Heatmap: 0.5688, C2 Repulsion: 1.6274), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.785 1.048 1.697 -0.195 0.008 0.328 89.40° +cabinet 1.272 0.801 0.423 0.750 0.000 -1.817 0.07° +nightstand 0.541 0.733 0.504 -1.227 -0.000 1.584 89.99° +nightstand 0.553 0.644 0.432 -1.243 0.000 -0.905 89.87° +lamp 0.663 0.341 0.508 0.011 2.282 -0.104 -0.02° +floor 3.090 -0.001 4.132 -0.012 0.001 -0.017 -0.01° +_scene_ 0.071 0.003 0.020 -5.663 -0.004 -5.711 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.785, -0.001, 1.697] + !! OVERLAP: cabinet <-> floor depth=[1.272, -0.001, 0.423] + !! OVERLAP: nightstand <-> floor depth=[0.541, -0.001, 0.504] + !! OVERLAP: nightstand <-> floor depth=[0.553, -0.001, 0.432] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9367 (C1 Heatmap: 0.5662, C2 Repulsion: 2.4184), Relational Loss: 0.0439 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.292 1.064 1.884 -0.604 -0.002 -0.615 0.19° +nightstand 0.462 0.554 0.306 0.652 0.000 -1.275 0.08° +nightstand 0.581 0.514 0.437 -1.791 0.000 -1.172 0.03° +wardrobe 1.779 2.437 0.567 1.331 -0.001 -0.221 -90.53° +lamp 0.530 0.368 0.521 -0.147 2.177 0.074 0.01° +floor 4.699 -0.002 3.270 -0.054 0.000 0.031 -0.04° +_scene_ 0.072 0.000 0.024 -5.669 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.292, -0.002, 1.884] + !! OVERLAP: nightstand <-> floor depth=[0.462, -0.002, 0.306] + !! OVERLAP: nightstand <-> floor depth=[0.581, -0.002, 0.437] + !! OVERLAP: wardrobe <-> floor depth=[1.779, -0.002, 0.567] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0154, Walkable Loss: 1.0886 (C1 Heatmap: 0.6237, C2 Repulsion: 2.9483), Relational Loss: 0.0335 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.179 1.286 1.363 -0.326 -0.017 0.783 -179.60° +nightstand 0.398 0.536 0.315 -1.337 0.002 1.548 179.79° +nightstand 0.367 0.487 0.332 1.007 0.001 1.535 179.92° +tv_stand 1.843 0.653 0.353 -1.209 -0.001 -1.576 -0.05° +tv_stand 1.801 0.688 0.347 -0.434 -0.000 -1.113 -0.02° +wardrobe 1.140 2.419 0.441 1.549 0.004 0.668 -90.12° +lamp 0.575 0.616 0.580 -0.323 1.948 0.070 -0.02° +floor 4.383 -0.001 3.732 -0.088 0.001 -0.039 -0.04° +_scene_ 0.068 0.000 0.024 -5.675 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.179, -0.001, 1.363] + !! OVERLAP: nightstand <-> floor depth=[0.398, -0.001, 0.315] + !! OVERLAP: nightstand <-> floor depth=[0.367, -0.001, 0.332] + !! OVERLAP: tv_stand <-> floor depth=[1.843, -0.001, 0.353] + !! OVERLAP: tv_stand <-> floor depth=[1.801, -0.001, 0.347] + !! OVERLAP: wardrobe <-> floor depth=[1.124, -0.001, 0.441] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0082, Room Outer Loss: 0.0045, Walkable Loss: 1.1659 (C1 Heatmap: 0.6081, C2 Repulsion: 3.3970), Relational Loss: 0.0309 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.372 1.197 1.896 0.419 -0.003 -0.035 -90.09° +nightstand 0.336 0.465 0.320 0.961 0.003 -1.498 -0.02° +wardrobe 1.973 2.193 0.477 0.131 -0.001 -0.930 0.07° +table 0.627 0.896 0.289 -1.422 0.001 0.284 89.96° +nightstand 0.376 0.529 0.358 0.273 0.002 1.180 -0.06° +lamp 0.873 0.728 0.888 -0.038 1.730 -1.140 -0.07° +lamp 0.728 0.921 0.754 0.330 2.015 0.992 -0.02° +floor 3.450 0.001 3.598 -0.006 0.002 -0.032 -0.03° +_scene_ 0.072 0.000 0.023 -5.669 -0.004 -5.716 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.372, 1.197, 0.291] + !! OVERLAP: bed <-> floor depth=[1.372, 0.001, 1.896] + !! OVERLAP: nightstand <-> floor depth=[0.336, 0.001, 0.320] + !! OVERLAP: wardrobe <-> floor depth=[1.973, 0.001, 0.477] + !! OVERLAP: table <-> floor depth=[0.623, 0.001, 0.289] + !! OVERLAP: nightstand <-> floor depth=[0.376, 0.001, 0.358] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0130, Walkable Loss: 0.6181 (C1 Heatmap: 0.3708, C2 Repulsion: 1.6077), Relational Loss: 0.0325 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.985 1.089 1.458 -0.520 0.013 -0.054 91.05° +nightstand 0.345 0.433 0.272 -1.200 0.000 0.890 89.96° +wardrobe 1.676 2.334 0.354 -0.251 -0.002 1.761 179.90° +nightstand 0.528 0.484 0.391 -1.088 0.001 -1.187 90.02° +lamp 0.774 0.676 0.404 0.058 2.047 -0.294 -0.04° +floor 2.710 -0.002 4.129 -0.005 0.001 0.003 -0.02° +_scene_ 0.069 0.001 0.019 -5.676 -0.007 -5.719 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.985, -0.002, 1.458] + !! OVERLAP: nightstand <-> floor depth=[0.332, -0.002, 0.272] + !! OVERLAP: wardrobe <-> floor depth=[1.676, -0.002, 0.354] + !! OVERLAP: nightstand <-> floor depth=[0.528, -0.002, 0.391] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0112, Room Outer Loss: 0.0551, Walkable Loss: 0.8201 (C1 Heatmap: 0.4418, C2 Repulsion: 2.3333), Relational Loss: 0.0158 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.035 2.212 1.550 -0.499 -0.007 0.677 90.95° +nightstand 0.542 0.577 0.401 -0.867 0.002 1.472 179.88° +lamp 0.701 1.210 0.686 -0.031 1.452 0.005 0.01° +wardrobe 1.485 2.003 0.452 0.005 -0.003 -1.440 -0.00° +floor 2.671 0.002 3.284 -0.003 0.001 -0.018 -0.00° +_scene_ 0.067 0.001 0.020 -5.676 -0.006 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.420, 0.577, 0.181] + !! OVERLAP: bed <-> lamp depth=[0.400, 0.252, 0.446] + !! OVERLAP: bed <-> floor depth=[1.035, 0.002, 1.550] + !! OVERLAP: nightstand <-> floor depth=[0.542, 0.002, 0.352] + !! OVERLAP: wardrobe <-> floor depth=[1.485, 0.002, 0.445] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0128, Walkable Loss: 0.9594 (C1 Heatmap: 0.6041, C2 Repulsion: 2.3806), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.592 2.465 0.473 -0.830 -0.003 1.742 179.93° +bed 1.499 1.177 2.066 -0.233 0.000 -0.634 90.15° +table 0.409 0.505 0.369 -1.325 -0.000 1.238 0.02° +table 0.522 0.529 0.437 -1.177 -0.001 -1.712 0.23° +lamp 0.622 0.958 0.618 -0.026 2.110 -0.355 -0.01° +floor 3.229 -0.004 4.367 0.002 0.001 -0.036 -0.02° +_scene_ 0.068 -0.001 0.020 -5.675 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.579, -0.004, 0.473] + !! OVERLAP: bed <-> table depth=[0.066, 0.529, 0.175] + !! OVERLAP: bed <-> floor depth=[1.499, -0.004, 2.066] + !! OVERLAP: table <-> floor depth=[0.409, -0.004, 0.369] + !! OVERLAP: table <-> floor depth=[0.522, -0.004, 0.437] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1697, Walkable Loss: 1.0246 (C1 Heatmap: 0.5415, C2 Repulsion: 2.9569), Relational Loss: 0.0152 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.724 0.730 1.229 0.608 -0.021 -0.243 -88.91° +nightstand 0.428 0.746 0.337 1.248 0.002 0.576 -89.93° +wardrobe 2.927 2.445 0.315 -0.121 0.002 1.388 -179.84° +tv_stand 1.759 0.574 0.075 -0.629 -0.002 -0.185 91.05° +lamp 0.670 0.633 0.236 0.015 1.991 -0.217 -0.02° +floor 2.928 0.000 3.175 0.002 0.001 0.005 -0.00° +_scene_ 0.069 0.001 0.019 -5.668 -0.004 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.004, 0.574, 0.075] + !! OVERLAP: bed <-> floor depth=[0.724, 0.000, 1.229] + !! OVERLAP: nightstand <-> floor depth=[0.428, 0.000, 0.337] + !! OVERLAP: wardrobe <-> floor depth=[2.805, 0.000, 0.315] + !! OVERLAP: tv_stand <-> floor depth=[1.712, 0.000, 0.075] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0513 (C1 Heatmap: 0.5667, C2 Repulsion: 2.9897), Relational Loss: 0.0394 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.571 2.456 0.385 -1.395 -0.006 -0.169 90.10° +bed 0.989 1.186 1.473 0.186 0.013 0.543 -179.73° +nightstand 0.771 0.510 0.420 1.564 0.002 1.258 179.93° +nightstand 0.633 0.511 0.515 -1.356 0.001 1.332 180.00° +cabinet 1.210 1.108 0.259 0.683 -0.000 -1.492 0.07° +cabinet 1.051 1.121 0.358 -0.566 0.000 -1.606 0.10° +shelf 0.405 1.547 0.297 1.816 0.001 -0.921 -140.47° +floor 4.456 -0.002 3.599 0.028 0.001 -0.072 -0.01° +_scene_ 0.071 0.001 0.029 -5.667 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.571, -0.002, 0.385] + !! OVERLAP: bed <-> floor depth=[0.989, -0.002, 1.473] + !! OVERLAP: nightstand <-> floor depth=[0.771, -0.002, 0.420] + !! OVERLAP: nightstand <-> floor depth=[0.633, -0.002, 0.515] + !! OVERLAP: cabinet <-> floor depth=[1.210, -0.002, 0.259] + !! OVERLAP: cabinet <-> floor depth=[1.051, -0.002, 0.358] + !! OVERLAP: shelf <-> floor depth=[0.405, -0.002, 0.297] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4668 (C1 Heatmap: 0.3189, C2 Repulsion: 1.0583), Relational Loss: 0.0211 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.978 1.159 1.533 0.783 -0.011 0.530 -89.86° +wardrobe 1.391 2.305 0.295 0.479 -0.000 -1.684 -0.04° +nightstand 0.419 0.521 0.310 1.216 -0.000 1.238 -90.30° +floor 2.933 -0.002 3.796 -0.027 0.001 -0.019 -0.02° +_scene_ 0.070 0.001 0.020 -5.674 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.266, 0.521, 0.214] + !! OVERLAP: bed <-> floor depth=[0.978, -0.002, 1.533] + !! OVERLAP: wardrobe <-> floor depth=[1.391, -0.002, 0.295] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.002, 0.310] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0867 (C1 Heatmap: 0.6594, C2 Repulsion: 2.7959), Relational Loss: 0.0118 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 3.084 2.465 0.463 0.030 0.000 -1.560 0.02° +lamp 0.874 0.776 0.840 -0.090 2.154 0.235 0.00° +bed 1.291 0.927 1.476 -0.257 0.002 0.717 -179.80° +nightstand 0.501 0.588 0.370 1.196 0.001 1.245 179.96° +nightstand 0.520 0.444 0.386 -1.306 0.003 1.443 179.93° +lamp 0.118 0.886 0.083 1.404 0.977 1.355 -0.01° +floor 3.231 -0.001 3.948 0.000 0.000 0.005 -0.00° +_scene_ 0.067 0.001 0.018 -5.670 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[3.084, -0.001, 0.463] + !! OVERLAP: bed <-> floor depth=[1.291, -0.001, 1.476] + !! OVERLAP: nightstand <-> floor depth=[0.501, -0.001, 0.370] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.001, 0.386] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0171, Walkable Loss: 0.7500 (C1 Heatmap: 0.5411, C2 Repulsion: 1.5858), Relational Loss: 0.0397 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.426 1.111 1.939 -0.532 -0.002 0.382 90.29° +wardrobe 1.463 1.866 0.452 -0.325 -0.001 -1.939 0.03° +nightstand 0.543 0.433 0.393 -1.405 0.001 -0.957 90.00° +nightstand 0.416 0.521 0.357 -1.331 -0.000 1.583 89.99° +lamp 0.562 0.144 0.541 0.010 2.442 0.099 -0.04° +floor 3.356 -0.002 4.337 -0.037 0.001 0.021 -0.03° +_scene_ 0.070 0.001 0.020 -5.670 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.426, -0.002, 1.939] + !! OVERLAP: wardrobe <-> floor depth=[1.463, -0.002, 0.435] + !! OVERLAP: nightstand <-> floor depth=[0.543, -0.002, 0.393] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.002, 0.357] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0044, Walkable Loss: 0.4277 (C1 Heatmap: 0.2361, C2 Repulsion: 1.1942), Relational Loss: 0.0299 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.891 2.001 1.266 0.790 0.018 0.376 -90.56° +nightstand 0.498 0.608 0.450 1.422 0.000 -0.566 -90.24° +nightstand 0.437 0.638 0.405 1.492 0.001 1.457 -90.14° +cabinet 0.316 0.547 0.275 1.472 -0.001 -1.493 -0.05° +cabinet 0.351 0.633 0.243 -1.060 0.007 -1.513 66.23° +floor 3.423 -0.001 4.142 -0.005 -0.001 -0.046 0.02° +_scene_ 0.055 0.013 0.028 -5.672 -0.006 -5.699 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.891, -0.001, 1.266] + !! OVERLAP: nightstand <-> floor depth=[0.498, -0.001, 0.450] + !! OVERLAP: nightstand <-> floor depth=[0.433, -0.001, 0.405] + !! OVERLAP: cabinet <-> floor depth=[0.316, -0.001, 0.275] + !! OVERLAP: cabinet <-> floor depth=[0.351, -0.001, 0.243] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0290, Walkable Loss: 0.6850 (C1 Heatmap: 0.3486, C2 Repulsion: 2.0304), Relational Loss: 0.0379 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.529 1.188 1.352 0.261 0.019 -0.809 1.71° +nightstand 0.392 0.527 0.249 -0.591 0.009 -1.325 0.05° +nightstand 0.472 0.508 0.402 1.503 0.004 -1.404 -0.02° +wardrobe 1.505 2.571 0.238 -0.950 -0.002 -0.771 89.63° +tv_stand 1.720 1.850 0.132 0.203 0.007 1.508 -179.84° +lamp 0.556 0.694 0.590 0.286 2.046 -0.118 -0.07° +floor 3.427 -0.002 3.462 -0.003 0.001 0.004 -0.00° +_scene_ 0.068 -0.001 0.018 -5.677 -0.006 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.529, -0.002, 1.352] + !! OVERLAP: nightstand <-> floor depth=[0.392, -0.002, 0.249] + !! OVERLAP: nightstand <-> floor depth=[0.443, -0.002, 0.402] + !! OVERLAP: wardrobe <-> floor depth=[1.505, -0.002, 0.238] + !! OVERLAP: tv_stand <-> floor depth=[1.720, -0.002, 0.132] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.1857 (C1 Heatmap: 0.1261, C2 Repulsion: 0.4244), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.361 1.268 1.340 -0.901 0.004 -0.437 91.76° +nightstand 0.405 0.499 0.343 -1.212 0.001 1.108 90.01° +nightstand 0.324 0.471 0.337 -1.215 0.000 -1.266 89.97° +lamp 0.603 0.349 0.583 0.046 2.296 -0.227 -0.02° +floor 3.356 -0.002 4.143 -0.003 -0.000 -0.026 -0.02° +_scene_ 0.068 0.000 0.019 -5.673 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.029, 0.471, 0.010] + !! OVERLAP: bed <-> floor depth=[0.361, -0.002, 1.340] + !! OVERLAP: nightstand <-> floor depth=[0.405, -0.002, 0.343] + !! OVERLAP: nightstand <-> floor depth=[0.324, -0.002, 0.337] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6617 (C1 Heatmap: 0.6459, C2 Repulsion: 0.7250), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.344 2.239 0.566 0.001 -0.001 1.233 179.94° +bed 2.219 0.957 1.873 -0.043 -0.001 -0.643 89.96° +lamp 0.575 0.394 0.572 0.111 2.163 -0.947 -0.03° +floor 2.535 -0.001 4.074 0.006 0.001 -0.081 -0.03° +_scene_ 0.059 0.003 0.018 -5.661 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.344, -0.001, 0.566] + !! OVERLAP: bed <-> floor depth=[2.219, -0.001, 1.873] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0056, Room Outer Loss: 0.0934, Walkable Loss: 0.7730 (C1 Heatmap: 0.3976, C2 Repulsion: 2.2742), Relational Loss: 0.0643 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.264 0.541 0.296 1.286 -0.000 -1.164 0.03° +desk 1.241 1.551 0.406 -0.052 -0.000 -1.283 0.03° +wardrobe 2.082 2.388 0.410 -0.761 0.029 -0.155 90.36° +lamp 0.562 0.560 0.563 0.208 2.109 -0.212 -0.02° +bed 0.569 1.025 1.220 1.108 0.016 -0.323 1.54° +floor 3.419 -0.002 3.244 0.001 -0.001 -0.004 -0.00° +_scene_ 0.065 0.001 0.020 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.264, -0.002, 0.296] + !! OVERLAP: desk <-> floor depth=[1.241, -0.002, 0.406] + !! OVERLAP: wardrobe <-> floor depth=[1.989, -0.002, 0.410] + !! OVERLAP: bed <-> floor depth=[0.569, -0.002, 1.220] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7028 (C1 Heatmap: 0.4601, C2 Repulsion: 1.6738), Relational Loss: 0.0363 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.360 1.054 1.733 0.977 -0.010 0.259 -89.86° +wardrobe 1.120 2.469 0.592 -0.870 0.002 0.303 89.91° +nightstand 0.447 0.596 0.447 1.539 0.001 -1.090 -90.05° +nightstand 0.390 0.563 0.379 1.580 0.000 1.399 -90.06° +lamp 1.027 0.983 0.739 0.195 1.743 0.240 0.00° +floor 3.574 -0.001 3.993 -0.007 0.000 0.074 -0.01° +_scene_ 0.071 0.001 0.026 -5.671 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.360, -0.001, 1.733] + !! OVERLAP: wardrobe <-> floor depth=[1.120, -0.001, 0.592] + !! OVERLAP: nightstand <-> floor depth=[0.447, -0.001, 0.447] + !! OVERLAP: nightstand <-> floor depth=[0.390, -0.001, 0.379] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6751 (C1 Heatmap: 0.5324, C2 Repulsion: 1.2458), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.296 2.179 0.616 0.288 -0.002 -1.850 0.02° +bed 1.533 1.420 1.756 0.301 -0.004 0.599 -89.91° +nightstand 0.439 0.603 0.405 1.428 0.002 -0.951 -90.05° +nightstand 0.391 0.590 0.503 1.425 -0.003 2.008 -89.91° +floor 3.355 -0.005 5.012 0.022 -0.000 0.035 -0.01° +_scene_ 0.073 0.003 0.026 -5.665 -0.004 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.296, -0.005, 0.616] + !! OVERLAP: bed <-> floor depth=[1.533, -0.005, 1.756] + !! OVERLAP: nightstand <-> floor depth=[0.439, -0.005, 0.405] + !! OVERLAP: nightstand <-> floor depth=[0.391, -0.005, 0.503] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7099 (C1 Heatmap: 0.4111, C2 Repulsion: 1.9052), Relational Loss: 0.0471 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.764 0.569 0.758 -0.167 2.171 -0.092 -0.05° +wardrobe 0.946 2.461 0.434 1.387 -0.002 0.338 -90.79° +bed 1.533 0.841 1.527 -0.275 -0.008 0.661 -179.71° +nightstand 0.387 0.490 0.342 -1.445 0.001 1.254 179.89° +nightstand 0.350 0.435 0.294 0.976 0.002 1.224 179.96° +floor 3.889 -0.002 2.989 -0.065 0.000 -0.037 -0.02° +_scene_ 0.069 0.001 0.020 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.946, -0.002, 0.434] + !! OVERLAP: bed <-> floor depth=[1.533, -0.002, 1.527] + !! OVERLAP: nightstand <-> floor depth=[0.387, -0.002, 0.342] + !! OVERLAP: nightstand <-> floor depth=[0.350, -0.002, 0.294] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0246, Walkable Loss: 0.3024 (C1 Heatmap: 0.1982, C2 Repulsion: 0.7188), Relational Loss: 0.0314 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.410 0.549 0.284 0.773 0.013 -0.243 -90.58° +bed 0.190 1.074 1.345 -0.677 -0.035 0.056 86.26° +nightstand 0.304 0.553 0.363 -1.118 0.015 0.930 89.68° +nightstand 0.459 0.535 0.357 -1.201 0.002 -0.882 89.94° +lamp 0.920 0.432 0.136 0.004 2.300 -0.228 0.01° +floor 2.942 -0.002 3.187 -0.017 0.001 0.009 -0.03° +_scene_ 0.066 0.002 0.021 -5.671 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.386, -0.002, 0.284] + !! OVERLAP: bed <-> floor depth=[0.190, -0.002, 1.345] + !! OVERLAP: nightstand <-> floor depth=[0.304, -0.002, 0.363] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.002, 0.357] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2473 (C1 Heatmap: 0.1489, C2 Repulsion: 0.6406), Relational Loss: 0.0504 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.754 0.933 0.754 -0.184 0.018 -0.481 90.45° +nightstand 0.567 0.456 0.454 -1.181 0.001 -1.042 89.76° +desk 0.921 1.470 0.161 0.950 -0.012 -0.752 -90.31° +lamp 0.644 0.264 0.635 0.023 2.389 -0.215 -0.11° +floor 3.907 -0.001 2.649 -0.010 -0.001 -0.017 -0.02° +_scene_ 0.066 -0.001 0.017 -5.670 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.754, -0.001, 0.754] + !! OVERLAP: nightstand <-> floor depth=[0.567, -0.001, 0.454] + !! OVERLAP: desk <-> floor depth=[0.921, -0.001, 0.161] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1222, Walkable Loss: 1.0481 (C1 Heatmap: 0.5837, C2 Repulsion: 2.9057), Relational Loss: 0.0260 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.185 1.309 1.637 -0.914 0.016 -0.554 90.22° +wardrobe 1.972 2.233 0.406 -0.648 -0.002 1.480 -179.86° +nightstand 0.488 0.729 0.339 -1.276 0.001 -1.545 90.01° +nightstand 0.432 0.696 0.285 -1.290 0.001 0.563 89.98° +tv_stand 1.581 0.568 0.257 1.086 0.002 0.032 -90.06° +lamp 0.699 0.550 0.151 0.006 2.128 -0.370 -0.06° +floor 3.546 -0.002 4.032 -0.019 0.000 -0.093 0.01° +_scene_ 0.066 0.002 0.018 -5.673 -0.006 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.185, -0.002, 1.637] + !! OVERLAP: wardrobe <-> floor depth=[1.972, -0.002, 0.406] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.002, 0.339] + !! OVERLAP: nightstand <-> floor depth=[0.432, -0.002, 0.285] + !! OVERLAP: tv_stand <-> floor depth=[1.458, -0.002, 0.257] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5866 (C1 Heatmap: 0.5643, C2 Repulsion: 0.6759), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.590 1.059 1.809 1.128 0.004 0.477 -179.98° +cabinet 1.171 1.048 0.438 -1.250 0.001 -1.300 0.01° +wardrobe 1.196 2.285 0.439 -0.969 -0.000 1.424 179.98° +chair 0.435 0.671 0.413 -1.588 -0.005 0.295 -39.69° +lamp 0.264 0.635 0.265 0.793 2.192 -0.025 -0.06° +floor 4.376 -0.001 3.566 -0.076 0.000 -0.009 -0.04° +_scene_ 0.072 0.000 0.020 -5.673 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.590, -0.001, 1.809] + !! OVERLAP: cabinet <-> floor depth=[1.171, -0.001, 0.438] + !! OVERLAP: wardrobe <-> floor depth=[1.196, -0.001, 0.439] + !! OVERLAP: chair <-> floor depth=[0.435, -0.001, 0.413] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0566 (C1 Heatmap: 0.6024, C2 Repulsion: 2.8733), Relational Loss: 0.0248 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.215 0.987 1.808 -0.927 -0.001 0.701 89.96° +wardrobe 0.820 2.072 0.319 -1.305 -0.001 -1.344 90.14° +wardrobe 1.102 1.975 0.382 -0.443 -0.003 -1.325 0.07° +tv_stand 1.896 0.649 0.458 0.873 -0.008 0.643 -90.32° +nightstand 0.347 0.512 0.304 -1.569 0.000 -0.085 90.09° +floor 3.621 -0.001 4.424 0.011 0.000 0.043 -0.00° +_scene_ 0.073 0.000 0.023 -5.673 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.138, 0.512, 0.270] + !! OVERLAP: bed <-> floor depth=[1.215, -0.001, 1.808] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.100, 1.975, 0.319] + !! OVERLAP: wardrobe <-> floor depth=[0.820, -0.001, 0.319] + !! OVERLAP: wardrobe <-> floor depth=[1.102, -0.001, 0.382] + !! OVERLAP: tv_stand <-> floor depth=[1.896, -0.001, 0.458] + !! OVERLAP: nightstand <-> floor depth=[0.347, -0.001, 0.304] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.0673, Walkable Loss: 0.5807 (C1 Heatmap: 0.2379, C2 Repulsion: 1.9520), Relational Loss: 0.0169 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.838 1.025 1.117 -0.951 0.001 -0.194 89.99° +nightstand 0.396 0.556 0.273 -1.183 0.001 0.381 90.00° +wardrobe 1.068 2.013 0.365 0.046 -0.001 1.432 -179.88° +nightstand 0.448 0.509 0.430 -1.161 0.006 -1.056 90.10° +floor 2.721 0.001 3.669 0.004 0.002 -0.012 -0.02° +_scene_ 0.067 0.001 0.015 -5.669 -0.005 -5.713 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.385, 0.556, 0.120] + !! OVERLAP: bed <-> floor depth=[0.825, 0.001, 1.117] + !! OVERLAP: nightstand <-> floor depth=[0.371, 0.001, 0.273] + !! OVERLAP: wardrobe <-> floor depth=[1.068, 0.001, 0.365] + !! OVERLAP: nightstand <-> floor depth=[0.420, 0.001, 0.430] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0012, Room Outer Loss: 0.0180, Walkable Loss: 1.3375 (C1 Heatmap: 0.7083, C2 Repulsion: 3.8541), Relational Loss: 0.0247 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.840 0.859 0.257 1.291 0.001 -0.350 -90.01° +lamp 0.790 0.751 0.777 0.049 2.039 0.042 -0.01° +bed 0.881 1.229 1.734 -0.807 -0.011 -0.238 90.57° +nightstand 0.383 0.535 0.354 -1.434 -0.000 -1.266 90.05° +nightstand 0.365 0.536 0.302 -1.292 0.003 0.933 90.05° +table 0.754 1.357 0.353 -1.277 0.002 1.740 89.98° +wardrobe 2.135 2.366 0.224 -0.425 -0.000 -2.216 0.54° +desk 1.742 0.720 0.841 0.790 0.005 0.843 -97.25° +floor 3.354 -0.002 4.828 0.015 0.001 -0.123 -0.00° +_scene_ 0.077 -0.000 0.022 -5.671 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.822, -0.002, 0.257] + !! OVERLAP: bed <-> nightstand depth=[0.005, 0.535, 0.016] + !! OVERLAP: bed <-> floor depth=[0.881, -0.002, 1.734] + !! OVERLAP: nightstand <-> floor depth=[0.383, -0.002, 0.354] + !! OVERLAP: nightstand <-> floor depth=[0.365, -0.002, 0.302] + !! OVERLAP: table <-> floor depth=[0.754, -0.002, 0.353] + !! OVERLAP: wardrobe <-> floor depth=[2.135, -0.002, 0.224] + !! OVERLAP: desk <-> floor depth=[1.742, -0.002, 0.841] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5774 (C1 Heatmap: 0.5682, C2 Repulsion: 0.6142), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.949 1.381 2.230 0.466 -0.001 -0.384 -90.01° +nightstand 0.398 0.505 0.400 1.377 0.001 0.994 -90.04° +lamp 0.877 0.866 0.699 -0.105 1.982 0.062 89.99° +floor 3.236 -0.002 3.189 -0.001 0.001 -0.017 -0.02° +_scene_ 0.072 0.000 0.018 -5.672 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.949, -0.002, 2.230] + !! OVERLAP: nightstand <-> floor depth=[0.398, -0.002, 0.400] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0341, Walkable Loss: 0.8197 (C1 Heatmap: 0.4237, C2 Repulsion: 2.4035), Relational Loss: 0.0604 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.841 1.413 1.099 -0.187 0.015 -0.110 89.32° +wardrobe 1.948 2.384 0.298 -0.424 0.005 1.269 -179.88° +nightstand 0.506 0.581 0.422 -1.166 0.000 -1.186 89.97° +tv_stand 1.550 0.978 0.347 0.673 0.004 0.070 -89.55° +lamp 0.534 0.439 0.523 0.049 2.075 0.022 -0.01° +floor 2.833 -0.001 3.283 0.000 0.001 0.010 -0.04° +_scene_ 0.067 0.000 0.019 -5.673 -0.005 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.336, 0.978, 0.347] + !! OVERLAP: bed <-> floor depth=[0.841, -0.001, 1.099] + !! OVERLAP: wardrobe <-> floor depth=[1.948, -0.001, 0.298] + !! OVERLAP: nightstand <-> floor depth=[0.503, -0.001, 0.422] + !! OVERLAP: tv_stand <-> floor depth=[1.519, -0.001, 0.347] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0922, Walkable Loss: 1.1926 (C1 Heatmap: 0.4302, C2 Repulsion: 4.2422), Relational Loss: 0.0281 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.252 1.172 1.027 -0.199 -0.054 0.470 92.45° +table 0.354 0.518 0.428 -1.246 0.005 1.279 0.07° +table 0.460 0.567 0.480 -1.228 0.001 -0.587 90.15° +wardrobe 0.973 2.026 0.308 -0.645 0.004 -1.298 0.80° +wardrobe 0.761 2.018 0.283 -0.142 0.002 -1.714 0.06° +lamp 0.529 0.166 0.524 0.025 2.600 0.319 -0.04° +lamp 0.932 1.128 0.943 -0.724 1.441 1.946 0.14° +floor 2.810 -0.002 4.509 0.011 -0.001 0.193 -0.03° +_scene_ 0.071 -0.001 0.020 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.252, -0.002, 1.027] + !! OVERLAP: table <-> floor depth=[0.325, -0.002, 0.428] + !! OVERLAP: table <-> floor depth=[0.396, -0.002, 0.480] + !! OVERLAP: wardrobe <-> floor depth=[0.973, -0.002, 0.308] + !! OVERLAP: wardrobe <-> floor depth=[0.761, -0.002, 0.283] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0212, Walkable Loss: 0.9395 (C1 Heatmap: 0.5677, C2 Repulsion: 2.4266), Relational Loss: 0.0185 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.210 1.081 1.779 -0.072 0.036 0.622 -90.92° +nightstand 0.437 0.579 0.418 1.335 0.001 1.799 -90.02° +nightstand 0.342 0.652 0.352 1.387 0.001 -0.069 -90.41° +wardrobe 1.396 2.232 0.528 -0.022 -0.005 -1.647 -0.10° +wardrobe 1.300 2.075 0.495 -0.355 0.002 -1.135 -0.03° +lamp 0.923 0.946 0.865 0.118 1.740 0.570 0.01° +floor 3.066 -0.002 4.117 0.012 -0.000 0.035 -0.05° +_scene_ 0.061 0.001 0.020 -5.673 -0.005 -5.719 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.210, -0.002, 1.779] + !! OVERLAP: nightstand <-> floor depth=[0.428, -0.002, 0.418] + !! OVERLAP: nightstand <-> floor depth=[0.329, -0.002, 0.352] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.014, 2.075, 0.000] + !! OVERLAP: wardrobe <-> floor depth=[1.396, -0.002, 0.528] + !! OVERLAP: wardrobe <-> floor depth=[1.300, -0.002, 0.495] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0313, Walkable Loss: 0.7318 (C1 Heatmap: 0.5254, C2 Repulsion: 1.5574), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.474 1.462 1.589 1.157 -0.016 -0.050 -89.90° +wardrobe 1.101 2.116 0.573 -0.771 -0.003 -1.060 0.00° +desk 1.173 0.752 0.538 -1.408 0.007 1.175 90.49° +chair 0.408 0.600 0.503 -0.900 -0.005 0.395 -89.24° +floor 3.857 -0.002 3.104 -0.052 -0.001 -0.004 -0.01° +_scene_ 0.061 0.001 0.021 -5.667 -0.004 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.457, -0.002, 1.589] + !! OVERLAP: wardrobe <-> floor depth=[1.101, -0.002, 0.573] + !! OVERLAP: desk <-> floor depth=[1.159, -0.002, 0.538] + !! OVERLAP: chair <-> floor depth=[0.408, -0.002, 0.503] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 0.6185 (C1 Heatmap: 0.2895, C2 Repulsion: 1.9345), Relational Loss: 0.0489 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.089 1.109 1.463 0.372 -0.040 -0.069 -89.97° +table 0.359 0.470 0.237 1.202 0.000 0.544 -90.18° +wardrobe 1.457 2.257 -0.013 0.606 -0.002 1.018 -179.31° +lamp 0.626 0.922 0.625 0.001 1.840 -0.241 0.05° +floor 2.975 -0.002 3.113 0.005 -0.001 -0.007 -0.05° +_scene_ 0.054 0.002 0.013 -5.671 -0.005 -5.717 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.089, -0.002, 1.463] + !! OVERLAP: table <-> floor depth=[0.359, -0.002, 0.237] + !! OVERLAP: wardrobe <-> floor depth=[1.457, -0.002, -0.013] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0386, Room Outer Loss: 0.0144, Walkable Loss: 0.8184 (C1 Heatmap: 0.6368, C2 Repulsion: 1.5448), Relational Loss: 0.0254 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.679 1.099 1.845 0.690 0.012 0.019 179.96° +wardrobe 1.316 2.110 0.506 -1.180 0.003 -0.082 90.06° +desk 1.267 0.800 0.616 1.086 -0.000 1.137 179.94° +lamp 0.704 0.147 0.706 0.102 2.321 0.121 -0.02° +floor 3.633 -0.001 2.998 -0.007 0.000 -0.004 0.01° +_scene_ 0.058 0.001 0.018 -5.672 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.077, 0.800, 0.113] + !! OVERLAP: bed <-> floor depth=[1.679, -0.001, 1.845] + !! OVERLAP: wardrobe <-> floor depth=[1.301, -0.001, 0.506] + !! OVERLAP: desk <-> floor depth=[1.267, -0.001, 0.616] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0484, Walkable Loss: 1.3571 (C1 Heatmap: 0.5270, C2 Repulsion: 4.6773), Relational Loss: 0.0245 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.949 1.355 1.490 -0.779 -0.030 0.513 89.07° +nightstand 0.494 0.605 0.320 -1.281 0.006 1.978 90.09° +nightstand 0.350 0.572 0.318 -1.371 0.006 -0.864 90.06° +tv_stand 1.080 0.433 0.213 1.069 -0.003 0.388 -89.76° +wardrobe 1.323 2.456 0.408 -0.889 -0.002 -1.959 0.09° +wardrobe 0.981 2.336 0.441 0.061 -0.001 -1.294 0.06° +lamp 0.019 0.927 0.010 -1.467 1.014 -1.005 0.04° +lamp 0.169 0.830 0.181 -1.321 1.071 1.469 0.03° +lamp 0.785 0.859 0.768 0.092 2.055 0.332 0.00° +chair 0.526 0.674 0.478 -0.352 0.006 2.060 153.48° +table 0.556 0.542 0.482 0.625 0.003 1.990 89.99° +floor 3.157 -0.001 4.940 -0.017 -0.000 0.033 -0.06° +_scene_ 0.070 -0.001 0.021 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.949, -0.001, 1.490] + !! OVERLAP: nightstand <-> floor depth=[0.494, -0.001, 0.320] + !! OVERLAP: nightstand <-> floor depth=[0.350, -0.001, 0.318] + !! OVERLAP: tv_stand <-> floor depth=[1.032, -0.001, 0.213] + !! OVERLAP: wardrobe <-> floor depth=[1.323, -0.001, 0.408] + !! OVERLAP: wardrobe <-> floor depth=[0.981, -0.001, 0.441] + !! OVERLAP: chair <-> floor depth=[0.526, -0.001, 0.478] + !! OVERLAP: table <-> floor depth=[0.556, -0.001, 0.482] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2260 (C1 Heatmap: 0.1506, C2 Repulsion: 0.5277), Relational Loss: 0.0397 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.520 0.565 0.297 -0.044 0.030 -0.217 90.90° +lamp 0.347 0.737 0.532 -0.295 1.904 -0.278 90.10° +wardrobe 1.405 2.568 -0.052 0.849 -0.005 -0.218 -89.64° +floor 3.255 -0.000 3.301 -0.041 0.001 -0.008 -0.03° +_scene_ 0.029 0.005 0.013 -5.548 -0.006 -5.632 -57.56° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.570, 0.565, -0.052] + !! OVERLAP: bed <-> floor depth=[1.520, -0.000, 0.297] + !! OVERLAP: wardrobe <-> floor depth=[1.405, -0.000, -0.052] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0051, Walkable Loss: 0.4624 (C1 Heatmap: 0.2850, C2 Repulsion: 1.1723), Relational Loss: 0.0518 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.410 0.581 0.367 -0.914 0.001 -1.155 0.03° +bed 0.730 1.043 1.521 0.151 0.032 -0.616 0.56° +nightstand 0.428 0.664 0.472 1.400 0.001 -1.003 -0.01° +wardrobe 1.044 2.491 0.401 -1.623 -0.002 -0.405 89.96° +floor 4.393 0.001 2.799 -0.000 -0.000 0.028 -0.03° +_scene_ 0.073 0.001 0.023 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.410, 0.001, 0.367] + !! OVERLAP: bed <-> floor depth=[0.730, 0.001, 1.516] + !! OVERLAP: nightstand <-> floor depth=[0.428, 0.001, 0.472] + !! OVERLAP: wardrobe <-> floor depth=[1.044, 0.001, 0.401] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8908 (C1 Heatmap: 0.4471, C2 Repulsion: 2.6658), Relational Loss: 0.0271 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.921 1.317 1.382 -0.976 -0.025 -0.169 89.99° +nightstand 0.573 0.471 0.368 -1.469 -0.002 -1.293 90.07° +wardrobe 1.352 2.487 0.400 -0.854 -0.000 1.626 179.96° +wardrobe 1.202 2.576 0.315 1.202 -0.004 -0.982 -89.90° +chair 0.493 0.729 0.725 1.481 0.006 -0.119 -90.11° +lamp 0.688 0.784 0.688 -0.116 2.174 0.005 -0.02° +nightstand 0.433 0.457 0.271 -1.477 0.001 0.875 89.98° +floor 4.005 -0.003 3.695 0.034 -0.000 0.011 -0.05° +_scene_ 0.069 0.000 0.022 -5.675 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.921, -0.003, 1.382] + !! OVERLAP: nightstand <-> floor depth=[0.573, -0.003, 0.368] + !! OVERLAP: wardrobe <-> floor depth=[1.352, -0.003, 0.400] + !! OVERLAP: wardrobe <-> floor depth=[1.202, -0.003, 0.315] + !! OVERLAP: chair <-> floor depth=[0.493, -0.003, 0.725] + !! OVERLAP: nightstand <-> floor depth=[0.433, -0.003, 0.271] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0029, Walkable Loss: 0.6562 (C1 Heatmap: 0.4973, C2 Repulsion: 1.2917), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.299 1.086 2.254 -0.540 0.000 0.774 90.04° +desk 0.986 0.950 0.443 -1.038 0.004 -1.460 -179.95° +chair 0.438 0.895 0.451 -0.500 0.004 -0.576 -169.62° +lamp 0.558 0.194 0.548 -0.009 2.366 0.149 0.00° +floor 3.014 -0.003 4.147 -0.021 -0.001 -0.035 0.00° +_scene_ 0.068 0.001 0.023 -5.669 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.438, 0.895, 0.003] + !! OVERLAP: bed <-> floor depth=[1.299, -0.003, 2.254] + !! OVERLAP: desk <-> floor depth=[0.983, -0.003, 0.443] + !! OVERLAP: chair <-> floor depth=[0.438, -0.003, 0.451] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0211, Walkable Loss: 0.5413 (C1 Heatmap: 0.3513, C2 Repulsion: 1.3011), Relational Loss: 0.0319 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.024 1.184 1.509 0.350 -0.003 0.561 178.86° +nightstand 0.462 0.664 0.377 -0.719 0.001 1.155 179.91° +nightstand 0.420 0.649 0.301 1.473 0.000 1.216 179.99° +wardrobe 1.185 2.259 0.495 -1.655 0.013 -0.049 89.73° +lamp 0.433 0.637 0.278 0.227 1.944 0.037 -0.08° +floor 4.428 -0.001 2.818 -0.012 -0.001 -0.024 -0.03° +_scene_ 0.069 0.000 0.018 -5.673 -0.006 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.024, -0.001, 1.509] + !! OVERLAP: nightstand <-> floor depth=[0.462, -0.001, 0.377] + !! OVERLAP: nightstand <-> floor depth=[0.420, -0.001, 0.301] + !! OVERLAP: wardrobe <-> floor depth=[1.164, -0.001, 0.495] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6135 (C1 Heatmap: 0.4163, C2 Repulsion: 1.4022), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.307 0.735 1.706 -0.362 -0.001 -0.320 0.52° +cabinet 0.596 0.908 0.271 -0.865 0.002 1.508 179.95° +nightstand 0.627 0.660 0.478 1.244 0.002 -1.228 0.03° +nightstand 0.678 0.690 0.449 -1.528 -0.000 -1.209 -0.02° +lamp 0.679 0.512 0.664 -0.179 2.176 0.194 -0.03° +floor 4.067 0.001 3.368 -0.052 0.000 -0.012 -0.02° +_scene_ 0.072 0.000 0.021 -5.671 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.307, 0.001, 1.706] + !! OVERLAP: cabinet <-> floor depth=[0.596, 0.001, 0.271] + !! OVERLAP: nightstand <-> floor depth=[0.627, 0.001, 0.478] + !! OVERLAP: nightstand <-> floor depth=[0.678, 0.001, 0.449] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0486, Walkable Loss: 0.6724 (C1 Heatmap: 0.3484, C2 Repulsion: 1.9682), Relational Loss: 0.0488 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.287 1.173 0.389 -1.130 0.006 0.755 179.99° +nightstand 0.607 0.479 0.384 -1.396 0.003 -1.266 -0.07° +bed 0.503 0.716 1.263 -0.513 0.052 -0.301 -0.38° +nightstand 0.345 0.525 0.318 1.214 0.001 -1.215 0.05° +wardrobe 1.911 2.206 0.049 0.805 0.035 -0.252 -90.97° +floor 3.512 -0.000 3.012 -0.044 -0.001 0.020 0.00° +_scene_ 0.078 0.000 0.022 -5.668 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.287, -0.000, 0.389] + !! OVERLAP: nightstand <-> floor depth=[0.607, -0.000, 0.384] + !! OVERLAP: bed <-> floor depth=[0.503, -0.000, 1.263] + !! OVERLAP: nightstand <-> floor depth=[0.345, -0.000, 0.318] + !! OVERLAP: wardrobe <-> floor depth=[1.862, -0.000, 0.049] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0120, Walkable Loss: 0.6181 (C1 Heatmap: 0.6230, C2 Repulsion: 0.5985), Relational Loss: 0.0176 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.970 1.143 0.456 -1.445 0.001 0.238 89.99° +cabinet 0.903 1.051 0.372 -1.505 -0.001 -1.583 90.08° +bed 1.811 0.711 2.292 0.835 0.002 -0.717 -0.22° +lamp 0.334 0.919 0.331 0.192 1.832 -0.314 0.03° +lamp 0.498 0.758 0.521 0.966 2.212 -1.173 -0.03° +lamp 0.178 0.826 0.175 -1.030 1.985 1.274 -89.97° +floor 3.856 -0.000 4.043 -0.017 0.001 -0.138 0.02° +_scene_ 0.064 0.003 0.020 -5.677 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.970, -0.000, 0.456] + !! OVERLAP: cabinet <-> floor depth=[0.891, -0.000, 0.372] + !! OVERLAP: bed <-> floor depth=[1.811, -0.000, 2.292] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5813 (C1 Heatmap: 0.3170, C2 Repulsion: 1.6385), Relational Loss: 0.0497 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.550 0.230 0.549 0.131 2.417 -0.018 -0.05° +bed 0.507 1.094 1.554 0.250 -0.033 -0.536 0.55° +nightstand 0.450 0.652 0.338 -0.851 -0.002 -1.199 0.12° +nightstand 0.571 0.638 0.544 1.413 0.002 -1.074 0.06° +wardrobe 1.640 2.483 0.298 -1.118 -0.013 -0.163 90.13° +floor 3.901 -0.002 3.178 -0.004 0.001 -0.017 -0.02° +_scene_ 0.070 0.000 0.020 -5.671 -0.005 -5.720 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.507, -0.002, 1.554] + !! OVERLAP: nightstand <-> floor depth=[0.450, -0.002, 0.338] + !! OVERLAP: nightstand <-> floor depth=[0.571, -0.002, 0.544] + !! OVERLAP: wardrobe <-> floor depth=[1.640, -0.002, 0.298] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0514, Walkable Loss: 0.5893 (C1 Heatmap: 0.5439, C2 Repulsion: 0.7711), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.630 1.570 1.933 -0.675 0.003 0.008 90.08° +lamp 0.526 0.469 0.523 -0.124 2.091 0.016 -0.03° +wardrobe 1.419 2.307 0.553 1.010 -0.000 0.022 -90.10° +floor 3.345 0.000 3.236 -0.004 0.000 -0.007 -0.03° +_scene_ 0.044 0.004 0.006 -5.665 -0.005 -5.719 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.630, 0.000, 1.933] + !! OVERLAP: wardrobe <-> floor depth=[1.367, 0.000, 0.553] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0030, Room Outer Loss: 0.0114, Walkable Loss: 0.5828 (C1 Heatmap: 0.3691, C2 Repulsion: 1.4378), Relational Loss: 0.0194 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.220 1.061 1.058 -0.585 0.005 0.529 90.89° +nightstand 0.565 0.640 0.485 -1.717 0.001 -1.155 90.02° +nightstand 0.524 0.712 0.389 -1.722 0.001 0.923 89.98° +lamp 0.461 0.284 0.446 0.263 2.492 -0.002 -0.05° +chair 0.287 0.887 0.481 1.711 -0.023 -0.689 -30.60° +tv_stand 1.572 0.541 0.290 1.672 -0.001 0.283 -90.22° +floor 4.705 -0.001 2.779 0.100 -0.001 -0.002 -0.01° +_scene_ 0.065 0.000 0.021 -5.674 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.220, -0.001, 1.058] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.001, 0.479] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.001, 0.389] + !! OVERLAP: chair <-> floor depth=[0.287, -0.001, 0.481] + !! OVERLAP: tv_stand <-> floor depth=[1.566, -0.001, 0.290] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0381, Walkable Loss: 0.5980 (C1 Heatmap: 0.4323, C2 Repulsion: 1.2609), Relational Loss: 0.0336 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.463 2.441 0.283 -0.353 0.009 1.725 -179.94° +bed 1.013 0.884 1.193 -0.937 -0.008 -0.494 90.12° +nightstand 0.538 0.530 0.410 -1.465 0.002 -1.691 90.00° +nightstand 0.431 0.599 0.349 -1.437 0.001 0.675 90.01° +lamp 0.602 0.102 0.620 0.032 2.542 -0.335 -0.05° +floor 3.327 -0.002 4.317 -0.032 -0.001 -0.016 -0.02° +_scene_ 0.067 -0.000 0.020 -5.664 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.463, -0.002, 0.283] + !! OVERLAP: bed <-> floor depth=[1.013, -0.002, 1.193] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.002, 0.410] + !! OVERLAP: nightstand <-> floor depth=[0.431, -0.002, 0.349] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7588 (C1 Heatmap: 0.6232, C2 Repulsion: 1.3010), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.326 0.875 1.293 0.256 -0.005 0.693 179.24° +tv_stand 3.126 0.726 0.461 0.119 -0.000 -1.523 -0.05° +lamp 0.579 0.632 0.607 0.315 2.179 0.184 -0.05° +nightstand 0.368 0.459 0.312 1.451 0.002 1.610 -179.99° +nightstand 0.431 0.472 0.378 -0.972 0.001 1.543 179.92° +floor 3.746 -0.002 3.695 -0.022 0.001 -0.070 -0.00° +_scene_ 0.070 0.001 0.033 -5.667 -0.004 -5.709 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.326, -0.002, 1.293] + !! OVERLAP: tv_stand <-> floor depth=[3.126, -0.002, 0.461] + !! OVERLAP: nightstand <-> floor depth=[0.368, -0.002, 0.312] + !! OVERLAP: nightstand <-> floor depth=[0.431, -0.002, 0.378] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5539 (C1 Heatmap: 0.6061, C2 Repulsion: 0.3448), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.793 1.453 2.092 0.241 0.008 0.853 -179.92° +lamp 0.812 0.991 0.836 0.264 1.713 0.345 -0.03° +wardrobe 1.472 2.059 0.554 0.494 -0.000 -1.620 0.00° +floor 3.510 0.002 4.565 0.007 0.001 -0.108 -0.02° +_scene_ 0.073 0.005 0.030 -5.668 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.793, 0.002, 2.092] + !! OVERLAP: wardrobe <-> floor depth=[1.472, 0.002, 0.554] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0080, Walkable Loss: 1.0038 (C1 Heatmap: 0.5764, C2 Repulsion: 2.7132), Relational Loss: 0.0010 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.648 0.727 0.661 1.120 0.002 -1.179 0.20° +chair 0.409 0.671 0.510 1.884 0.001 -0.563 -179.76° +wardrobe 0.937 2.087 0.377 -1.914 0.001 -0.269 89.88° +cabinet 0.597 1.000 0.354 1.920 0.001 1.454 179.97° +nightstand 0.645 0.822 0.422 -1.095 -0.000 -1.242 0.07° +bed 1.263 1.032 1.444 -0.145 0.038 0.315 -0.49° +lamp 0.545 0.273 0.525 0.304 2.299 0.098 -0.03° +floor 5.131 -0.003 3.237 0.070 -0.001 0.004 -0.04° +_scene_ 0.072 0.000 0.018 -5.669 -0.004 -5.714 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.648, -0.003, 0.661] + !! OVERLAP: chair <-> floor depth=[0.409, -0.003, 0.510] + !! OVERLAP: wardrobe <-> floor depth=[0.937, -0.003, 0.377] + !! OVERLAP: cabinet <-> floor depth=[0.597, -0.003, 0.346] + !! OVERLAP: nightstand <-> floor depth=[0.645, -0.003, 0.422] + !! OVERLAP: bed <-> floor depth=[1.263, -0.003, 1.444] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0443, Walkable Loss: 0.7319 (C1 Heatmap: 0.5553, C2 Repulsion: 1.4385), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.888 0.963 2.014 -0.266 -0.000 0.060 89.84° +nightstand 0.518 0.519 0.396 -1.231 0.002 -1.223 90.00° +nightstand 0.490 0.570 0.426 -1.292 0.005 1.259 90.01° +lamp 0.780 0.804 0.678 0.049 1.812 -0.100 0.06° +floor 3.023 -0.003 3.885 0.019 0.001 0.005 -0.01° +_scene_ 0.068 0.001 0.017 -5.673 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.164, 0.570, 0.021] + !! OVERLAP: bed <-> floor depth=[1.888, -0.003, 2.014] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.003, 0.396] + !! OVERLAP: nightstand <-> floor depth=[0.446, -0.003, 0.426] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0504, Walkable Loss: 0.7116 (C1 Heatmap: 0.4369, C2 Repulsion: 1.8105), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.103 1.218 1.481 0.780 0.006 -0.660 -2.88° +nightstand 0.644 0.481 0.453 -0.441 0.000 -1.409 -0.04° +table 0.951 1.054 0.444 1.465 0.002 1.862 179.98° +chair 0.435 0.399 0.393 1.158 0.001 0.992 0.06° +wardrobe 1.167 2.146 0.424 -1.371 -0.003 -0.692 90.11° +lamp 0.544 0.166 0.540 0.252 2.385 0.090 -0.01° +floor 3.920 -0.002 4.202 0.056 0.000 0.031 -0.02° +_scene_ 0.072 0.000 0.022 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.103, -0.002, 1.481] + !! OVERLAP: nightstand <-> floor depth=[0.644, -0.002, 0.453] + !! OVERLAP: table <-> floor depth=[0.951, -0.002, 0.444] + !! OVERLAP: chair <-> floor depth=[0.435, -0.002, 0.393] + !! OVERLAP: wardrobe <-> floor depth=[1.117, -0.002, 0.424] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0570, Walkable Loss: 0.6572 (C1 Heatmap: 0.4672, C2 Repulsion: 1.4170), Relational Loss: 0.0320 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.105 1.493 1.571 0.176 -0.035 -0.616 -1.56° +nightstand 0.465 0.661 0.349 -1.128 0.002 -1.445 -0.00° +nightstand 0.482 0.679 0.493 1.312 0.001 -1.405 0.01° +shelf 0.527 1.078 0.303 -1.316 0.000 1.410 180.00° +tv_stand 1.804 0.622 0.377 0.672 0.002 1.526 180.00° +lamp 0.703 0.557 0.708 0.294 2.100 -0.160 -0.01° +floor 3.630 -0.000 3.339 0.003 0.000 -0.012 -0.01° +_scene_ 0.073 -0.000 0.026 -5.670 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.105, -0.000, 1.571] + !! OVERLAP: nightstand <-> floor depth=[0.465, -0.000, 0.349] + !! OVERLAP: nightstand <-> floor depth=[0.482, -0.000, 0.493] + !! OVERLAP: shelf <-> floor depth=[0.527, -0.000, 0.303] + !! OVERLAP: tv_stand <-> floor depth=[1.804, -0.000, 0.320] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0489, Walkable Loss: 0.6505 (C1 Heatmap: 0.4407, C2 Repulsion: 1.4898), Relational Loss: 0.0553 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.877 0.891 0.884 -0.014 1.737 0.005 0.05° +bed 1.571 1.128 1.813 -0.472 -0.013 -0.599 -0.80° +nightstand 0.357 0.561 0.257 -1.644 -0.001 -1.436 0.17° +chair 0.352 0.576 0.361 1.597 0.001 -0.671 -173.46° +table 0.715 1.706 0.263 1.615 0.000 -1.374 -90.20° +floor 4.875 -0.003 3.034 0.055 0.000 0.001 -0.03° +_scene_ 0.066 0.001 0.022 -5.672 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.571, -0.003, 1.813] + !! OVERLAP: nightstand <-> floor depth=[0.357, -0.003, 0.208] + !! OVERLAP: chair <-> floor depth=[0.352, -0.003, 0.361] + !! OVERLAP: table <-> floor depth=[0.715, -0.003, 0.263] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0398, Walkable Loss: 0.8824 (C1 Heatmap: 0.5126, C2 Repulsion: 2.3616), Relational Loss: 0.0279 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.062 1.312 1.680 -0.407 0.004 -0.784 0.26° +nightstand 0.425 0.813 0.314 0.875 0.000 -1.438 0.04° +nightstand 0.476 0.805 0.322 -1.652 0.000 -1.394 0.01° +chair 1.183 0.498 0.663 -0.459 -0.001 0.787 -0.01° +lamp 0.546 0.851 0.504 -0.296 1.970 -0.012 0.01° +wardrobe 1.389 2.390 0.432 1.296 0.010 -0.233 -90.18° +floor 4.133 -0.002 3.116 -0.089 0.000 -0.039 -0.03° +_scene_ 0.063 0.000 0.022 -5.671 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.062, -0.002, 1.653] + !! OVERLAP: nightstand <-> floor depth=[0.425, -0.002, 0.314] + !! OVERLAP: nightstand <-> floor depth=[0.476, -0.002, 0.322] + !! OVERLAP: chair <-> floor depth=[1.183, -0.002, 0.663] + !! OVERLAP: wardrobe <-> floor depth=[1.377, -0.002, 0.432] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0163, Walkable Loss: 0.8743 (C1 Heatmap: 0.5460, C2 Repulsion: 2.1871), Relational Loss: 0.0312 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.939 0.858 1.474 0.850 0.010 0.520 -89.88° +wardrobe 1.961 2.303 0.611 0.432 -0.001 -1.586 0.06° +nightstand 0.432 0.491 0.312 1.202 -0.000 -0.649 -90.07° +nightstand 0.447 0.483 0.426 1.236 0.000 1.584 -89.91° +lamp 0.574 0.132 0.591 -0.027 2.402 0.174 -0.03° +tv_stand 1.364 0.607 0.387 -0.979 0.010 0.466 89.02° +floor 3.298 -0.003 4.183 0.005 -0.000 0.061 -0.04° +_scene_ 0.072 0.001 0.025 -5.669 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.939, -0.003, 1.474] + !! OVERLAP: wardrobe <-> floor depth=[1.961, -0.003, 0.611] + !! OVERLAP: nightstand <-> floor depth=[0.432, -0.003, 0.312] + !! OVERLAP: nightstand <-> floor depth=[0.447, -0.003, 0.426] + !! OVERLAP: tv_stand <-> floor depth=[1.348, -0.003, 0.387] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0410, Walkable Loss: 0.7342 (C1 Heatmap: 0.3665, C2 Repulsion: 2.2049), Relational Loss: 0.0514 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.452 2.342 0.342 -1.358 -0.003 -0.858 89.95° +bed 0.719 1.098 1.905 0.372 0.003 -0.489 0.08° +nightstand 0.378 0.486 0.354 1.317 0.001 -1.295 0.03° +nightstand 0.416 0.471 0.389 -0.769 0.001 -0.906 0.00° +floor 3.996 -0.002 3.093 -0.045 0.000 -0.004 -0.04° +_scene_ 0.071 0.000 0.020 -5.671 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.345, 0.471, 0.317] + !! OVERLAP: wardrobe <-> floor depth=[1.411, -0.002, 0.342] + !! OVERLAP: bed <-> floor depth=[0.719, -0.002, 1.905] + !! OVERLAP: nightstand <-> floor depth=[0.378, -0.002, 0.354] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.002, 0.389] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0072, Room Outer Loss: 0.0247, Walkable Loss: 0.9182 (C1 Heatmap: 0.5599, C2 Repulsion: 2.3511), Relational Loss: 0.0234 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.994 1.366 1.877 -0.818 0.004 -0.226 90.75° +nightstand 0.482 0.527 0.287 -1.454 0.004 1.258 89.94° +wardrobe 2.132 2.579 0.273 -0.481 -0.003 1.488 -179.88° +chair 0.672 0.834 0.525 -1.375 0.001 -1.635 9.30° +tv_stand 1.059 0.470 0.188 1.237 0.000 -0.881 -90.08° +lamp 0.627 0.119 0.582 0.003 2.473 -0.364 -0.02° +floor 3.469 -0.001 4.297 0.007 -0.000 -0.050 0.00° +_scene_ 0.071 -0.000 0.021 -5.674 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.994, -0.001, 1.877] + !! OVERLAP: nightstand <-> wardrobe depth=[0.334, 0.527, 0.049] + !! OVERLAP: nightstand <-> floor depth=[0.482, -0.001, 0.287] + !! OVERLAP: wardrobe <-> floor depth=[2.132, -0.001, 0.273] + !! OVERLAP: chair <-> floor depth=[0.672, -0.001, 0.525] + !! OVERLAP: tv_stand <-> floor depth=[1.034, -0.001, 0.188] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6944 (C1 Heatmap: 0.5354, C2 Repulsion: 1.3303), Relational Loss: 0.0297 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.021 0.773 1.289 0.215 0.002 -0.662 -92.80° +wardrobe 2.593 2.460 0.715 -0.134 0.009 1.287 -179.92° +chair 0.397 1.038 0.394 0.141 0.003 -1.644 -112.58° +floor 2.971 -0.001 3.860 -0.018 0.001 -0.013 -0.02° +_scene_ 0.045 0.016 0.035 -5.545 -0.006 -5.616 -57.79° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.021, -0.001, 1.289] + !! OVERLAP: wardrobe <-> floor depth=[2.593, -0.001, 0.715] + !! OVERLAP: chair <-> floor depth=[0.397, -0.001, 0.394] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6723 (C1 Heatmap: 0.3608, C2 Repulsion: 1.9185), Relational Loss: 0.0637 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.668 1.111 1.396 0.541 -0.006 -0.593 -1.00° +nightstand 0.372 0.617 0.279 -0.528 -0.003 -1.099 0.12° +wardrobe 2.598 2.617 0.000 -0.872 0.027 -0.126 91.26° +nightstand 0.432 0.541 0.343 1.574 0.005 -1.156 0.06° +lamp 0.656 0.924 0.612 0.142 2.061 0.058 0.05° +floor 4.421 0.000 2.741 -0.005 -0.001 -0.004 -0.02° +_scene_ 0.065 -0.000 0.016 -5.672 -0.006 -5.720 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.220, 1.111, 0.000] + !! OVERLAP: bed <-> floor depth=[0.668, 0.000, 1.396] + !! OVERLAP: nightstand <-> floor depth=[0.372, 0.000, 0.279] + !! OVERLAP: wardrobe <-> floor depth=[2.598, 0.000, 0.000] + !! OVERLAP: nightstand <-> floor depth=[0.432, 0.000, 0.343] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6304 (C1 Heatmap: 0.5039, C2 Repulsion: 1.1360), Relational Loss: 0.0694 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.422 0.530 0.372 1.240 0.000 -1.693 -0.01° +nightstand 0.433 0.541 0.369 -1.400 -0.000 -1.469 0.07° +lamp 1.018 0.997 0.981 -0.113 1.974 -0.226 0.01° +bed 1.644 1.119 2.147 -0.041 -0.006 -0.694 0.00° +floor 4.211 -0.002 3.744 -0.008 -0.000 -0.062 -0.00° +_scene_ 0.066 0.001 0.018 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.002, 0.372] + !! OVERLAP: nightstand <-> floor depth=[0.433, -0.002, 0.369] + !! OVERLAP: bed <-> floor depth=[1.644, -0.002, 2.147] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0906, Walkable Loss: 0.7817 (C1 Heatmap: 0.4200, C2 Repulsion: 2.2286), Relational Loss: 0.0529 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.240 0.654 0.186 1.649 0.002 1.371 -90.07° +nightstand 0.551 0.673 0.532 1.411 -0.001 -1.062 0.02° +nightstand 0.457 0.868 0.316 -0.851 -0.000 -0.983 0.11° +bed 1.231 1.070 1.675 0.142 0.021 0.024 0.30° +wardrobe 1.032 2.589 0.400 -1.406 0.003 -0.231 90.20° +lamp 0.835 0.910 0.813 0.079 1.921 0.035 0.02° +floor 3.650 -0.001 3.077 -0.006 0.001 0.036 -0.04° +_scene_ 0.068 0.000 0.022 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.240, -0.001, 0.186] + !! OVERLAP: nightstand <-> floor depth=[0.551, -0.001, 0.532] + !! OVERLAP: nightstand <-> floor depth=[0.457, -0.001, 0.316] + !! OVERLAP: bed <-> floor depth=[1.231, -0.001, 1.675] + !! OVERLAP: wardrobe <-> floor depth=[0.942, -0.001, 0.400] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1141, Walkable Loss: 0.5138 (C1 Heatmap: 0.5291, C2 Repulsion: 0.4527), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.758 0.741 1.451 -0.914 -0.007 -0.280 90.60° +wardrobe 1.781 2.430 0.626 1.174 0.008 -0.134 -89.85° +lamp 0.621 0.808 0.541 -0.411 1.824 -0.733 179.82° +floor 4.013 -0.000 3.720 -0.056 -0.001 -0.154 -0.03° +_scene_ 0.051 0.000 0.009 -5.681 -0.005 -5.717 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.758, -0.000, 1.451] + !! OVERLAP: wardrobe <-> floor depth=[1.667, -0.000, 0.626] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0031, Walkable Loss: 0.6960 (C1 Heatmap: 0.4309, C2 Repulsion: 1.7565), Relational Loss: 0.0429 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.868 1.120 0.406 -2.327 -0.002 -1.245 0.04° +nightstand 0.497 0.570 0.389 0.354 0.000 -1.271 0.06° +chair 0.303 0.447 0.196 -2.115 0.004 -0.573 -90.85° +bed 0.736 1.504 1.675 -0.843 -0.035 -0.438 -1.64° +cabinet 0.739 1.042 0.348 -2.227 0.002 1.495 -179.99° +lamp 0.765 0.836 0.778 -1.028 1.897 -0.005 -0.04° +wardrobe 2.163 2.272 -0.068 0.859 -0.015 0.500 -89.05° +floor 6.088 -0.002 3.143 -0.533 -0.001 0.109 0.01° +_scene_ 0.072 0.000 0.020 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.868, -0.002, 0.406] + !! OVERLAP: nightstand <-> floor depth=[0.497, -0.002, 0.386] + !! OVERLAP: chair <-> floor depth=[0.303, -0.002, 0.196] + !! OVERLAP: bed <-> floor depth=[0.736, -0.002, 1.675] + !! OVERLAP: cabinet <-> floor depth=[0.739, -0.002, 0.348] + !! OVERLAP: wardrobe <-> floor depth=[2.163, -0.002, -0.068] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0832, Walkable Loss: 0.7201 (C1 Heatmap: 0.3948, C2 Repulsion: 2.0214), Relational Loss: 0.0267 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.863 1.459 0.313 1.511 0.001 1.412 179.96° +bed 1.084 1.840 0.939 0.252 -0.036 -1.118 0.93° +nightstand 0.580 0.558 0.385 -1.003 0.003 -1.429 -0.00° +nightstand 0.524 0.620 0.428 1.519 0.001 -1.363 -0.03° +lamp 0.605 1.547 0.582 0.163 1.207 0.108 -0.22° +wardrobe 1.225 2.314 0.519 -1.375 -0.009 -0.289 90.03° +floor 3.847 -0.002 3.257 0.004 0.000 -0.017 -0.02° +_scene_ 0.070 0.000 0.022 -5.674 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.848, -0.002, 0.313] + !! OVERLAP: bed <-> floor depth=[1.084, -0.002, 0.939] + !! OVERLAP: nightstand <-> floor depth=[0.580, -0.002, 0.385] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.002, 0.428] + !! OVERLAP: wardrobe <-> floor depth=[1.157, -0.002, 0.519] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0033, Room Outer Loss: 0.0029, Walkable Loss: 0.8890 (C1 Heatmap: 0.5413, C2 Repulsion: 2.2795), Relational Loss: 0.0190 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.395 2.142 1.089 -0.783 -0.016 0.351 91.23° +nightstand 0.369 0.448 0.259 -1.423 0.003 -0.134 90.04° +nightstand 0.436 0.476 0.359 -1.398 0.001 1.578 90.02° +tv_stand 1.535 0.553 0.412 0.853 0.003 0.294 -90.68° +lamp 0.570 0.958 0.517 -0.048 1.585 0.434 0.08° +wardrobe 1.917 2.378 0.479 -0.545 -0.002 -1.763 0.10° +floor 3.280 -0.002 4.350 -0.022 0.001 -0.014 -0.03° +_scene_ 0.070 -0.001 0.021 -5.669 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.242, 0.448, 0.189] + !! OVERLAP: bed <-> floor depth=[1.395, -0.002, 1.089] + !! OVERLAP: nightstand <-> floor depth=[0.369, -0.002, 0.259] + !! OVERLAP: nightstand <-> floor depth=[0.436, -0.002, 0.359] + !! OVERLAP: tv_stand <-> floor depth=[1.533, -0.002, 0.412] + !! OVERLAP: wardrobe <-> floor depth=[1.917, -0.002, 0.479] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8410 (C1 Heatmap: 0.6266, C2 Repulsion: 1.6983), Relational Loss: 0.0008 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.082 0.977 2.040 0.217 -0.001 1.234 -179.70° +wardrobe 1.222 2.321 0.628 -1.717 -0.002 -1.511 0.03° +tv_stand 1.856 0.502 0.458 0.155 0.001 -1.458 -0.03° +table 0.477 1.137 0.399 -0.938 0.002 1.711 89.95° +table 0.484 1.173 0.289 2.054 0.002 1.887 -90.06° +lamp 0.969 0.886 0.948 0.181 1.782 0.426 0.02° +floor 4.702 -0.003 4.761 -0.005 -0.000 0.128 -0.01° +_scene_ 0.073 0.001 0.021 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.082, -0.003, 2.040] + !! OVERLAP: wardrobe <-> floor depth=[1.222, -0.003, 0.628] + !! OVERLAP: tv_stand <-> floor depth=[1.856, -0.003, 0.458] + !! OVERLAP: table <-> floor depth=[0.477, -0.003, 0.399] + !! OVERLAP: table <-> floor depth=[0.484, -0.003, 0.289] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0744, Walkable Loss: 0.3459 (C1 Heatmap: 0.2665, C2 Repulsion: 0.6634), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.974 1.474 0.712 -0.388 -0.045 -0.248 -91.25° +cabinet 1.297 0.936 0.355 0.473 -0.000 1.759 179.95° +nightstand 0.646 0.788 0.522 1.137 0.000 -1.429 -90.12° +nightstand 0.492 0.751 0.547 1.092 0.001 0.928 -90.10° +lamp 0.455 0.333 0.460 -0.035 2.315 -0.173 -0.02° +floor 2.849 -0.002 3.955 -0.039 0.000 -0.011 0.01° +_scene_ 0.064 0.000 0.016 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.974, -0.002, 0.712] + !! OVERLAP: cabinet <-> floor depth=[1.297, -0.002, 0.355] + !! OVERLAP: nightstand <-> floor depth=[0.572, -0.002, 0.522] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.002, 0.547] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6052 (C1 Heatmap: 0.4536, C2 Repulsion: 1.2114), Relational Loss: 0.0468 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.272 2.293 0.297 -0.189 -0.008 -1.995 0.05° +bed 1.168 0.903 1.450 -0.678 -0.017 0.575 90.40° +nightstand 0.397 0.534 0.237 -1.400 0.001 -0.990 90.01° +nightstand 0.444 0.523 0.367 -1.348 0.000 1.610 90.01° +lamp 0.694 0.292 0.684 -0.036 2.143 0.091 0.02° +floor 3.431 -0.000 4.372 -0.016 -0.000 -0.010 -0.03° +_scene_ 0.070 -0.002 0.017 -5.669 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.272, -0.000, 0.297] + !! OVERLAP: bed <-> floor depth=[1.168, -0.000, 1.450] + !! OVERLAP: nightstand <-> floor depth=[0.397, -0.000, 0.237] + !! OVERLAP: nightstand <-> floor depth=[0.444, -0.000, 0.367] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0008, Room Outer Loss: 0.0000, Walkable Loss: 0.7027 (C1 Heatmap: 0.3677, C2 Repulsion: 2.0424), Relational Loss: 0.0517 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.008 0.986 1.536 0.157 -0.007 0.374 -179.54° +lamp 0.549 0.351 0.486 0.175 2.345 0.046 -0.03° +wardrobe 1.553 2.286 0.321 -1.270 0.010 0.385 89.84° +nightstand 0.382 0.626 0.308 -0.945 -0.001 1.217 179.78° +nightstand 0.445 0.643 0.383 1.463 0.002 1.035 179.95° +floor 4.092 0.000 2.890 -0.007 0.000 -0.019 0.00° +_scene_ 0.065 -0.002 0.019 -5.676 -0.005 -5.716 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.008, 0.000, 1.536] + !! OVERLAP: wardrobe <-> floor depth=[1.553, 0.000, 0.321] + !! OVERLAP: nightstand <-> floor depth=[0.382, 0.000, 0.308] + !! OVERLAP: nightstand <-> floor depth=[0.445, 0.000, 0.383] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0036, Room Outer Loss: 0.1702, Walkable Loss: 1.1519 (C1 Heatmap: 0.5783, C2 Repulsion: 3.4464), Relational Loss: 0.0093 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.482 0.964 1.742 0.715 -0.002 -0.411 0.18° +table 1.028 1.095 0.267 0.390 0.002 -1.391 0.03° +wardrobe 1.598 2.118 0.389 -1.000 0.007 0.362 89.48° +lamp 0.580 0.414 0.542 0.189 2.276 -0.027 -0.01° +chair 0.419 0.686 0.381 -0.555 -0.000 -0.604 -158.65° +bookshelf 0.684 1.653 0.300 1.219 0.002 1.132 -179.99° +floor 3.245 -0.002 3.108 -0.007 0.001 -0.013 -0.02° +_scene_ 0.070 -0.000 0.022 -5.670 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.930, 0.964, 0.024] + !! OVERLAP: bed <-> floor depth=[1.482, -0.002, 1.742] + !! OVERLAP: table <-> floor depth=[1.028, -0.002, 0.267] + !! OVERLAP: wardrobe <-> floor depth=[1.428, -0.002, 0.389] + !! OVERLAP: chair <-> floor depth=[0.419, -0.002, 0.381] + !! OVERLAP: bookshelf <-> floor depth=[0.684, -0.002, 0.300] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0190 (C1 Heatmap: 0.4506, C2 Repulsion: 3.2923), Relational Loss: 0.0232 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.541 2.496 0.241 -1.650 0.001 0.375 90.72° +bed 1.000 0.734 0.894 0.461 -0.005 0.559 -176.11° +nightstand 0.495 0.765 0.423 1.816 0.003 1.389 179.94° +nightstand 0.427 0.842 0.312 -0.971 0.003 1.466 179.97° +cabinet 1.447 0.895 0.346 0.048 0.002 -1.469 -0.05° +table 0.408 1.610 0.381 1.928 -0.011 -1.019 -41.00° +lamp 0.333 0.869 0.365 -1.429 1.326 1.451 0.00° +lamp 0.602 0.903 0.552 1.696 1.124 1.518 -0.25° +lamp 0.522 0.155 0.521 0.162 2.359 0.091 -0.01° +floor 4.854 -0.004 3.603 -0.037 -0.000 0.015 -0.10° +_scene_ 0.069 0.000 0.023 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.541, -0.004, 0.241] + !! OVERLAP: bed <-> floor depth=[1.000, -0.004, 0.894] + !! OVERLAP: nightstand <-> floor depth=[0.495, -0.004, 0.423] + !! OVERLAP: nightstand <-> floor depth=[0.427, -0.004, 0.312] + !! OVERLAP: cabinet <-> floor depth=[1.447, -0.004, 0.346] + !! OVERLAP: table <-> floor depth=[0.408, -0.004, 0.381] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6020 (C1 Heatmap: 0.4026, C2 Repulsion: 1.3997), Relational Loss: 0.0405 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.303 0.457 0.220 1.107 0.004 -0.439 -90.00° +lamp 0.868 0.647 0.851 0.083 2.032 0.653 0.05° +bed 1.206 1.160 1.615 0.628 -0.012 0.650 -90.49° +wardrobe 1.526 2.348 0.449 0.475 0.003 -1.116 0.17° +floor 3.077 -0.000 3.658 -0.020 0.001 0.128 -0.04° +_scene_ 0.073 0.000 0.020 -5.669 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.303, -0.000, 0.220] + !! OVERLAP: bed <-> floor depth=[1.206, -0.000, 1.615] + !! OVERLAP: wardrobe <-> floor depth=[1.526, -0.000, 0.449] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0552, Walkable Loss: 0.6945 (C1 Heatmap: 0.6228, C2 Repulsion: 0.9813), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.433 0.795 1.717 0.715 -0.005 -0.802 -0.01° +tv_stand 1.865 0.533 0.362 0.659 0.001 1.320 179.96° +wardrobe 1.699 2.466 0.420 -1.149 -0.003 -0.303 89.96° +lamp 0.394 0.866 0.386 0.439 1.806 -0.516 -0.06° +floor 3.900 -0.000 3.551 0.007 -0.000 0.015 -0.03° +_scene_ 0.071 0.002 0.023 -5.666 -0.004 -5.714 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.433, -0.000, 1.717] + !! OVERLAP: tv_stand <-> floor depth=[1.865, -0.000, 0.362] + !! OVERLAP: wardrobe <-> floor depth=[1.644, -0.000, 0.420] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5174 (C1 Heatmap: 0.3727, C2 Repulsion: 1.0960), Relational Loss: 0.0168 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.965 0.959 0.957 -0.053 2.217 -0.056 0.02° +wardrobe 1.081 1.680 0.312 0.388 0.009 1.398 -179.60° +bed 1.350 0.904 1.474 0.280 -0.014 -0.610 -0.49° +nightstand 0.453 0.457 0.372 -1.309 0.001 -1.541 -0.01° +nightstand 0.387 0.470 0.316 1.131 0.000 -1.558 0.04° +floor 3.150 -0.002 3.750 -0.001 0.001 -0.006 -0.01° +_scene_ 0.074 -0.001 0.024 -5.669 -0.003 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.081, -0.002, 0.312] + !! OVERLAP: bed <-> floor depth=[1.350, -0.002, 1.474] + !! OVERLAP: nightstand <-> floor depth=[0.453, -0.002, 0.372] + !! OVERLAP: nightstand <-> floor depth=[0.387, -0.002, 0.316] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0096, Walkable Loss: 0.7653 (C1 Heatmap: 0.5778, C2 Repulsion: 1.5156), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.805 2.032 1.706 0.278 -0.001 -0.267 -89.80° +wardrobe 0.946 1.676 0.272 0.715 -0.003 -1.800 0.19° +lamp 0.480 0.379 0.476 -0.068 2.468 -0.158 -0.10° +desk 1.183 0.796 0.693 0.772 -0.002 1.384 -90.19° +floor 2.717 0.003 3.845 -0.005 0.001 -0.035 -0.04° +_scene_ 0.075 -0.001 0.023 -5.666 -0.005 -5.704 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.805, 0.003, 1.706] + !! OVERLAP: wardrobe <-> floor depth=[0.946, 0.003, 0.272] + !! OVERLAP: desk <-> floor depth=[1.173, 0.003, 0.693] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.1856 (C1 Heatmap: 0.0975, C2 Repulsion: 0.5379), Relational Loss: 0.0120 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.514 1.560 1.186 0.750 -0.026 -0.219 -87.40° +table 0.087 0.800 0.160 0.950 -0.001 -0.776 -89.57° +lamp 0.419 0.558 0.313 0.118 2.237 -0.056 -0.04° +floor 2.883 -0.003 4.080 -0.033 -0.000 -0.003 -0.01° +_scene_ 0.046 0.010 0.011 -5.612 -0.005 -5.676 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.087, 0.800, 0.116] + !! OVERLAP: bed <-> floor depth=[0.514, -0.003, 1.186] + !! OVERLAP: table <-> floor depth=[0.087, -0.003, 0.160] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0274, Walkable Loss: 0.7117 (C1 Heatmap: 0.4167, C2 Repulsion: 1.8916), Relational Loss: 0.0192 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.843 0.781 0.820 -0.053 2.040 0.614 0.02° +wardrobe 0.842 2.240 0.403 0.367 0.004 -2.178 0.17° +wardrobe 0.901 2.130 0.332 1.206 0.011 -1.449 0.13° +bed 0.766 1.463 1.372 1.003 -0.038 0.513 -89.50° +nightstand 0.404 0.553 0.452 1.443 0.000 -0.758 -90.02° +nightstand 0.493 0.572 0.421 1.471 0.001 1.966 -90.03° +cabinet 0.920 0.791 0.303 -1.401 0.005 0.916 89.95° +chair 0.650 0.845 0.548 -1.043 -0.000 -1.898 38.69° +table 0.315 0.470 0.296 -1.130 0.001 -0.996 8.12° +floor 3.619 0.001 4.887 -0.024 0.002 0.036 -0.03° +_scene_ 0.070 -0.000 0.021 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.842, 0.001, 0.403] + !! OVERLAP: wardrobe <-> floor depth=[0.901, 0.001, 0.332] + !! OVERLAP: bed <-> floor depth=[0.766, 0.001, 1.372] + !! OVERLAP: nightstand <-> floor depth=[0.404, 0.001, 0.452] + !! OVERLAP: nightstand <-> floor depth=[0.493, 0.001, 0.421] + !! OVERLAP: cabinet <-> floor depth=[0.893, 0.001, 0.303] + !! OVERLAP: chair <-> floor depth=[0.650, 0.001, 0.548] + !! OVERLAP: table <-> floor depth=[0.315, 0.001, 0.296] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8128 (C1 Heatmap: 0.4482, C2 Repulsion: 2.2709), Relational Loss: 0.0395 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.326 2.320 0.466 1.226 -0.000 -0.560 -89.94° +bed 1.169 1.233 1.830 -0.474 -0.001 -0.566 0.66° +nightstand 0.449 0.638 0.363 -1.757 -0.001 -1.186 0.03° +nightstand 0.433 0.596 0.353 0.636 0.002 -1.298 -0.03° +lamp 0.868 1.112 0.884 -0.340 1.656 -0.007 0.01° +floor 3.933 -0.002 3.066 -0.056 -0.000 -0.006 -0.02° +_scene_ 0.067 -0.000 0.018 -5.668 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.326, -0.002, 0.466] + !! OVERLAP: bed <-> floor depth=[1.169, -0.002, 1.830] + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.002, 0.363] + !! OVERLAP: nightstand <-> floor depth=[0.433, -0.002, 0.353] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0120, Walkable Loss: 0.5723 (C1 Heatmap: 0.5870, C2 Repulsion: 0.5138), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.729 0.822 1.819 -1.012 0.006 -0.870 -0.17° +wardrobe 1.384 2.522 0.526 1.387 -0.001 -0.743 -90.13° +table 0.965 1.121 0.558 -1.625 0.001 1.469 -179.98° +lamp 0.591 0.422 0.597 -0.162 2.351 -0.236 0.03° +floor 4.312 -0.002 4.659 -0.088 0.000 0.111 -0.03° +_scene_ 0.072 -0.001 0.021 -5.676 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.729, -0.002, 1.819] + !! OVERLAP: wardrobe <-> floor depth=[1.372, -0.002, 0.526] + !! OVERLAP: table <-> floor depth=[0.965, -0.002, 0.558] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5258 (C1 Heatmap: 0.5597, C2 Repulsion: 0.3900), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.715 1.054 0.737 0.164 1.648 0.246 -0.04° +bed 1.725 0.992 2.018 0.257 -0.002 0.203 -90.22° +wardrobe 1.387 1.995 0.368 0.354 -0.001 -1.892 0.05° +floor 2.786 -0.003 4.344 0.022 -0.002 0.025 -0.01° +_scene_ 0.061 -0.001 0.022 -5.664 -0.006 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.725, -0.003, 2.018] + !! OVERLAP: wardrobe <-> floor depth=[1.387, -0.003, 0.368] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 0.4131 (C1 Heatmap: 0.1839, C2 Repulsion: 1.3301), Relational Loss: 0.0364 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.429 1.075 1.354 0.015 0.007 0.398 179.82° +nightstand 0.313 0.440 0.288 -1.132 0.000 1.064 179.88° +desk 0.783 1.153 0.181 1.169 0.010 0.914 179.88° +chair 0.378 0.765 0.395 1.470 0.006 0.139 -20.31° +wardrobe 1.319 2.134 -0.289 -0.985 -0.043 0.369 89.67° +lamp 0.614 0.228 0.604 -0.168 2.347 -0.073 -0.00° +floor 3.932 -0.001 2.472 -0.024 0.000 -0.015 -0.01° +_scene_ 0.069 -0.000 0.022 -5.672 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.429, -0.001, 1.354] + !! OVERLAP: nightstand <-> floor depth=[0.313, -0.001, 0.288] + !! OVERLAP: desk <-> floor depth=[0.783, -0.001, 0.181] + !! OVERLAP: chair <-> floor depth=[0.378, -0.001, 0.395] + !! OVERLAP: wardrobe <-> floor depth=[1.319, -0.001, -0.289] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0785, Walkable Loss: 0.5545 (C1 Heatmap: 0.4273, C2 Repulsion: 1.0629), Relational Loss: 0.0295 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.849 1.346 0.457 1.412 0.004 -0.739 -90.05° +table 1.057 1.251 0.549 1.481 -0.001 0.919 -90.25° +nightstand 0.424 0.643 0.323 -1.804 0.003 -1.661 90.07° +chair 0.962 0.464 0.425 -0.085 -0.001 -0.552 0.04° +bed 0.759 1.382 1.237 -1.583 -0.027 0.034 90.10° +nightstand 0.518 0.685 0.404 -1.774 0.002 1.202 90.01° +chair 0.529 0.816 0.573 -0.214 -0.000 1.343 90.00° +floor 3.998 -0.002 4.181 -0.068 -0.000 0.011 -0.01° +_scene_ 0.069 -0.000 0.022 -5.677 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.849, -0.002, 0.457] + !! OVERLAP: table <-> floor depth=[0.978, -0.002, 0.549] + !! OVERLAP: nightstand <-> floor depth=[0.424, -0.002, 0.323] + !! OVERLAP: chair <-> floor depth=[0.962, -0.002, 0.425] + !! OVERLAP: bed <-> floor depth=[0.759, -0.002, 1.237] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.002, 0.404] + !! OVERLAP: chair <-> floor depth=[0.529, -0.002, 0.573] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4067 (C1 Heatmap: 0.3171, C2 Repulsion: 0.7650), Relational Loss: 0.0167 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.934 1.412 1.475 -0.276 -0.013 1.151 -178.56° +nightstand 0.416 0.510 0.360 1.621 0.005 1.545 179.80° +nightstand 0.384 0.608 0.258 -1.427 0.001 1.699 179.96° +table 0.755 1.042 0.420 1.456 -0.000 -1.177 0.12° +chair 0.569 0.508 0.556 -0.178 -0.001 -0.437 0.10° +floor 3.780 -0.001 3.978 0.005 0.001 -0.024 -0.04° +_scene_ 0.068 0.003 0.023 -5.666 -0.004 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.934, -0.001, 1.475] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.001, 0.360] + !! OVERLAP: nightstand <-> floor depth=[0.384, -0.001, 0.258] + !! OVERLAP: table <-> floor depth=[0.755, -0.001, 0.420] + !! OVERLAP: chair <-> floor depth=[0.569, -0.001, 0.556] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4338 (C1 Heatmap: 0.3927, C2 Repulsion: 0.5984), Relational Loss: 0.0449 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.427 1.156 1.978 0.485 -0.009 -0.000 -89.43° +nightstand 0.233 0.471 0.231 1.166 -0.002 -1.003 -89.97° +lamp 0.675 0.979 0.658 0.031 1.778 0.102 -0.03° +floor 2.996 -0.003 3.700 -0.001 0.001 -0.019 -0.03° +_scene_ 0.068 0.001 0.019 -5.669 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.149, 0.471, 0.101] + !! OVERLAP: bed <-> floor depth=[1.427, -0.003, 1.978] + !! OVERLAP: nightstand <-> floor depth=[0.233, -0.003, 0.231] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0151, Walkable Loss: 0.8298 (C1 Heatmap: 0.6327, C2 Repulsion: 1.6180), Relational Loss: 0.0481 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.549 1.237 1.708 -0.046 0.008 0.817 179.31° +wardrobe 2.135 2.411 0.513 0.821 -0.004 -1.165 -0.00° +nightstand 0.565 0.489 0.499 1.594 0.001 1.697 179.94° +nightstand 0.496 0.502 0.372 -1.288 0.001 1.635 179.91° +lamp 0.499 0.988 0.481 -1.186 1.537 1.394 0.09° +lamp 0.615 0.767 0.671 1.601 1.603 1.496 -0.03° +lamp 0.917 0.880 0.930 0.049 1.819 0.109 -0.04° +floor 3.871 0.001 3.890 0.001 0.001 -0.014 -0.01° +_scene_ 0.073 -0.000 0.027 -5.673 -0.005 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.549, 0.001, 1.708] + !! OVERLAP: wardrobe <-> floor depth=[2.135, 0.001, 0.513] + !! OVERLAP: nightstand <-> floor depth=[0.565, 0.001, 0.484] + !! OVERLAP: nightstand <-> floor depth=[0.496, 0.001, 0.372] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0607, Walkable Loss: 0.6287 (C1 Heatmap: 0.3506, C2 Repulsion: 1.7412), Relational Loss: 0.0286 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.320 0.523 0.343 1.361 0.001 0.797 -90.11° +nightstand 0.480 0.569 0.503 1.247 0.001 -1.313 -90.10° +bed 0.668 1.059 1.408 0.503 -0.007 -0.319 -89.20° +bookshelf 0.957 1.780 0.287 -1.120 -0.000 -1.038 89.98° +wardrobe 1.627 2.368 0.266 0.443 0.004 1.250 179.80° +lamp 0.822 0.834 0.861 -0.006 1.737 -0.187 0.01° +floor 3.069 -0.001 3.482 -0.003 0.001 -0.001 -0.03° +_scene_ 0.069 0.001 0.019 -5.673 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.320, -0.001, 0.343] + !! OVERLAP: nightstand <-> floor depth=[0.480, -0.001, 0.503] + !! OVERLAP: bed <-> floor depth=[0.668, -0.001, 1.408] + !! OVERLAP: bookshelf <-> floor depth=[0.896, -0.001, 0.287] + !! OVERLAP: wardrobe <-> floor depth=[1.627, -0.001, 0.266] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2899 (C1 Heatmap: 0.2612, C2 Repulsion: 0.4047), Relational Loss: 0.0170 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.045 0.536 0.413 1.125 -0.070 -0.121 -0.17° +wardrobe 1.796 2.204 0.471 -0.986 0.002 -0.259 90.05° +nightstand 0.491 0.404 0.416 1.462 0.004 -1.025 -0.08° +lamp 0.459 0.121 0.494 0.300 2.443 -0.094 -89.84° +floor 3.778 -0.002 2.751 0.001 -0.000 0.010 -0.06° +_scene_ 0.068 0.000 0.014 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.045, -0.002, 0.413] + !! OVERLAP: wardrobe <-> floor depth=[1.796, -0.002, 0.471] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.002, 0.416] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3342 (C1 Heatmap: 0.2542, C2 Repulsion: 0.6543), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.883 1.564 1.648 -0.095 -0.010 0.419 -179.49° +nightstand 0.422 0.503 0.282 -1.254 0.002 1.379 179.90° +nightstand 0.472 0.627 0.353 1.177 0.001 1.258 179.96° +lamp 0.538 0.748 0.554 0.058 2.107 -0.065 -0.03° +floor 3.493 -0.002 3.279 -0.001 0.001 -0.014 -0.03° +_scene_ 0.064 0.001 0.014 -5.674 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.883, -0.002, 1.648] + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.002, 0.282] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.002, 0.353] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0096, Walkable Loss: 0.6441 (C1 Heatmap: 0.4615, C2 Repulsion: 1.3744), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.060 1.032 1.430 0.344 -0.018 0.476 -178.93° +nightstand 0.409 0.479 0.306 -0.987 0.004 1.414 179.95° +nightstand 0.549 0.550 0.403 1.607 0.003 1.419 179.95° +lamp 0.696 0.769 0.678 0.163 1.905 0.083 -0.01° +wardrobe 2.004 2.416 0.542 -1.191 -0.037 -0.863 90.99° +floor 4.356 -0.003 3.365 -0.006 0.002 -0.011 -0.01° +_scene_ 0.068 -0.001 0.020 -5.678 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.060, -0.003, 1.430] + !! OVERLAP: nightstand <-> floor depth=[0.409, -0.003, 0.306] + !! OVERLAP: nightstand <-> floor depth=[0.549, -0.003, 0.403] + !! OVERLAP: wardrobe <-> floor depth=[1.994, -0.003, 0.542] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0182, Walkable Loss: 0.6163 (C1 Heatmap: 0.4399, C2 Repulsion: 1.3218), Relational Loss: 0.0212 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.962 2.228 0.469 1.229 -0.003 -2.102 0.08° +wardrobe 1.229 2.159 0.403 -0.876 -0.002 -1.760 -0.04° +bed 1.041 1.163 1.724 -0.750 0.005 0.311 89.74° +nightstand 0.384 0.540 0.363 -1.332 0.000 1.438 90.03° +nightstand 0.333 0.495 0.274 -1.284 -0.000 -0.765 90.01° +lamp 0.578 0.832 0.576 -0.220 1.845 0.201 -0.01° +floor 3.399 0.003 4.652 0.100 -0.001 0.008 0.02° +_scene_ 0.068 0.001 0.027 -5.674 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.962, 0.003, 0.450] + !! OVERLAP: wardrobe <-> floor depth=[1.229, 0.003, 0.403] + !! OVERLAP: bed <-> floor depth=[1.041, 0.003, 1.724] + !! OVERLAP: nightstand <-> floor depth=[0.384, 0.003, 0.363] + !! OVERLAP: nightstand <-> floor depth=[0.333, 0.003, 0.274] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0367, Walkable Loss: 0.7917 (C1 Heatmap: 0.5287, C2 Repulsion: 1.8437), Relational Loss: 0.0080 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.722 0.705 -0.126 -1.233 -0.089 -0.566 89.09° +bed 1.318 1.143 1.174 0.931 -0.045 -0.960 -89.56° +wardrobe 2.471 2.136 0.447 0.306 -0.001 1.379 179.88° +nightstand 0.747 0.781 0.323 1.331 0.002 0.427 -89.92° +chair 0.338 0.976 0.391 -0.635 -0.001 -0.946 -90.21° +lamp 0.695 0.100 0.765 0.196 2.524 -0.137 -0.05° +floor 3.345 -0.002 3.372 -0.005 0.001 -0.024 -0.01° +_scene_ 0.068 0.001 0.020 -5.670 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.722, -0.002, -0.126] + !! OVERLAP: bed <-> floor depth=[1.318, -0.002, 1.174] + !! OVERLAP: wardrobe <-> floor depth=[2.471, -0.002, 0.447] + !! OVERLAP: nightstand <-> floor depth=[0.710, -0.002, 0.323] + !! OVERLAP: chair <-> floor depth=[0.338, -0.002, 0.391] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7897 (C1 Heatmap: 0.4217, C2 Repulsion: 2.2618), Relational Loss: 0.0216 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.851 1.019 1.454 -0.233 -0.024 0.675 179.63° +nightstand 0.471 0.726 0.496 0.963 0.000 1.249 -179.98° +nightstand 0.571 0.648 0.357 -1.388 0.002 1.372 179.93° +wardrobe 1.552 2.512 0.367 -1.709 0.004 0.384 90.22° +chair 0.391 0.707 0.474 1.990 -0.001 -1.219 -29.61° +table 0.344 0.514 0.367 1.979 0.000 -0.431 0.02° +cabinet 0.637 1.325 0.224 2.095 0.003 1.233 179.91° +lamp 0.763 1.074 0.744 -0.154 1.710 -0.342 -0.06° +lamp 0.226 1.018 0.199 -1.215 1.730 1.115 0.03° +lamp 0.234 0.811 0.247 1.095 1.663 0.777 89.75° +floor 5.011 -0.003 3.385 -0.043 -0.000 0.038 -0.06° +_scene_ 0.071 0.000 0.024 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.851, -0.003, 1.454] + !! OVERLAP: nightstand <-> floor depth=[0.471, -0.003, 0.496] + !! OVERLAP: nightstand <-> floor depth=[0.571, -0.003, 0.357] + !! OVERLAP: wardrobe <-> floor depth=[1.552, -0.003, 0.367] + !! OVERLAP: chair <-> floor depth=[0.391, -0.003, 0.474] + !! OVERLAP: table <-> floor depth=[0.344, -0.003, 0.367] + !! OVERLAP: cabinet <-> floor depth=[0.637, -0.003, 0.224] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9044 (C1 Heatmap: 0.7395, C2 Repulsion: 1.5638), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.687 1.144 2.333 -0.003 0.002 0.259 89.84° +nightstand 0.396 0.629 0.282 -1.112 -0.002 1.374 89.99° +lamp 1.168 0.974 0.873 0.037 1.545 0.158 0.02° +wardrobe 1.912 2.380 0.602 -0.131 -0.001 -1.182 0.03° +floor 2.660 0.001 3.120 -0.006 0.001 0.015 -0.02° +_scene_ 0.067 0.001 0.020 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.671, 1.144, 0.025] + !! OVERLAP: bed <-> floor depth=[1.687, 0.001, 2.333] + !! OVERLAP: nightstand <-> floor depth=[0.396, 0.001, 0.282] + !! OVERLAP: wardrobe <-> floor depth=[1.912, 0.001, 0.602] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0975, Walkable Loss: 0.9093 (C1 Heatmap: 0.5430, C2 Repulsion: 2.3744), Relational Loss: 0.0345 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.750 1.148 0.349 -2.547 0.000 -1.160 0.03° +nightstand 0.449 0.673 0.277 0.426 -0.007 -1.142 0.00° +chair 0.406 0.471 0.378 -1.913 -0.002 -0.522 -89.99° +bed 1.062 1.540 1.497 -0.761 0.009 -0.256 1.26° +cabinet 0.658 0.877 0.378 -2.082 0.002 1.363 179.98° +lamp 0.795 0.793 0.771 -0.906 2.007 0.112 -0.04° +wardrobe 2.315 2.343 0.340 1.170 -0.012 0.021 -90.10° +floor 5.751 -0.006 2.923 -0.328 0.001 0.202 0.00° +_scene_ 0.070 0.000 0.021 -5.672 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.750, -0.006, 0.273] + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.006, 0.255] + !! OVERLAP: chair <-> floor depth=[0.406, -0.006, 0.378] + !! OVERLAP: bed <-> floor depth=[1.062, -0.006, 1.497] + !! OVERLAP: cabinet <-> floor depth=[0.658, -0.006, 0.378] + !! OVERLAP: wardrobe <-> floor depth=[2.315, -0.006, 0.340] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0123, Walkable Loss: 0.2673 (C1 Heatmap: 0.1730, C2 Repulsion: 0.6446), Relational Loss: 0.0477 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.938 2.129 0.675 -0.858 -0.010 -0.345 92.08° +nightstand 0.444 0.440 0.210 -1.117 0.005 0.653 90.01° +nightstand 0.545 0.533 0.340 -1.279 0.001 -1.502 89.97° +wardrobe 0.773 2.067 0.381 -0.126 0.004 1.817 -179.89° +floor 3.053 -0.002 3.991 -0.014 0.001 0.012 0.01° +_scene_ 0.066 0.001 0.016 -5.674 -0.006 -5.712 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.938, -0.002, 0.675] + !! OVERLAP: nightstand <-> floor depth=[0.444, -0.002, 0.210] + !! OVERLAP: nightstand <-> floor depth=[0.533, -0.002, 0.340] + !! OVERLAP: wardrobe <-> floor depth=[0.773, -0.002, 0.380] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1585, Walkable Loss: 1.0819 (C1 Heatmap: 0.6067, C2 Repulsion: 2.9825), Relational Loss: 0.0336 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.329 1.661 1.562 0.536 0.007 0.242 -89.50° +nightstand 0.509 0.614 0.450 1.399 0.001 1.502 -90.23° +wardrobe 1.530 2.252 0.477 0.629 -0.001 -2.199 -0.05° +chair 0.216 0.523 0.180 -0.806 0.002 1.600 90.12° +table 0.776 1.205 0.418 -1.465 -0.001 1.507 90.05° +nightstand 0.468 0.568 0.463 1.361 -0.000 -0.937 -89.89° +lamp 0.710 1.046 0.707 -0.001 1.744 0.186 -0.01° +tv_stand 1.543 0.535 0.191 -1.011 -0.009 -0.033 90.30° +floor 3.496 -0.002 4.991 0.010 0.000 0.015 -0.03° +_scene_ 0.075 -0.000 0.024 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.329, -0.002, 1.562] + !! OVERLAP: nightstand <-> floor depth=[0.509, -0.002, 0.450] + !! OVERLAP: wardrobe <-> floor depth=[1.530, -0.002, 0.477] + !! OVERLAP: chair <-> floor depth=[0.216, -0.002, 0.180] + !! OVERLAP: table <-> floor depth=[0.662, -0.002, 0.418] + !! OVERLAP: nightstand <-> floor depth=[0.468, -0.002, 0.463] + !! OVERLAP: tv_stand <-> floor depth=[1.499, -0.002, 0.191] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0137, Walkable Loss: 0.7689 (C1 Heatmap: 0.5287, C2 Repulsion: 1.7298), Relational Loss: 0.0351 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.278 1.165 1.326 -0.861 -0.021 -0.446 -0.35° +lamp 1.016 0.887 0.984 -0.064 1.909 -0.156 -0.01° +tv_stand 1.698 0.460 0.324 -0.375 -0.001 1.861 179.82° +chair 0.504 0.810 0.451 -1.504 -0.000 1.388 5.48° +nightstand 0.506 0.851 0.455 -1.364 0.001 -1.679 0.01° +wardrobe 1.350 2.252 0.498 1.050 0.000 -0.199 -89.93° +floor 3.588 -0.001 4.055 -0.083 0.000 0.027 -0.02° +_scene_ 0.070 -0.002 0.023 -5.673 -0.004 -5.723 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.278, -0.001, 1.326] + !! OVERLAP: tv_stand <-> floor depth=[1.698, -0.001, 0.324] + !! OVERLAP: chair <-> floor depth=[0.504, -0.001, 0.451] + !! OVERLAP: nightstand <-> floor depth=[0.506, -0.001, 0.455] + !! OVERLAP: wardrobe <-> floor depth=[1.336, -0.001, 0.498] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.0030, Room Outer Loss: 0.1086, Walkable Loss: 1.0811 (C1 Heatmap: 0.5029, C2 Repulsion: 3.3940), Relational Loss: 0.0158 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.943 0.974 1.388 0.158 -0.023 0.405 179.66° +wardrobe 1.431 2.326 0.355 2.059 -0.008 -0.155 -90.00° +wardrobe 1.404 2.411 0.047 1.879 -0.012 0.502 -90.58° +nightstand 0.381 0.609 0.309 1.273 0.002 1.198 179.97° +nightstand 0.438 0.673 0.396 -1.459 0.001 1.148 179.86° +chair 0.735 1.082 0.892 -2.084 0.004 0.006 51.30° +table 0.519 0.486 0.512 -1.727 -0.002 -0.804 -0.05° +lamp 0.369 0.802 0.182 -1.875 1.632 -0.084 -89.84° +lamp 0.676 0.948 0.691 -0.011 2.030 0.023 -0.03° +floor 5.316 -0.002 2.844 0.008 -0.001 -0.011 -0.05° +_scene_ 0.066 0.001 0.030 -5.675 -0.004 -5.715 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.943, -0.002, 1.388] + !! OVERLAP: wardrobe <-> floor depth=[1.322, -0.002, 0.355] + !! OVERLAP: wardrobe <-> floor depth=[1.404, -0.002, 0.047] + !! OVERLAP: nightstand <-> floor depth=[0.381, -0.002, 0.309] + !! OVERLAP: nightstand <-> floor depth=[0.438, -0.002, 0.396] + !! OVERLAP: chair <-> floor depth=[0.735, -0.002, 0.892] + !! OVERLAP: table <-> floor depth=[0.519, -0.002, 0.512] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0308, Walkable Loss: 0.5529 (C1 Heatmap: 0.4151, C2 Repulsion: 1.1045), Relational Loss: 0.0028 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.128 1.685 0.362 0.601 -0.002 -2.404 0.02° +bed 0.866 1.100 1.733 0.220 -0.003 0.049 -89.04° +nightstand 0.539 0.437 0.425 1.163 -0.000 -1.270 -89.95° +nightstand 0.332 0.421 0.300 1.186 -0.000 1.450 -90.02° +table 1.014 1.408 0.403 -0.906 0.003 1.750 90.02° +chair 0.313 0.562 0.302 -0.069 0.005 2.265 -101.59° +lamp 0.703 0.122 0.698 0.087 2.406 0.323 0.02° +floor 2.815 -0.001 5.635 -0.004 -0.002 0.094 -0.00° +_scene_ 0.068 0.001 0.019 -5.667 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.128, -0.001, 0.362] + !! OVERLAP: bed <-> floor depth=[0.866, -0.001, 1.733] + !! OVERLAP: nightstand <-> floor depth=[0.510, -0.001, 0.425] + !! OVERLAP: nightstand <-> floor depth=[0.332, -0.001, 0.300] + !! OVERLAP: table <-> floor depth=[1.013, -0.001, 0.403] + !! OVERLAP: chair <-> floor depth=[0.313, -0.001, 0.302] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8133 (C1 Heatmap: 0.6853, C2 Repulsion: 1.3252), Relational Loss: 0.0430 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.637 1.468 2.323 -0.371 -0.000 0.140 89.89° +table 0.543 0.538 0.474 -1.262 -0.002 1.534 -0.13° +lamp 0.499 0.654 0.501 0.000 2.059 0.166 0.04° +wardrobe 1.684 2.341 0.478 -0.523 -0.003 -1.801 0.07° +floor 3.069 -0.000 4.058 -0.007 0.001 -0.022 -0.01° +_scene_ 0.074 0.001 0.019 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.199, 0.538, 0.004] + !! OVERLAP: bed <-> floor depth=[1.637, -0.000, 2.323] + !! OVERLAP: table <-> floor depth=[0.543, -0.000, 0.474] + !! OVERLAP: wardrobe <-> floor depth=[1.684, -0.000, 0.478] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0025, Room Outer Loss: 0.0416, Walkable Loss: 0.6310 (C1 Heatmap: 0.3180, C2 Repulsion: 1.8833), Relational Loss: 0.0272 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.221 2.399 0.466 -1.377 -0.006 -0.797 89.88° +lamp 0.336 0.636 0.310 -1.062 1.601 -1.382 -0.06° +lamp 0.205 0.918 0.212 1.589 1.458 -1.354 0.06° +lamp 0.608 0.752 0.619 0.003 1.878 -0.138 -0.05° +table 0.920 1.169 0.365 1.388 0.000 1.292 179.99° +bed 0.761 1.003 1.333 0.021 0.003 -0.472 0.05° +nightstand 0.148 0.451 0.202 1.156 -0.004 -1.475 -0.03° +nightstand 0.350 0.524 0.280 -1.176 0.001 -1.430 0.07° +floor 3.881 -0.001 3.144 -0.005 -0.001 -0.005 -0.02° +_scene_ 0.070 0.001 0.020 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.179, -0.001, 0.466] + !! OVERLAP: table <-> floor depth=[0.920, -0.001, 0.365] + !! OVERLAP: bed <-> floor depth=[0.761, -0.001, 1.333] + !! OVERLAP: nightstand <-> floor depth=[0.148, -0.001, 0.202] + !! OVERLAP: nightstand <-> floor depth=[0.350, -0.001, 0.280] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7888 (C1 Heatmap: 0.4018, C2 Repulsion: 2.3365), Relational Loss: 0.0144 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.401 0.479 0.352 1.147 -0.000 -1.390 -0.01° +bookshelf 1.060 1.935 0.242 0.003 0.001 -1.439 0.16° +wardrobe 1.990 2.230 0.268 -0.024 0.010 1.438 179.70° +chair 0.305 0.891 0.438 -0.364 -0.005 -0.629 -126.74° +desk 0.907 0.822 0.338 -1.225 0.001 0.811 90.36° +bed 0.818 1.381 0.951 0.728 0.033 -0.330 -89.93° +lamp 0.671 0.488 0.666 -0.034 2.367 0.001 -0.02° +floor 3.360 -0.001 3.457 -0.005 -0.000 0.003 -0.00° +_scene_ 0.071 -0.000 0.023 -5.670 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.401, -0.001, 0.352] + !! OVERLAP: bookshelf <-> floor depth=[1.060, -0.001, 0.242] + !! OVERLAP: wardrobe <-> floor depth=[1.990, -0.001, 0.268] + !! OVERLAP: chair <-> floor depth=[0.305, -0.001, 0.438] + !! OVERLAP: desk <-> floor depth=[0.907, -0.001, 0.338] + !! OVERLAP: bed <-> floor depth=[0.818, -0.001, 0.951] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0263, Walkable Loss: 0.9955 (C1 Heatmap: 0.5400, C2 Repulsion: 2.8174), Relational Loss: 0.0265 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.075 2.372 0.431 -0.143 -0.005 -1.926 0.14° +nightstand 0.456 0.567 0.391 -1.268 -0.001 -0.835 89.95° +nightstand 0.569 0.584 0.320 -0.608 0.003 -0.408 89.95° +nightstand 0.472 0.574 0.436 -1.190 0.010 1.843 89.96° +bed 0.995 1.070 1.656 -0.806 -0.032 0.629 91.16° +bookshelf 0.769 2.070 0.355 1.025 -0.001 1.564 -90.23° +lamp 0.624 0.926 0.644 -0.042 1.771 0.462 0.02° +floor 2.987 -0.000 4.722 0.024 0.000 0.084 0.00° +_scene_ 0.070 0.000 0.020 -5.671 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.075, -0.000, 0.431] + !! OVERLAP: nightstand <-> floor depth=[0.430, -0.000, 0.391] + !! OVERLAP: nightstand <-> floor depth=[0.569, -0.000, 0.320] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.000, 0.436] + !! OVERLAP: bed <-> floor depth=[0.995, -0.000, 1.656] + !! OVERLAP: bookshelf <-> floor depth=[0.769, -0.000, 0.355] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7729 (C1 Heatmap: 0.4506, C2 Repulsion: 2.0623), Relational Loss: 0.0384 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.497 0.669 0.507 0.342 2.048 -0.169 -0.01° +desk 0.945 0.784 0.652 0.745 -0.005 -0.297 -0.67° +chair 0.517 0.799 0.439 0.902 -0.004 -0.956 155.56° +bed 1.253 1.229 1.914 -0.803 -0.000 -0.280 0.01° +floor 3.072 0.001 2.730 -0.006 0.001 0.004 0.02° +_scene_ 0.064 0.001 0.018 -5.675 -0.005 -5.717 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.945, 0.001, 0.652] + !! OVERLAP: chair <-> floor depth=[0.517, 0.001, 0.439] + !! OVERLAP: bed <-> floor depth=[1.253, 0.001, 1.914] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8219 (C1 Heatmap: 0.5730, C2 Repulsion: 1.8177), Relational Loss: 0.0093 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.471 0.795 1.687 1.271 -0.005 1.153 -179.80° +nightstand 0.379 0.551 0.277 2.412 0.005 1.740 -90.26° +wardrobe 1.623 2.091 0.405 -1.378 -0.001 -1.322 0.07° +lamp 0.289 0.974 0.306 0.419 1.794 0.513 -0.05° +chair 0.454 0.869 0.513 -0.843 0.001 1.816 -155.08° +chair 0.612 0.908 0.632 -1.709 0.001 1.789 149.83° +chair 0.718 0.436 0.392 2.205 -0.001 -0.626 179.90° +floor 5.267 -0.004 4.321 0.260 0.000 0.121 -0.01° +_scene_ 0.064 0.000 0.017 -5.673 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.471, -0.004, 1.687] + !! OVERLAP: nightstand <-> floor depth=[0.379, -0.004, 0.277] + !! OVERLAP: wardrobe <-> floor depth=[1.623, -0.004, 0.405] + !! OVERLAP: chair <-> floor depth=[0.454, -0.004, 0.513] + !! OVERLAP: chair <-> floor depth=[0.612, -0.004, 0.632] + !! OVERLAP: chair <-> floor depth=[0.718, -0.004, 0.392] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4736 (C1 Heatmap: 0.2075, C2 Repulsion: 1.5381), Relational Loss: 0.0289 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.174 1.298 1.128 0.837 -0.037 0.063 -90.53° +cabinet 1.204 2.123 0.201 0.787 -0.012 1.108 -179.68° +nightstand 0.255 0.600 0.347 1.395 0.000 0.595 -90.12° +nightstand 0.495 0.656 0.425 1.272 0.001 -1.404 -89.97° +cabinet 0.994 1.901 0.233 -1.059 0.003 -0.815 89.90° +lamp 0.238 1.530 0.216 -0.071 1.051 -0.266 0.01° +floor 3.130 -0.003 3.736 -0.000 0.001 0.016 -0.01° +_scene_ 0.065 0.000 0.017 -5.677 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.174, -0.003, 1.128] + !! OVERLAP: cabinet <-> floor depth=[1.204, -0.003, 0.201] + !! OVERLAP: nightstand <-> floor depth=[0.255, -0.003, 0.347] + !! OVERLAP: nightstand <-> floor depth=[0.495, -0.003, 0.425] + !! OVERLAP: cabinet <-> floor depth=[0.994, -0.003, 0.233] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0469, Walkable Loss: 0.9504 (C1 Heatmap: 0.5047, C2 Repulsion: 2.7331), Relational Loss: 0.0278 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.560 0.828 0.738 -1.317 -0.002 -0.532 90.04° +bed 1.137 1.224 1.786 0.211 -0.015 -0.341 -0.32° +nightstand 0.390 0.604 0.351 -0.567 0.001 -1.259 0.05° +nightstand 0.397 0.593 0.443 1.480 -0.000 -1.142 0.01° +lamp 0.471 0.264 0.465 0.403 2.379 -0.063 -0.12° +lamp 0.683 0.865 0.675 -1.588 1.958 -1.090 0.01° +floor 4.098 -0.000 3.073 -0.001 0.000 -0.017 -0.01° +_scene_ 0.071 0.001 0.023 -5.673 -0.004 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.513, -0.000, 0.738] + !! OVERLAP: bed <-> floor depth=[1.137, -0.000, 1.786] + !! OVERLAP: nightstand <-> floor depth=[0.390, -0.000, 0.351] + !! OVERLAP: nightstand <-> floor depth=[0.397, -0.000, 0.443] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7306 (C1 Heatmap: 0.7465, C2 Repulsion: 0.6673), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.764 1.120 2.100 0.102 -0.000 -0.398 -89.98° +wardrobe 2.432 2.495 0.548 -0.186 -0.000 1.754 179.96° +lamp 0.515 0.692 0.544 -0.016 1.969 -0.116 -0.02° +floor 3.021 -0.001 4.102 -0.037 0.000 -0.008 -0.01° +_scene_ 0.047 -0.001 0.003 -5.682 -0.008 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.764, -0.001, 2.100] + !! OVERLAP: wardrobe <-> floor depth=[2.432, -0.001, 0.548] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0480, Walkable Loss: 1.0412 (C1 Heatmap: 0.6858, C2 Repulsion: 2.4628), Relational Loss: 0.0400 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.747 2.354 0.439 0.329 -0.001 -1.558 0.06° +bed 1.829 1.212 1.792 0.477 0.007 0.460 -90.28° +tv_stand 1.391 0.478 0.243 -0.937 -0.000 0.594 90.53° +nightstand 0.490 0.604 0.326 1.334 -0.001 -0.781 -89.96° +lamp 1.047 0.858 1.044 -0.028 2.006 0.333 0.00° +floor 3.164 -0.005 3.916 -0.022 -0.000 0.028 -0.03° +_scene_ 0.070 0.000 0.023 -5.671 -0.005 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.747, -0.005, 0.439] + !! OVERLAP: bed <-> tv_stand depth=[0.197, 0.478, 0.243] + !! OVERLAP: bed <-> floor depth=[1.829, -0.005, 1.792] + !! OVERLAP: tv_stand <-> floor depth=[1.362, -0.005, 0.243] + !! OVERLAP: nightstand <-> floor depth=[0.471, -0.005, 0.326] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0077, Walkable Loss: 0.6093 (C1 Heatmap: 0.3546, C2 Repulsion: 1.6281), Relational Loss: 0.0576 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.947 1.449 1.735 -0.392 -0.050 -0.781 -1.78° +wardrobe 0.873 2.280 0.386 1.099 0.007 -0.657 179.85° +nightstand 0.509 0.616 0.381 1.190 0.001 -1.584 0.00° +nightstand 0.583 0.577 0.452 -1.516 0.001 -1.496 0.00° +lamp 1.043 0.816 1.045 -0.188 2.114 -0.399 -0.05° +floor 4.027 -0.001 3.551 -0.141 0.000 0.009 -0.03° +_scene_ 0.071 0.000 0.024 -5.670 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.947, -0.001, 1.735] + !! OVERLAP: wardrobe <-> floor depth=[0.873, -0.001, 0.386] + !! OVERLAP: nightstand <-> floor depth=[0.509, -0.001, 0.373] + !! OVERLAP: nightstand <-> floor depth=[0.583, -0.001, 0.452] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0285, Walkable Loss: 0.4328 (C1 Heatmap: 0.3156, C2 Repulsion: 0.9017), Relational Loss: 0.0380 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.590 1.119 1.376 -0.336 0.004 -0.114 90.35° +table 0.417 0.578 0.286 -1.185 -0.002 -0.807 90.10° +lamp 0.892 1.033 0.972 -0.155 1.929 0.079 0.00° +floor 2.718 -0.001 3.464 -0.006 0.002 -0.024 -0.02° +_scene_ 0.071 0.001 0.040 -5.668 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.155, 0.578, 0.138] + !! OVERLAP: bed <-> floor depth=[1.590, -0.001, 1.376] + !! OVERLAP: table <-> floor depth=[0.388, -0.001, 0.286] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0127, Walkable Loss: 0.7510 (C1 Heatmap: 0.4167, C2 Repulsion: 2.0883), Relational Loss: 0.0012 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.378 0.875 0.641 1.518 -0.001 1.186 -90.21° +chair 0.585 0.896 0.669 0.549 0.002 2.330 179.85° +chair 0.487 0.421 0.478 0.170 -0.001 -0.205 -0.04° +table 1.081 0.567 0.438 -0.393 -0.004 1.124 0.08° +chair 0.514 0.828 0.580 -0.727 -0.001 2.218 121.29° +table 0.664 0.700 0.460 -2.000 0.000 -1.945 -0.02° +table 0.467 0.660 0.458 -1.801 0.001 2.582 -0.05° +lamp 0.329 1.097 0.344 0.310 1.329 0.670 -0.14° +floor 4.621 -0.002 6.463 -0.116 0.001 0.340 -0.05° +_scene_ 0.076 -0.002 0.016 -5.669 -0.003 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.365, -0.002, 0.641] + !! OVERLAP: chair <-> floor depth=[0.585, -0.002, 0.669] + !! OVERLAP: chair <-> floor depth=[0.487, -0.002, 0.478] + !! OVERLAP: table <-> floor depth=[1.081, -0.002, 0.438] + !! OVERLAP: chair <-> floor depth=[0.514, -0.002, 0.580] + !! OVERLAP: table <-> floor depth=[0.664, -0.002, 0.460] + !! OVERLAP: table <-> floor depth=[0.467, -0.002, 0.458] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0544, Walkable Loss: 0.9827 (C1 Heatmap: 0.4958, C2 Repulsion: 2.9304), Relational Loss: 0.0353 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.975 0.902 0.647 -0.877 -0.000 1.932 89.99° +table 0.914 0.591 0.515 0.047 -0.016 1.339 89.97° +tv_stand 1.218 0.569 0.048 0.923 0.007 1.894 -90.66° +chair 0.434 0.516 0.456 -0.591 0.001 0.164 -0.01° +table 0.336 0.710 0.668 -0.811 0.004 -2.090 0.64° +chair 0.478 1.028 0.520 -1.648 0.000 -0.958 179.83° +chair 0.406 1.086 0.507 -0.524 -0.002 -0.883 -179.94° +chair -0.077 1.077 0.213 -0.346 -0.003 -2.080 -40.53° +chair 0.516 1.074 0.564 -1.742 -0.001 -2.245 -0.01° +cabinet 1.194 0.862 0.375 0.255 -0.000 -3.023 -0.02° +lamp 0.518 0.944 0.450 -1.261 1.620 -1.567 -0.03° +lamp 0.634 0.900 0.612 -0.651 1.684 1.873 -0.02° +floor 4.051 -0.001 6.592 -0.547 0.001 0.087 0.02° +_scene_ 0.069 -0.000 0.019 -5.673 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.975, -0.001, 0.647] + !! OVERLAP: table <-> floor depth=[0.914, -0.001, 0.515] + !! OVERLAP: tv_stand <-> floor depth=[1.165, -0.001, 0.048] + !! OVERLAP: chair <-> floor depth=[0.434, -0.001, 0.456] + !! OVERLAP: table <-> floor depth=[0.336, -0.001, 0.668] + !! OVERLAP: chair <-> floor depth=[0.478, -0.001, 0.520] + !! OVERLAP: chair <-> floor depth=[0.406, -0.001, 0.507] + !! OVERLAP: chair <-> floor depth=[-0.077, -0.001, 0.213] + !! OVERLAP: chair <-> floor depth=[0.516, -0.001, 0.564] + !! OVERLAP: cabinet <-> floor depth=[1.194, -0.001, 0.374] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0984, Walkable Loss: 0.8434 (C1 Heatmap: 0.5086, C2 Repulsion: 2.1824), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.978 0.753 0.886 -0.840 0.006 -0.232 90.04° +table 1.395 0.630 0.548 0.100 0.000 0.065 -90.07° +tv_stand 1.641 1.407 0.290 1.005 0.002 0.048 -89.90° +lamp 0.651 0.455 0.636 0.057 2.085 0.049 -0.04° +floor 3.556 -0.002 3.457 -0.014 0.001 -0.009 -0.01° +_scene_ 0.071 0.001 0.023 -5.673 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.746, 0.630, 0.420] + !! OVERLAP: sofa <-> floor depth=[1.940, -0.002, 0.886] + !! OVERLAP: table <-> tv_stand depth=[0.614, 0.630, 0.290] + !! OVERLAP: table <-> floor depth=[1.395, -0.002, 0.548] + !! OVERLAP: tv_stand <-> floor depth=[1.580, -0.002, 0.290] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0309, Walkable Loss: 1.7550 (C1 Heatmap: 0.8495, C2 Repulsion: 5.3773), Relational Loss: 0.0217 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.914 0.905 0.739 1.623 0.006 -1.152 -0.04° +tv_stand 2.179 0.571 0.294 1.537 0.002 1.472 -179.80° +desk 1.010 0.417 0.307 1.438 -0.002 -0.124 -0.01° +table 0.341 0.863 0.595 -1.724 0.034 -0.509 -0.30° +chair 0.428 0.658 0.329 -2.450 0.004 -0.737 90.02° +chair 0.395 0.675 0.313 -2.752 0.006 0.077 90.15° +chair 0.369 0.779 0.496 -1.007 0.003 -0.814 -90.18° +chair 0.413 0.749 0.426 -0.880 0.002 0.101 -90.21° +cabinet 3.008 2.452 0.130 -1.453 -0.001 1.635 179.98° +bookshelf 1.712 2.202 0.061 -1.849 -0.005 -1.691 0.23° +chair 0.232 0.662 0.157 -2.242 0.015 -0.078 90.18° +cabinet 1.290 1.888 -0.484 -2.143 0.002 0.128 90.83° +lamp 0.969 0.680 0.925 1.769 1.931 -0.238 0.01° +lamp 0.293 0.408 0.276 -1.169 2.106 -0.289 -0.00° +floor 6.109 -0.002 3.443 -0.139 0.001 0.030 -0.05° +_scene_ 0.073 -0.002 0.024 -5.671 -0.004 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.914, -0.002, 0.739] + !! OVERLAP: tv_stand <-> floor depth=[2.179, -0.002, 0.294] + !! OVERLAP: desk <-> floor depth=[1.010, -0.002, 0.307] + !! OVERLAP: table <-> floor depth=[0.341, -0.002, 0.595] + !! OVERLAP: chair <-> floor depth=[0.428, -0.002, 0.329] + !! OVERLAP: chair <-> floor depth=[0.395, -0.002, 0.313] + !! OVERLAP: chair <-> floor depth=[0.369, -0.002, 0.496] + !! OVERLAP: chair <-> floor depth=[0.413, -0.002, 0.426] + !! OVERLAP: cabinet <-> floor depth=[3.008, -0.002, 0.130] + !! OVERLAP: bookshelf <-> floor depth=[1.712, -0.002, 0.030] + !! OVERLAP: chair <-> floor depth=[0.232, -0.002, 0.157] + !! OVERLAP: cabinet <-> floor depth=[1.290, -0.002, -0.484] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 1.3603 (C1 Heatmap: 0.6360, C2 Repulsion: 4.2574), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.529 1.096 0.310 2.914 0.001 -0.389 -90.09° +table 0.585 0.532 0.553 3.267 0.001 -3.243 0.09° +lamp 0.967 0.967 1.010 1.503 1.876 -1.753 0.02° +tv_stand 1.995 0.460 0.454 -0.594 0.003 -1.335 0.29° +chair 0.411 0.784 0.481 1.520 0.001 1.354 -90.07° +chair 0.449 0.835 0.446 1.566 0.005 0.514 -158.82° +chair 0.430 0.802 0.479 0.044 0.007 0.503 25.72° +chair 0.492 0.801 0.514 -0.076 -0.002 1.684 90.04° +table 1.308 0.728 0.662 0.996 0.002 1.675 -90.49° +sofa 1.494 1.112 0.576 2.558 0.009 -1.502 -90.71° +table 0.444 0.556 0.867 1.577 0.002 -1.014 -179.64° +lamp 0.673 0.122 0.613 -1.874 2.551 1.792 -0.04° +table 1.063 1.036 0.253 -1.730 0.004 3.077 179.90° +lamp 0.443 0.915 0.208 0.694 1.815 1.307 -89.93° +floor 6.627 -0.005 6.985 0.542 0.001 -0.183 -0.07° +_scene_ 0.074 -0.000 0.024 -5.671 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.529, -0.005, 0.310] + !! OVERLAP: table <-> floor depth=[0.585, -0.005, 0.553] + !! OVERLAP: tv_stand <-> floor depth=[1.995, -0.005, 0.454] + !! OVERLAP: chair <-> table depth=[0.335, 0.728, 0.250] + !! OVERLAP: chair <-> floor depth=[0.411, -0.005, 0.481] + !! OVERLAP: chair <-> floor depth=[0.449, -0.005, 0.446] + !! OVERLAP: chair <-> floor depth=[0.430, -0.005, 0.479] + !! OVERLAP: chair <-> floor depth=[0.492, -0.005, 0.514] + !! OVERLAP: table <-> floor depth=[1.308, -0.005, 0.662] + !! OVERLAP: sofa <-> floor depth=[1.494, -0.005, 0.576] + !! OVERLAP: table <-> floor depth=[0.444, -0.005, 0.867] + !! OVERLAP: table <-> floor depth=[1.063, -0.005, 0.253] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1235, Walkable Loss: 1.0446 (C1 Heatmap: 0.5664, C2 Repulsion: 2.9573), Relational Loss: 0.0084 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.171 0.891 0.880 -1.234 -0.000 2.201 89.98° +tv_stand 1.308 0.446 0.266 1.441 0.001 2.383 -89.88° +cabinet 0.762 0.822 0.434 -2.068 0.006 -3.107 90.04° +table 0.945 0.934 0.647 -0.146 0.005 -0.745 0.27° +chair 0.410 0.662 0.475 -0.978 -0.000 -0.545 -179.96° +chair 0.430 0.631 0.438 -1.045 0.000 -1.593 0.01° +chair 0.537 0.633 0.493 1.066 0.001 0.054 179.87° +chair 0.315 0.625 0.373 0.712 0.001 -1.153 -0.02° +lamp 0.318 0.390 0.312 -1.839 2.204 -3.205 -0.07° +lamp 0.862 0.799 0.839 -0.463 1.893 1.803 -0.02° +lamp 0.199 1.037 0.213 -0.105 2.077 -1.061 -0.07° +table 0.986 0.355 0.639 0.071 -0.001 2.153 -90.03° +floor 4.652 -0.002 7.798 -0.122 0.001 0.617 -0.04° +_scene_ 0.068 -0.000 0.019 -5.673 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.274, 0.355, 0.639] + !! OVERLAP: sofa <-> floor depth=[2.171, -0.002, 0.880] + !! OVERLAP: tv_stand <-> floor depth=[1.308, -0.002, 0.266] + !! OVERLAP: cabinet <-> floor depth=[0.761, -0.002, 0.392] + !! OVERLAP: table <-> floor depth=[0.945, -0.002, 0.647] + !! OVERLAP: chair <-> floor depth=[0.410, -0.002, 0.475] + !! OVERLAP: chair <-> floor depth=[0.430, -0.002, 0.438] + !! OVERLAP: chair <-> floor depth=[0.537, -0.002, 0.493] + !! OVERLAP: chair <-> floor depth=[0.315, -0.002, 0.373] + !! OVERLAP: table <-> floor depth=[0.986, -0.002, 0.639] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0031 (C1 Heatmap: 0.6321, C2 Repulsion: 2.4870), Relational Loss: 0.0228 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.042 0.659 0.220 0.934 0.006 1.295 -0.36° +chair 0.469 0.795 0.528 1.859 0.001 2.156 179.97° +chair 0.501 0.824 0.516 0.668 0.004 2.247 179.61° +chair 0.457 0.870 0.533 2.005 -0.003 0.654 0.02° +chair 0.417 0.860 0.434 0.919 -0.001 0.553 0.04° +sofa 1.557 0.905 0.655 1.726 -0.002 -0.698 -90.10° +tv_stand 1.590 0.620 0.485 -1.452 0.005 -1.493 90.16° +table 0.663 0.264 0.642 -0.374 -0.002 0.158 -90.08° +table 1.230 1.334 0.340 -1.560 0.004 1.319 179.95° +table 0.460 0.549 0.465 1.623 0.003 -2.414 0.04° +lamp 0.642 0.877 0.619 0.628 1.924 0.086 -0.03° +lamp 0.599 0.967 0.624 1.540 1.929 0.051 -0.03° +lamp 0.494 1.177 0.476 -0.229 1.653 -1.664 0.05° +floor 4.855 -0.002 6.195 0.180 0.001 -0.083 -0.05° +_scene_ 0.073 0.001 0.024 -5.671 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.042, -0.002, 0.220] + !! OVERLAP: chair <-> floor depth=[0.469, -0.002, 0.528] + !! OVERLAP: chair <-> floor depth=[0.501, -0.002, 0.516] + !! OVERLAP: chair <-> floor depth=[0.457, -0.002, 0.533] + !! OVERLAP: chair <-> floor depth=[0.417, -0.002, 0.434] + !! OVERLAP: sofa <-> floor depth=[1.557, -0.002, 0.655] + !! OVERLAP: tv_stand <-> floor depth=[1.590, -0.002, 0.485] + !! OVERLAP: table <-> floor depth=[0.663, -0.002, 0.642] + !! OVERLAP: table <-> floor depth=[1.230, -0.002, 0.340] + !! OVERLAP: table <-> floor depth=[0.460, -0.002, 0.465] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0067, Walkable Loss: 0.7488 (C1 Heatmap: 0.5166, C2 Repulsion: 1.6778), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.175 1.402 0.432 1.123 0.001 -0.649 -90.09° +sofa 2.066 0.825 0.984 0.230 -0.000 -0.576 -90.21° +table 0.625 0.413 0.586 -1.517 0.002 -0.175 179.97° +lamp 0.736 0.793 0.589 0.384 1.998 0.709 -0.03° +chair 0.709 0.785 0.801 -1.470 0.002 -1.670 26.10° +floor 4.199 0.005 4.130 -0.059 0.002 0.002 0.02° +_scene_ 0.073 0.000 0.030 -5.671 -0.003 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[0.728, 0.825, 0.432] + !! OVERLAP: bookshelf <-> floor depth=[1.175, 0.005, 0.432] + !! OVERLAP: sofa <-> floor depth=[2.066, 0.005, 0.984] + !! OVERLAP: table <-> floor depth=[0.625, 0.005, 0.586] + !! OVERLAP: chair <-> floor depth=[0.709, 0.005, 0.794] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8747 (C1 Heatmap: 0.6165, C2 Repulsion: 1.9074), Relational Loss: 0.0508 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.776 0.953 0.844 -0.086 0.001 -1.536 -0.02° +chair 0.663 0.918 0.709 0.160 0.002 2.240 166.78° +table 0.470 0.547 0.463 -1.343 0.001 2.097 90.04° +table 0.631 0.409 0.495 -1.566 0.002 -1.664 90.05° +table 0.924 0.396 0.518 0.324 -0.001 0.365 90.09° +tv_stand 1.376 0.632 0.334 1.592 -0.001 0.259 -90.06° +lamp 0.428 0.858 0.462 0.270 1.967 0.267 -0.07° +sofa 1.901 0.814 0.765 -1.130 0.001 0.353 90.00° +floor 4.566 -0.002 6.620 0.029 0.002 -0.076 -0.05° +_scene_ 0.067 0.002 0.015 -5.669 -0.006 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.776, -0.002, 0.844] + !! OVERLAP: chair <-> floor depth=[0.663, -0.002, 0.709] + !! OVERLAP: table <-> floor depth=[0.470, -0.002, 0.463] + !! OVERLAP: table <-> floor depth=[0.631, -0.002, 0.495] + !! OVERLAP: table <-> floor depth=[0.924, -0.002, 0.518] + !! OVERLAP: tv_stand <-> floor depth=[1.376, -0.002, 0.334] + !! OVERLAP: sofa <-> floor depth=[1.901, -0.002, 0.765] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1004, Walkable Loss: 0.8216 (C1 Heatmap: 0.6263, C2 Repulsion: 1.6030), Relational Loss: 0.0244 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.845 0.782 0.540 -0.893 0.078 -1.911 1.72° +chair 0.452 0.691 0.523 -2.934 0.001 -2.262 -0.08° +chair 0.303 0.376 0.327 -2.412 0.000 -1.192 0.05° +chair 0.402 0.366 0.313 -2.733 -0.001 -0.470 0.01° +table 0.729 0.368 0.565 -1.261 0.001 -0.489 -0.03° +chair 0.427 1.086 0.485 0.027 -0.000 0.377 89.94° +lamp 0.101 0.962 0.096 -2.782 1.650 -1.984 -0.15° +chair 0.406 1.002 0.483 1.205 -0.004 -0.068 -60.54° +cabinet 1.198 0.770 0.439 2.506 0.005 1.800 179.77° +table 0.539 1.157 0.314 2.647 -0.006 -2.212 -0.01° +shelf 0.160 2.152 0.354 3.281 0.005 2.128 -0.05° +lamp 0.368 0.953 0.391 0.591 1.850 -0.030 -0.03° +tv_stand 3.074 0.673 0.271 -1.476 -0.009 2.320 0.05° +floor 7.004 -0.003 5.586 -0.218 0.000 0.293 -0.02° +_scene_ 0.074 -0.001 0.017 -5.675 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.845, -0.003, 0.540] + !! OVERLAP: chair <-> floor depth=[0.452, -0.003, 0.499] + !! OVERLAP: chair <-> floor depth=[0.303, -0.003, 0.327] + !! OVERLAP: chair <-> floor depth=[0.402, -0.003, 0.313] + !! OVERLAP: table <-> floor depth=[0.729, -0.003, 0.565] + !! OVERLAP: chair <-> floor depth=[0.427, -0.003, 0.485] + !! OVERLAP: chair <-> floor depth=[0.406, -0.003, 0.483] + !! OVERLAP: cabinet <-> floor depth=[1.198, -0.003, 0.439] + !! OVERLAP: table <-> floor depth=[0.539, -0.003, 0.314] + !! OVERLAP: shelf <-> floor depth=[0.083, -0.003, 0.354] + !! OVERLAP: tv_stand <-> floor depth=[3.074, -0.003, 0.271] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0238, Walkable Loss: 1.0699 (C1 Heatmap: 0.4831, C2 Repulsion: 3.4171), Relational Loss: 0.0375 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.614 0.926 0.613 0.279 1.984 -1.153 0.00° +table 1.045 0.699 0.211 -0.270 -0.020 1.008 -91.23° +chair 0.354 0.867 0.388 0.237 -0.000 1.539 -90.00° +chair 0.358 0.853 0.377 -1.163 -0.002 1.427 0.02° +lamp 0.236 0.735 0.276 -1.121 1.756 1.399 -0.18° +lamp 0.259 0.651 0.258 -0.116 1.887 1.307 -0.01° +sofa 1.953 0.831 0.736 -1.021 0.017 -1.006 90.12° +table 0.759 0.376 0.286 0.372 -0.010 -0.233 -89.92° +tv_stand 1.661 0.513 0.376 0.971 0.015 -1.043 -89.70° +table 1.105 2.394 -0.479 -1.267 -0.012 0.316 93.72° +floor 3.848 -0.000 4.031 -0.049 0.000 -0.060 0.04° +_scene_ 0.071 0.001 0.025 -5.671 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.045, -0.000, 0.211] + !! OVERLAP: chair <-> floor depth=[0.354, -0.000, 0.388] + !! OVERLAP: chair <-> floor depth=[0.358, -0.000, 0.377] + !! OVERLAP: sofa <-> floor depth=[1.929, -0.000, 0.736] + !! OVERLAP: table <-> floor depth=[0.759, -0.000, 0.286] + !! OVERLAP: tv_stand <-> floor depth=[1.661, -0.000, 0.376] + !! OVERLAP: table <-> floor depth=[1.105, -0.000, -0.479] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2035, Walkable Loss: 0.6508 (C1 Heatmap: 0.4622, C2 Repulsion: 1.4049), Relational Loss: 0.0168 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.373 0.634 0.416 1.207 -0.001 0.044 -90.09° +table 0.467 1.040 0.395 -1.204 0.002 2.005 89.98° +sofa 1.645 0.861 0.708 -0.954 -0.009 0.043 90.22° +table 0.518 0.470 0.499 0.162 0.004 0.100 89.93° +chair 0.679 0.780 0.736 0.065 -0.000 2.109 179.89° +bookshelf 1.045 2.427 0.274 -1.167 -0.000 -2.544 0.15° +lamp 0.514 0.862 0.549 0.269 2.059 0.142 0.07° +floor 3.496 -0.001 6.419 -0.058 0.000 0.163 -0.04° +_scene_ 0.069 -0.000 0.022 -5.672 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.170, -0.001, 0.416] + !! OVERLAP: table <-> floor depth=[0.467, -0.001, 0.395] + !! OVERLAP: sofa <-> floor depth=[1.645, -0.001, 0.708] + !! OVERLAP: table <-> floor depth=[0.518, -0.001, 0.499] + !! OVERLAP: chair <-> floor depth=[0.679, -0.001, 0.736] + !! OVERLAP: bookshelf <-> floor depth=[1.045, -0.001, 0.274] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0676, Walkable Loss: 1.1664 (C1 Heatmap: 0.4956, C2 Repulsion: 3.8496), Relational Loss: 0.0185 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.391 0.711 0.357 -0.288 1.898 2.178 0.02° +lamp 0.872 0.802 0.834 -0.884 1.771 -3.267 0.00° +tv_stand 2.172 1.061 0.404 -2.363 0.003 2.895 89.91° +chair 0.517 0.417 0.536 -0.025 0.001 0.668 90.01° +chair 0.521 0.430 0.528 -0.388 0.000 0.448 0.03° +table 0.945 0.488 0.687 0.054 0.009 2.359 -90.13° +table 0.415 0.658 0.381 1.581 0.000 0.709 0.00° +table 0.454 0.618 0.387 1.840 0.000 3.852 -90.03° +sofa 1.705 1.016 0.452 1.587 -0.003 2.476 -89.88° +sofa 1.640 0.766 0.487 -0.220 0.007 4.285 -179.93° +table 1.318 0.747 -0.195 -0.898 -0.010 -3.359 1.23° +chair 0.597 1.082 0.533 -0.986 -0.002 -2.010 -179.95° +chair 0.559 1.075 0.629 0.187 -0.002 -2.896 -90.15° +chair 0.528 1.134 0.525 0.223 -0.001 -3.925 -78.40° +chair 0.623 1.112 0.572 -0.790 0.000 -4.398 0.08° +chair 0.477 1.065 0.527 -2.026 -0.000 -3.781 89.44° +chair 0.478 1.083 0.539 -1.898 0.001 -2.706 90.31° +table 0.510 0.615 0.314 -2.324 0.003 -0.928 90.13° +floor 5.938 -0.002 9.913 -0.525 -0.000 0.339 -0.00° +_scene_ 0.069 0.001 0.020 -5.669 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.172, -0.002, 0.404] + !! OVERLAP: chair <-> chair depth=[0.156, 0.417, 0.312] + !! OVERLAP: chair <-> floor depth=[0.517, -0.002, 0.536] + !! OVERLAP: chair <-> floor depth=[0.521, -0.002, 0.528] + !! OVERLAP: table <-> floor depth=[0.945, -0.002, 0.687] + !! OVERLAP: table <-> floor depth=[0.415, -0.002, 0.381] + !! OVERLAP: table <-> floor depth=[0.454, -0.002, 0.387] + !! OVERLAP: sofa <-> floor depth=[1.705, -0.002, 0.452] + !! OVERLAP: sofa <-> floor depth=[1.640, -0.002, 0.487] + !! OVERLAP: table <-> floor depth=[1.318, -0.002, -0.195] + !! OVERLAP: chair <-> floor depth=[0.597, -0.002, 0.533] + !! OVERLAP: chair <-> floor depth=[0.559, -0.002, 0.629] + !! OVERLAP: chair <-> floor depth=[0.528, -0.002, 0.525] + !! OVERLAP: chair <-> floor depth=[0.623, -0.002, 0.505] + !! OVERLAP: chair <-> floor depth=[0.477, -0.002, 0.527] + !! OVERLAP: chair <-> floor depth=[0.478, -0.002, 0.539] + !! OVERLAP: table <-> floor depth=[0.510, -0.002, 0.314] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0687 (C1 Heatmap: 0.6835, C2 Repulsion: 2.6093), Relational Loss: 0.0197 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.667 1.097 0.428 -2.493 0.002 -2.121 0.02° +table 0.585 1.339 0.449 2.124 0.001 -1.958 0.07° +sofa 1.589 0.864 0.666 -2.229 -0.001 0.235 90.11° +table 1.249 0.478 0.791 -0.239 -0.001 0.139 0.01° +chair 0.642 0.813 0.705 2.174 -0.005 0.068 -64.60° +sofa 1.716 0.661 0.869 -0.354 0.000 -1.850 -0.01° +table 0.406 0.819 0.403 1.183 0.001 -2.163 0.07° +table 0.529 0.728 0.523 -1.679 0.001 -1.993 -0.07° +lamp 0.731 0.806 0.743 0.003 2.036 0.059 -0.04° +floor 5.865 0.002 4.849 -0.354 -0.001 -0.215 0.01° +_scene_ 0.255 0.082 0.532 -4.667 0.007 -4.686 -63.88° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.667, 0.002, 0.428] + !! OVERLAP: table <-> floor depth=[0.585, 0.002, 0.449] + !! OVERLAP: sofa <-> floor depth=[1.589, 0.002, 0.666] + !! OVERLAP: table <-> floor depth=[1.249, 0.002, 0.791] + !! OVERLAP: chair <-> floor depth=[0.642, 0.002, 0.705] + !! OVERLAP: sofa <-> floor depth=[1.716, 0.002, 0.869] + !! OVERLAP: table <-> floor depth=[0.406, 0.002, 0.403] + !! OVERLAP: table <-> floor depth=[0.529, 0.002, 0.523] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0561, Walkable Loss: 0.8167 (C1 Heatmap: 0.4757, C2 Repulsion: 2.1809), Relational Loss: 0.0160 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.494 0.882 0.553 -0.448 0.000 1.125 90.04° +chair 0.409 0.895 0.494 -0.412 -0.000 1.888 90.06° +chair 0.439 0.926 0.576 0.946 0.000 0.951 -90.38° +chair 0.487 0.859 0.553 0.927 -0.000 1.851 -90.03° +sofa 1.430 0.857 0.453 -1.134 0.033 -1.679 90.52° +table 1.341 2.070 0.449 -1.357 -0.007 0.261 90.22° +table 1.053 0.359 0.901 0.072 0.001 -1.825 -90.12° +lamp 0.561 0.527 0.372 -0.102 2.367 -1.651 -0.09° +lamp 0.150 0.621 0.140 0.578 2.079 1.406 -90.01° +floor 3.962 -0.002 6.762 0.009 0.001 -0.171 -0.03° +_scene_ 0.071 0.002 0.022 -5.667 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.494, -0.002, 0.553] + !! OVERLAP: chair <-> floor depth=[0.409, -0.002, 0.494] + !! OVERLAP: chair <-> floor depth=[0.439, -0.002, 0.576] + !! OVERLAP: chair <-> floor depth=[0.487, -0.002, 0.553] + !! OVERLAP: sofa <-> table depth=[0.035, 0.359, 0.453] + !! OVERLAP: sofa <-> floor depth=[1.430, -0.002, 0.453] + !! OVERLAP: table <-> floor depth=[1.285, -0.002, 0.449] + !! OVERLAP: table <-> floor depth=[1.053, -0.002, 0.901] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1020, Walkable Loss: 0.9170 (C1 Heatmap: 0.5232, C2 Repulsion: 2.4920), Relational Loss: 0.0316 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.737 0.921 0.458 1.116 0.015 -0.054 -91.11° +table 0.476 0.469 0.448 1.267 -0.000 1.551 -90.08° +table 0.482 0.458 0.332 1.365 0.001 -2.006 -90.00° +table 1.023 0.359 0.979 -0.157 0.000 -0.062 -89.81° +chair 0.673 0.848 0.678 -1.164 -0.000 -1.506 -0.00° +chair 0.674 0.891 0.692 -1.203 -0.000 1.549 168.74° +tv_stand 1.444 0.560 -0.007 -1.434 0.006 -0.215 90.20° +lamp 0.368 0.911 0.367 0.002 1.713 -0.287 0.01° +floor 4.038 -0.002 5.259 -0.104 -0.000 -0.134 -0.01° +_scene_ 0.063 -0.000 0.016 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.107, 0.359, 0.458] + !! OVERLAP: sofa <-> floor depth=[1.668, -0.002, 0.458] + !! OVERLAP: table <-> floor depth=[0.476, -0.002, 0.448] + !! OVERLAP: table <-> floor depth=[0.482, -0.002, 0.332] + !! OVERLAP: table <-> floor depth=[1.023, -0.002, 0.979] + !! OVERLAP: chair <-> floor depth=[0.673, -0.002, 0.678] + !! OVERLAP: chair <-> floor depth=[0.674, -0.002, 0.692] + !! OVERLAP: tv_stand <-> floor depth=[1.411, -0.002, -0.007] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0037, Room Outer Loss: 0.0000, Walkable Loss: 1.1722 (C1 Heatmap: 0.5196, C2 Repulsion: 3.7823), Relational Loss: 0.0464 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.644 0.692 0.068 -0.762 -0.024 1.324 -178.94° +table 0.482 0.447 0.514 -0.862 0.002 -0.402 0.03° +tv_stand 1.506 0.300 0.302 -0.299 0.000 -2.052 0.01° +chair 0.547 1.135 0.657 1.273 0.003 -0.567 0.12° +chair 0.647 1.091 0.666 1.632 0.003 -0.972 0.09° +chair 0.545 1.087 0.453 1.137 -0.000 1.141 89.88° +chair 0.376 0.995 0.461 1.774 -0.014 1.468 -156.02° +table 0.560 0.754 0.287 1.439 -0.000 0.358 -0.12° +table 1.812 0.830 0.194 0.915 0.022 2.142 179.80° +lamp 0.469 0.549 0.449 0.045 2.176 -0.265 -0.12° +floor 4.113 -0.001 5.370 -0.073 0.001 0.033 -0.01° +_scene_ 0.069 -0.000 0.023 -5.669 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.644, -0.001, 0.068] + !! OVERLAP: table <-> floor depth=[0.482, -0.001, 0.514] + !! OVERLAP: tv_stand <-> floor depth=[1.506, -0.001, 0.302] + !! OVERLAP: chair <-> chair depth=[0.238, 1.091, 0.257] + !! OVERLAP: chair <-> floor depth=[0.547, -0.001, 0.657] + !! OVERLAP: chair <-> floor depth=[0.647, -0.001, 0.666] + !! OVERLAP: chair <-> floor depth=[0.545, -0.001, 0.453] + !! OVERLAP: chair <-> floor depth=[0.376, -0.001, 0.461] + !! OVERLAP: table <-> floor depth=[0.560, -0.001, 0.287] + !! OVERLAP: table <-> floor depth=[1.812, -0.001, 0.194] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1722, Walkable Loss: 1.5105 (C1 Heatmap: 0.6960, C2 Repulsion: 4.7686), Relational Loss: 0.0331 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.775 0.672 0.733 -1.414 -0.001 0.462 89.87° +chair 0.646 0.835 0.689 -1.881 0.003 2.162 90.05° +table 1.249 0.356 0.817 -0.022 0.004 1.650 -89.47° +chair 0.566 0.546 0.576 -0.419 -0.003 0.063 0.11° +tv_stand 1.623 0.519 0.400 1.070 0.003 1.390 -89.94° +table 1.051 0.876 -0.067 -0.143 -0.059 -1.122 -94.63° +chair 0.432 0.809 0.461 -0.522 -0.000 -2.332 0.00° +chair 0.298 0.878 0.401 -0.583 0.009 -1.649 76.76° +chair 0.445 0.853 0.484 0.526 0.003 -2.236 -90.13° +chair 0.397 0.822 0.464 0.677 0.001 -1.333 179.96° +lamp 0.620 0.921 0.521 -0.153 1.727 1.091 -0.05° +lamp 0.767 0.571 0.201 -0.231 2.269 -1.825 0.04° +floor 4.128 -0.002 5.621 -0.355 0.001 0.208 -0.03° +_scene_ 0.064 0.001 0.017 -5.670 -0.005 -5.718 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.176, 0.546, 0.256] + !! OVERLAP: sofa <-> floor depth=[1.775, -0.002, 0.733] + !! OVERLAP: chair <-> floor depth=[0.646, -0.002, 0.689] + !! OVERLAP: table <-> tv_stand depth=[0.343, 0.356, 0.349] + !! OVERLAP: table <-> floor depth=[1.249, -0.002, 0.817] + !! OVERLAP: chair <-> floor depth=[0.566, -0.002, 0.576] + !! OVERLAP: tv_stand <-> floor depth=[1.450, -0.002, 0.400] + !! OVERLAP: table <-> floor depth=[1.051, -0.002, -0.067] + !! OVERLAP: chair <-> floor depth=[0.432, -0.002, 0.461] + !! OVERLAP: chair <-> floor depth=[0.298, -0.002, 0.401] + !! OVERLAP: chair <-> floor depth=[0.445, -0.002, 0.484] + !! OVERLAP: chair <-> floor depth=[0.397, -0.002, 0.464] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4378 (C1 Heatmap: 0.7764, C2 Repulsion: 4.0833), Relational Loss: 0.0138 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.635 0.929 0.614 -2.283 0.011 2.163 179.95° +sofa 1.321 0.964 1.013 -3.706 0.015 0.531 90.32° +table 0.522 0.390 0.478 -2.236 0.003 0.423 0.02° +tv_stand 2.075 0.566 0.375 -1.970 -0.001 -1.388 -0.00° +chair 0.721 0.931 0.757 -0.598 -0.006 0.754 -67.23° +table 1.189 0.761 0.617 1.943 -0.003 0.312 -0.52° +chair 0.373 0.781 0.499 3.409 -0.002 1.107 -90.06° +chair 0.389 0.787 0.503 2.719 0.002 1.127 179.92° +chair 0.306 0.768 0.413 2.705 -0.007 -0.427 -0.24° +chair 0.289 0.734 0.448 3.423 0.000 0.069 -89.97° +table 1.284 1.359 0.193 1.120 0.000 -1.578 0.07° +cabinet 1.632 2.023 0.239 1.659 0.008 2.289 179.95° +table 0.520 0.461 0.461 -0.304 -0.000 1.989 89.95° +table 0.449 0.485 0.507 -3.649 -0.003 2.171 179.69° +lamp 0.525 0.487 0.571 -1.506 2.677 0.289 0.17° +lamp 0.613 0.938 0.637 1.639 2.040 0.405 0.00° +table 1.077 1.337 0.206 3.049 -0.005 -2.214 0.00° +floor 8.516 -0.005 5.482 -0.572 -0.001 0.326 -0.01° +_scene_ 0.075 0.000 0.024 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.635, -0.005, 0.614] + !! OVERLAP: sofa <-> floor depth=[1.321, -0.005, 1.013] + !! OVERLAP: table <-> floor depth=[0.522, -0.005, 0.478] + !! OVERLAP: tv_stand <-> floor depth=[2.075, -0.005, 0.375] + !! OVERLAP: chair <-> floor depth=[0.721, -0.005, 0.757] + !! OVERLAP: table <-> floor depth=[1.189, -0.005, 0.617] + !! OVERLAP: chair <-> floor depth=[0.373, -0.005, 0.499] + !! OVERLAP: chair <-> floor depth=[0.389, -0.005, 0.503] + !! OVERLAP: chair <-> floor depth=[0.306, -0.005, 0.413] + !! OVERLAP: chair <-> floor depth=[0.289, -0.005, 0.448] + !! OVERLAP: table <-> floor depth=[1.284, -0.005, 0.193] + !! OVERLAP: cabinet <-> floor depth=[1.632, -0.005, 0.239] + !! OVERLAP: table <-> floor depth=[0.520, -0.005, 0.461] + !! OVERLAP: table <-> floor depth=[0.449, -0.005, 0.507] + !! OVERLAP: table <-> floor depth=[1.077, -0.005, 0.206] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0008, Room Outer Loss: 0.0025, Walkable Loss: 1.2702 (C1 Heatmap: 0.6364, C2 Repulsion: 3.8057), Relational Loss: 0.0228 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.143 1.049 0.299 -1.723 -0.003 -2.798 0.19° +table 1.162 0.843 0.254 1.652 -0.003 -2.034 -89.86° +tv_stand 1.755 0.398 0.290 1.333 0.003 1.921 -90.14° +sofa 1.887 0.736 0.699 -1.634 0.002 2.246 90.05° +chair 0.672 0.683 0.680 -2.255 0.001 2.880 89.89° +table 1.255 0.625 -0.313 -0.179 0.024 -1.256 -91.10° +chair 0.362 0.734 0.425 0.556 0.002 -1.649 0.03° +chair 0.380 0.715 0.435 -0.518 -0.001 -1.866 -0.01° +chair 0.432 0.728 0.445 -0.539 0.002 -0.490 -179.97° +chair 0.374 0.742 0.420 0.220 -0.001 -0.411 179.90° +table 1.323 0.408 0.906 -0.197 -0.003 2.420 -93.91° +lamp 0.599 0.639 0.508 -0.213 2.048 1.666 -90.10° +lamp 1.055 0.584 0.140 -0.081 2.112 -1.132 -0.08° +floor 5.028 -0.001 7.070 -0.283 0.002 0.381 -0.05° +_scene_ 0.064 -0.000 0.017 -5.670 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.143, -0.001, 0.299] + !! OVERLAP: table <-> floor depth=[1.160, -0.001, 0.254] + !! OVERLAP: tv_stand <-> table depth=[0.009, 0.397, 0.098] + !! OVERLAP: tv_stand <-> floor depth=[1.755, -0.001, 0.290] + !! OVERLAP: sofa <-> chair depth=[0.658, 0.683, 0.056] + !! OVERLAP: sofa <-> table depth=[0.168, 0.408, 0.629] + !! OVERLAP: sofa <-> floor depth=[1.887, -0.001, 0.699] + !! OVERLAP: chair <-> floor depth=[0.672, -0.001, 0.680] + !! OVERLAP: table <-> floor depth=[1.255, -0.001, -0.313] + !! OVERLAP: chair <-> floor depth=[0.362, -0.001, 0.425] + !! OVERLAP: chair <-> floor depth=[0.380, -0.001, 0.435] + !! OVERLAP: chair <-> floor depth=[0.432, -0.001, 0.445] + !! OVERLAP: chair <-> floor depth=[0.374, -0.001, 0.420] + !! OVERLAP: table <-> floor depth=[1.323, -0.001, 0.906] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 1.3178 (C1 Heatmap: 0.5241, C2 Repulsion: 4.4928), Relational Loss: 0.0206 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.552 0.708 0.683 -1.179 0.001 1.684 90.09° +chair 0.569 0.941 0.583 -0.109 0.002 3.439 178.16° +table 1.309 0.433 0.705 0.058 0.004 2.050 90.08° +table 0.858 0.719 0.322 0.486 0.002 -1.462 -0.52° +chair 0.397 0.920 0.298 0.070 -0.001 -0.668 -179.97° +chair 0.353 0.934 0.383 0.810 0.003 -0.647 179.88° +chair 0.360 0.919 0.428 -0.199 -0.001 -2.209 0.02° +chair 0.377 0.869 0.440 0.865 0.001 -2.241 0.07° +table 1.689 0.855 0.426 0.255 -0.001 -3.447 -0.07° +lamp 1.017 1.001 1.021 -0.106 1.779 2.269 0.01° +lamp 1.369 0.943 0.408 0.179 1.845 -1.549 -0.02° +lamp 1.015 0.820 0.521 0.517 2.133 -1.988 -0.06° +chair 0.540 0.559 0.516 -0.057 -0.002 0.217 12.35° +table 0.599 1.018 0.309 -1.489 0.003 0.688 90.06° +table 0.613 0.939 0.471 -1.591 0.002 3.246 90.03° +floor 3.721 -0.002 8.101 -0.098 -0.000 0.097 -0.02° +_scene_ 0.074 -0.000 0.026 -5.671 -0.003 -5.708 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.193, 0.433, 0.328] + !! OVERLAP: sofa <-> floor depth=[1.552, -0.002, 0.683] + !! OVERLAP: chair <-> floor depth=[0.569, -0.002, 0.583] + !! OVERLAP: table <-> floor depth=[1.309, -0.002, 0.705] + !! OVERLAP: table <-> floor depth=[0.858, -0.002, 0.322] + !! OVERLAP: chair <-> floor depth=[0.397, -0.002, 0.298] + !! OVERLAP: chair <-> floor depth=[0.353, -0.002, 0.383] + !! OVERLAP: chair <-> floor depth=[0.360, -0.002, 0.428] + !! OVERLAP: chair <-> floor depth=[0.377, -0.002, 0.440] + !! OVERLAP: table <-> floor depth=[1.689, -0.002, 0.426] + !! OVERLAP: lamp <-> lamp depth=[0.854, 0.593, 0.026] + !! OVERLAP: chair <-> floor depth=[0.540, -0.002, 0.516] + !! OVERLAP: table <-> floor depth=[0.599, -0.002, 0.309] + !! OVERLAP: table <-> floor depth=[0.613, -0.002, 0.471] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3429 (C1 Heatmap: 0.6039, C2 Repulsion: 4.2987), Relational Loss: 0.0226 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.450 0.779 0.651 -1.746 0.002 1.622 90.04° +chair 1.242 0.842 0.531 -0.385 0.012 0.295 18.35° +sofa 2.120 0.992 0.806 -0.429 0.002 3.611 179.99° +table 0.482 0.381 0.444 -0.650 0.000 1.955 90.02° +table 0.427 0.486 0.414 -1.690 0.004 -0.079 90.06° +table 0.486 0.537 0.485 -1.949 0.008 3.265 90.07° +table 1.835 0.773 -0.445 -0.583 -0.039 -2.090 -3.33° +chair 0.377 0.721 0.410 -0.602 -0.001 -2.932 -0.01° +chair 0.313 0.747 0.339 -0.385 0.002 -1.178 -179.69° +chair 0.338 0.732 0.383 0.273 0.003 -1.675 179.92° +chair 0.314 0.789 0.391 -1.123 0.003 -1.457 167.48° +chair 0.386 0.620 0.450 -1.443 0.001 -2.553 89.98° +chair 0.378 0.702 0.423 0.354 0.002 -2.641 -90.30° +lamp 0.988 0.789 0.702 -0.647 1.933 1.747 0.03° +lamp 0.907 0.789 0.886 -0.287 1.919 -2.410 0.02° +table 0.812 1.660 0.336 -0.228 -0.005 -3.758 0.10° +tv_stand 1.286 0.447 0.347 1.156 0.002 1.855 -89.99° +floor 4.954 -0.000 8.242 -0.636 -0.001 -0.069 -0.08° +_scene_ 0.074 0.000 0.024 -5.670 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.450, -0.000, 0.651] + !! OVERLAP: chair <-> floor depth=[1.242, -0.000, 0.531] + !! OVERLAP: sofa <-> floor depth=[2.120, -0.000, 0.806] + !! OVERLAP: table <-> floor depth=[0.482, -0.000, 0.444] + !! OVERLAP: table <-> floor depth=[0.427, -0.000, 0.414] + !! OVERLAP: table <-> floor depth=[0.486, -0.000, 0.485] + !! OVERLAP: table <-> floor depth=[1.835, -0.000, -0.445] + !! OVERLAP: chair <-> floor depth=[0.377, -0.000, 0.410] + !! OVERLAP: chair <-> floor depth=[0.313, -0.000, 0.339] + !! OVERLAP: chair <-> floor depth=[0.338, -0.000, 0.383] + !! OVERLAP: chair <-> floor depth=[0.314, -0.000, 0.391] + !! OVERLAP: chair <-> floor depth=[0.386, -0.000, 0.450] + !! OVERLAP: chair <-> floor depth=[0.378, -0.000, 0.423] + !! OVERLAP: table <-> floor depth=[0.812, -0.000, 0.336] + !! OVERLAP: tv_stand <-> floor depth=[1.286, -0.000, 0.347] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9084 (C1 Heatmap: 0.3248, C2 Repulsion: 3.2430), Relational Loss: 0.0196 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.568 0.767 0.816 3.362 0.020 0.733 -179.90° +chair 0.747 1.013 0.874 5.048 0.002 -0.744 -90.41° +chair 0.689 1.199 0.694 1.198 -0.007 -0.560 124.82° +table 1.162 0.415 0.706 3.276 0.004 -1.110 0.39° +table 0.470 0.501 0.495 4.922 -0.007 0.933 -179.43° +table 0.578 0.535 0.531 1.599 0.001 0.983 -179.95° +table 0.575 0.799 0.543 -3.599 -0.011 1.227 -1.25° +chair 0.420 0.857 0.457 -3.937 0.003 0.326 0.04° +chair 0.472 0.914 0.522 -3.114 0.002 0.204 0.05° +chair 0.458 0.880 0.537 -4.323 0.008 2.179 179.77° +chair 0.475 0.868 0.465 -3.034 0.001 2.129 -179.86° +chair 0.496 0.909 0.530 -2.338 -0.000 1.010 -90.10° +chair 0.466 0.806 0.388 -4.869 0.006 1.194 89.66° +cabinet 0.743 1.367 0.348 -1.073 0.002 2.891 -179.83° +table 0.815 2.070 0.527 -4.927 0.014 0.323 89.19° +lamp 0.672 0.755 0.682 2.805 1.952 -0.995 0.01° +lamp 1.090 1.021 1.216 -3.701 1.885 1.329 -0.09° +floor 11.340 -0.005 6.856 0.210 -0.001 -0.078 -0.09° +_scene_ 0.070 -0.003 0.028 -5.672 -0.002 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.568, -0.005, 0.816] + !! OVERLAP: chair <-> floor depth=[0.747, -0.005, 0.874] + !! OVERLAP: chair <-> floor depth=[0.689, -0.005, 0.694] + !! OVERLAP: table <-> floor depth=[1.162, -0.005, 0.706] + !! OVERLAP: table <-> floor depth=[0.470, -0.005, 0.495] + !! OVERLAP: table <-> floor depth=[0.578, -0.005, 0.531] + !! OVERLAP: table <-> floor depth=[0.575, -0.005, 0.543] + !! OVERLAP: chair <-> floor depth=[0.420, -0.005, 0.457] + !! OVERLAP: chair <-> floor depth=[0.472, -0.005, 0.522] + !! OVERLAP: chair <-> floor depth=[0.458, -0.005, 0.537] + !! OVERLAP: chair <-> floor depth=[0.475, -0.005, 0.465] + !! OVERLAP: chair <-> floor depth=[0.496, -0.005, 0.530] + !! OVERLAP: chair <-> floor depth=[0.466, -0.005, 0.388] + !! OVERLAP: cabinet <-> floor depth=[0.743, -0.005, 0.348] + !! OVERLAP: table <-> floor depth=[0.815, -0.005, 0.527] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0853, Walkable Loss: 1.9981 (C1 Heatmap: 0.9242, C2 Repulsion: 6.2937), Relational Loss: 0.0173 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.506 1.116 0.263 0.735 0.007 -0.588 -89.98° +sofa 2.103 0.752 0.703 -1.080 0.007 -0.394 0.25° +table 0.655 0.708 0.811 -0.451 -0.015 -2.577 0.18° +tv_stand 2.229 0.529 0.329 -0.833 -0.001 2.569 179.91° +table 1.199 0.683 0.774 -0.804 -0.000 1.203 0.05° +chair 0.612 0.880 0.812 1.150 0.001 1.225 -128.09° +chair 0.480 0.911 0.505 -1.347 -0.003 -3.420 -0.35° +chair 0.324 0.963 0.408 -0.417 -0.006 -3.546 -0.82° +chair 0.361 0.933 0.433 -0.557 -0.002 -1.810 179.59° +chair 0.390 0.967 0.474 -1.360 -0.003 -1.950 -179.73° +table 0.500 1.270 0.342 0.622 0.001 2.845 0.12° +table 0.574 1.352 0.431 -2.419 0.012 2.432 -0.01° +cabinet 1.452 0.727 0.267 -2.295 0.007 -2.151 90.05° +lamp 0.755 0.796 0.772 -0.892 1.874 1.095 0.02° +cabinet 1.007 1.115 0.362 1.672 -0.000 -2.492 -89.35° +chair 0.583 0.403 0.427 1.715 0.001 -0.940 -0.08° +lamp 0.635 0.924 0.682 -1.030 1.641 -2.690 0.01° +floor 5.247 -0.002 7.282 -0.329 -0.002 -0.093 -0.05° +_scene_ 0.070 -0.000 0.024 -5.670 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.506, -0.002, 0.263] + !! OVERLAP: sofa <-> floor depth=[2.103, -0.002, 0.703] + !! OVERLAP: table <-> floor depth=[0.655, -0.002, 0.811] + !! OVERLAP: tv_stand <-> floor depth=[2.229, -0.002, 0.329] + !! OVERLAP: table <-> floor depth=[1.199, -0.002, 0.774] + !! OVERLAP: chair <-> floor depth=[0.612, -0.002, 0.812] + !! OVERLAP: chair <-> floor depth=[0.480, -0.002, 0.505] + !! OVERLAP: chair <-> floor depth=[0.324, -0.002, 0.392] + !! OVERLAP: chair <-> floor depth=[0.361, -0.002, 0.433] + !! OVERLAP: chair <-> floor depth=[0.390, -0.002, 0.474] + !! OVERLAP: table <-> floor depth=[0.500, -0.002, 0.342] + !! OVERLAP: table <-> floor depth=[0.574, -0.002, 0.431] + !! OVERLAP: cabinet <-> floor depth=[1.383, -0.002, 0.267] + !! OVERLAP: cabinet <-> floor depth=[1.007, -0.002, 0.362] + !! OVERLAP: chair <-> floor depth=[0.583, -0.002, 0.427] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7318 (C1 Heatmap: 0.7992, C2 Repulsion: 5.4625), Relational Loss: 0.0270 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.838 0.683 0.570 -2.215 0.005 -0.852 0.29° +lamp 0.363 0.856 0.343 -2.049 1.711 -0.587 0.03° +chair 0.445 0.928 0.530 -1.275 0.002 -0.337 -90.28° +chair 0.481 0.952 0.547 -1.388 0.003 -1.629 0.08° +chair 0.501 0.937 0.529 -1.714 0.006 0.575 179.97° +chair 0.526 0.918 0.496 -2.709 0.001 0.195 -179.96° +chair 0.461 0.886 0.521 -3.427 0.001 -0.590 89.67° +chair 0.554 0.872 0.583 -2.763 0.001 -1.922 -0.05° +table 0.679 0.487 0.776 1.874 0.001 -0.537 -0.04° +tv_stand 2.052 1.020 0.308 1.399 0.001 0.830 179.98° +sofa 2.124 0.974 0.895 1.108 -0.004 -2.067 -0.08° +chair 0.510 1.136 0.497 3.099 0.001 -1.170 -57.78° +chair 0.589 0.416 0.418 -0.086 0.002 -0.942 89.98° +chair 0.562 0.407 0.458 0.224 0.001 -0.169 90.07° +lamp 0.302 0.724 0.276 1.621 1.908 -0.540 -0.00° +cabinet 0.615 0.697 0.281 -3.066 0.003 1.566 179.88° +floor 7.441 -0.000 5.611 -0.104 -0.000 -0.417 -0.02° +_scene_ 0.074 0.002 0.021 -5.673 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.838, -0.000, 0.570] + !! OVERLAP: chair <-> floor depth=[0.445, -0.000, 0.530] + !! OVERLAP: chair <-> floor depth=[0.481, -0.000, 0.547] + !! OVERLAP: chair <-> floor depth=[0.501, -0.000, 0.529] + !! OVERLAP: chair <-> floor depth=[0.526, -0.000, 0.496] + !! OVERLAP: chair <-> floor depth=[0.461, -0.000, 0.521] + !! OVERLAP: chair <-> floor depth=[0.554, -0.000, 0.583] + !! OVERLAP: table <-> floor depth=[0.679, -0.000, 0.776] + !! OVERLAP: tv_stand <-> floor depth=[2.052, -0.000, 0.308] + !! OVERLAP: sofa <-> floor depth=[2.124, -0.000, 0.895] + !! OVERLAP: chair <-> floor depth=[0.510, -0.000, 0.497] + !! OVERLAP: chair <-> floor depth=[0.589, -0.000, 0.418] + !! OVERLAP: chair <-> floor depth=[0.562, -0.000, 0.458] + !! OVERLAP: cabinet <-> floor depth=[0.615, -0.000, 0.281] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0904, Walkable Loss: 1.1075 (C1 Heatmap: 0.6452, C2 Repulsion: 2.9565), Relational Loss: 0.0210 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.607 0.899 0.591 1.452 0.009 -1.738 -90.06° +chair 0.725 1.036 0.732 0.237 -0.002 -3.171 0.10° +table 1.064 0.455 0.845 0.289 0.001 -1.371 90.09° +table 0.277 1.184 0.388 2.112 -0.000 -2.931 -90.20° +tv_stand 1.747 0.599 0.419 -1.355 0.004 -1.323 90.05° +table 0.783 0.853 0.636 0.874 -0.005 1.195 -90.18° +chair 0.488 1.102 0.594 -0.184 0.001 1.077 89.98° +chair 0.416 1.104 0.524 -0.295 0.000 2.049 90.10° +chair 0.429 1.065 0.498 1.906 -0.000 1.137 -89.86° +chair 0.388 1.015 0.478 1.634 -0.000 2.202 -90.34° +lamp 1.062 1.313 1.006 0.254 1.954 -1.258 -0.01° +lamp 0.721 0.967 0.736 0.781 1.786 1.638 -0.07° +floor 4.494 -0.002 6.914 -0.039 0.000 -0.145 0.02° +_scene_ 0.069 0.001 0.022 -5.670 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.173, 0.455, 0.352] + !! OVERLAP: sofa <-> floor depth=[1.559, -0.002, 0.591] + !! OVERLAP: chair <-> floor depth=[0.725, -0.002, 0.732] + !! OVERLAP: table <-> floor depth=[1.064, -0.002, 0.845] + !! OVERLAP: table <-> floor depth=[0.234, -0.002, 0.388] + !! OVERLAP: tv_stand <-> floor depth=[1.747, -0.002, 0.419] + !! OVERLAP: table <-> floor depth=[0.783, -0.002, 0.636] + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.594] + !! OVERLAP: chair <-> floor depth=[0.416, -0.002, 0.524] + !! OVERLAP: chair <-> floor depth=[0.429, -0.002, 0.498] + !! OVERLAP: chair <-> floor depth=[0.388, -0.002, 0.478] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0145 (C1 Heatmap: 0.5091, C2 Repulsion: 3.0363), Relational Loss: 0.0178 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.566 0.990 0.500 -0.991 1.816 -2.672 -0.02° +table 0.882 0.947 0.170 1.913 -0.014 -2.109 -90.06° +chair 0.438 0.739 0.539 1.960 0.004 -2.924 0.03° +chair 0.474 0.691 0.497 0.829 -0.000 -3.080 0.06° +chair 0.474 0.754 0.531 1.730 0.002 -1.029 179.94° +chair 0.475 0.756 0.537 0.695 0.001 -1.488 -179.94° +lamp 0.995 0.869 0.915 -1.456 1.952 1.951 179.86° +table 0.504 0.610 0.463 -3.143 0.002 0.067 89.98° +table 0.574 0.495 0.551 -3.262 0.005 3.520 90.09° +table 0.937 0.395 0.806 -1.643 -0.000 1.940 90.00° +tv_stand 1.504 0.589 0.349 -0.137 -0.000 1.893 -90.05° +sofa 1.854 0.914 0.727 -3.335 -0.000 1.616 90.05° +chair 0.784 1.022 0.858 -1.551 0.002 3.379 179.24° +table 0.812 0.655 0.459 -1.461 -0.001 0.162 179.98° +floor 6.817 -0.008 8.484 -0.902 0.002 0.064 0.03° +_scene_ 0.068 0.001 0.022 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.882, -0.008, 0.170] + !! OVERLAP: chair <-> floor depth=[0.438, -0.008, 0.539] + !! OVERLAP: chair <-> floor depth=[0.474, -0.008, 0.497] + !! OVERLAP: chair <-> floor depth=[0.474, -0.008, 0.531] + !! OVERLAP: chair <-> floor depth=[0.475, -0.008, 0.537] + !! OVERLAP: table <-> floor depth=[0.504, -0.008, 0.463] + !! OVERLAP: table <-> floor depth=[0.574, -0.008, 0.551] + !! OVERLAP: table <-> floor depth=[0.937, -0.008, 0.806] + !! OVERLAP: tv_stand <-> floor depth=[1.504, -0.008, 0.349] + !! OVERLAP: sofa <-> floor depth=[1.854, -0.008, 0.727] + !! OVERLAP: chair <-> floor depth=[0.784, -0.008, 0.858] + !! OVERLAP: table <-> floor depth=[0.812, -0.008, 0.459] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0466 (C1 Heatmap: 0.3580, C2 Repulsion: 3.8007), Relational Loss: 0.0217 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.277 0.744 0.369 -0.960 0.027 -0.077 90.14° +chair 0.408 0.887 0.509 -1.815 0.005 0.650 90.33° +chair 0.422 0.920 0.447 -1.670 -0.000 -0.052 89.99° +chair 0.425 0.976 0.541 -0.419 0.001 0.590 -89.70° +chair 0.297 0.937 0.090 -0.396 0.001 -0.119 -90.35° +table 1.353 0.744 0.553 1.209 -0.001 0.460 -89.96° +cabinet 0.851 1.405 0.497 1.642 0.006 -1.040 0.10° +lamp 0.450 0.491 0.456 -0.107 2.048 -0.076 -0.03° +floor 5.008 -0.002 2.835 0.017 0.000 -0.028 0.01° +_scene_ 0.072 0.001 0.022 -5.672 -0.003 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.140, 0.744, 0.369] + !! OVERLAP: table <-> chair depth=[0.222, 0.744, 0.090] + !! OVERLAP: table <-> floor depth=[1.277, -0.002, 0.369] + !! OVERLAP: chair <-> floor depth=[0.408, -0.002, 0.509] + !! OVERLAP: chair <-> floor depth=[0.422, -0.002, 0.447] + !! OVERLAP: chair <-> floor depth=[0.425, -0.002, 0.541] + !! OVERLAP: chair <-> floor depth=[0.297, -0.002, 0.090] + !! OVERLAP: table <-> floor depth=[1.353, -0.002, 0.553] + !! OVERLAP: cabinet <-> floor depth=[0.851, -0.002, 0.497] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0309, Walkable Loss: 1.0575 (C1 Heatmap: 0.4512, C2 Repulsion: 3.4827), Relational Loss: 0.0255 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.058 0.774 0.719 1.367 0.004 0.940 -89.95° +table 0.832 0.345 0.622 0.112 -0.000 1.287 -90.03° +table 0.914 0.686 0.091 0.572 -0.012 -0.585 -0.99° +chair 0.442 0.801 0.313 0.830 0.002 -0.100 179.88° +chair 0.415 0.850 0.514 1.564 0.003 -0.352 179.95° +chair 0.336 0.854 0.383 0.935 0.000 -1.376 -0.03° +chair 0.373 0.790 0.386 1.637 0.001 -1.429 -0.04° +tv_stand 1.697 0.595 0.333 -0.964 -0.002 1.482 90.19° +cabinet 0.896 1.070 0.149 -0.336 -0.003 -2.324 0.07° +lamp 0.457 0.473 0.451 -0.040 2.118 1.551 -0.00° +lamp 0.149 1.219 0.147 1.519 1.509 -0.719 0.02° +floor 3.680 -0.003 5.569 0.059 0.001 0.379 0.02° +_scene_ 0.074 0.000 0.025 -5.665 -0.003 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.058, -0.003, 0.719] + !! OVERLAP: table <-> tv_stand depth=[0.189, 0.345, 0.283] + !! OVERLAP: table <-> floor depth=[0.832, -0.003, 0.622] + !! OVERLAP: table <-> floor depth=[0.914, -0.003, 0.091] + !! OVERLAP: chair <-> floor depth=[0.442, -0.003, 0.313] + !! OVERLAP: chair <-> floor depth=[0.415, -0.003, 0.514] + !! OVERLAP: chair <-> floor depth=[0.336, -0.003, 0.383] + !! OVERLAP: chair <-> floor depth=[0.373, -0.003, 0.386] + !! OVERLAP: tv_stand <-> floor depth=[1.666, -0.003, 0.333] + !! OVERLAP: cabinet <-> floor depth=[0.896, -0.003, 0.149] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9003 (C1 Heatmap: 0.5087, C2 Repulsion: 2.4665), Relational Loss: 0.0158 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.656 0.794 0.688 -0.581 -0.000 3.240 146.87° +chair 0.716 0.318 0.365 -0.730 0.000 0.031 0.01° +table 0.436 0.435 0.527 -0.329 0.002 1.896 -90.28° +table 0.933 0.639 0.600 0.783 0.000 0.233 -0.01° +table 0.490 0.555 0.550 0.782 0.003 2.905 -0.10° +tv_stand 2.058 0.775 0.156 -1.468 -0.005 1.436 90.26° +cabinet 0.897 1.035 0.325 2.095 0.001 -1.107 -90.11° +lamp 0.969 0.549 0.365 -0.306 2.088 1.323 0.02° +lamp 0.638 0.338 0.377 1.982 2.150 -2.417 -0.17° +sofa 1.662 0.886 0.391 0.796 0.014 1.689 -179.62° +floor 5.582 -0.005 6.437 0.250 0.000 0.377 -0.09° +_scene_ 0.070 0.002 0.021 -5.668 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.656, -0.005, 0.688] + !! OVERLAP: chair <-> floor depth=[0.716, -0.005, 0.365] + !! OVERLAP: table <-> floor depth=[0.436, -0.005, 0.527] + !! OVERLAP: table <-> floor depth=[0.933, -0.005, 0.600] + !! OVERLAP: table <-> floor depth=[0.490, -0.005, 0.550] + !! OVERLAP: tv_stand <-> floor depth=[2.058, -0.005, 0.156] + !! OVERLAP: cabinet <-> floor depth=[0.897, -0.005, 0.325] + !! OVERLAP: sofa <-> floor depth=[1.662, -0.005, 0.391] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1819 (C1 Heatmap: 0.6993, C2 Repulsion: 3.1122), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.808 0.772 0.774 2.094 -0.003 1.365 -179.99° +table 1.250 0.415 0.748 2.277 0.001 0.054 -0.05° +chair 0.401 0.464 0.426 0.899 -0.000 0.184 -0.01° +bookshelf 3.006 2.650 0.090 -1.440 -0.001 1.947 -179.99° +table 0.783 0.739 0.472 -1.388 -0.010 -0.987 -0.04° +chair 0.391 0.949 0.502 -2.331 -0.001 -1.358 0.14° +chair 0.569 0.898 0.571 -1.994 0.001 -0.174 89.92° +chair 0.456 0.965 0.512 -0.309 -0.000 -1.146 -89.97° +chair 0.439 0.949 0.552 -0.425 0.005 -0.006 -90.30° +lamp 0.553 0.727 0.631 1.909 2.001 -0.443 -0.00° +lamp 0.180 1.002 0.191 -1.408 1.402 -1.750 0.00° +lamp 0.383 0.945 0.195 -1.309 1.511 -1.196 0.02° +lamp 0.288 0.894 0.281 -1.282 1.746 -0.569 0.03° +floor 6.664 -0.003 5.462 0.084 0.000 -0.379 -0.04° +_scene_ 0.066 -0.000 0.020 -5.670 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.808, -0.003, 0.774] + !! OVERLAP: table <-> floor depth=[1.250, -0.003, 0.748] + !! OVERLAP: chair <-> floor depth=[0.401, -0.003, 0.426] + !! OVERLAP: bookshelf <-> floor depth=[3.006, -0.003, 0.090] + !! OVERLAP: table <-> floor depth=[0.783, -0.003, 0.472] + !! OVERLAP: chair <-> floor depth=[0.391, -0.003, 0.502] + !! OVERLAP: chair <-> floor depth=[0.569, -0.003, 0.571] + !! OVERLAP: chair <-> floor depth=[0.456, -0.003, 0.512] + !! OVERLAP: chair <-> floor depth=[0.439, -0.003, 0.552] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0579, Walkable Loss: 0.7245 (C1 Heatmap: 0.5581, C2 Repulsion: 1.3902), Relational Loss: 0.0186 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.434 0.789 0.659 -1.602 0.003 0.390 90.26° +chair 0.672 0.907 0.849 -0.290 -0.001 3.086 165.55° +chair 0.752 1.023 0.755 0.060 -0.002 -1.275 2.30° +table 0.483 0.390 0.527 -1.587 0.001 -1.140 -0.01° +table 0.472 0.561 0.445 -1.518 -0.003 1.969 9.90° +table 0.715 0.463 0.921 0.028 0.000 0.830 0.01° +tv_stand 2.068 2.376 -0.053 1.378 -0.028 0.700 -91.15° +cabinet 0.975 0.847 0.240 1.347 0.007 2.746 180.00° +lamp 0.595 0.823 0.600 0.105 1.872 0.388 -0.03° +floor 4.710 -0.001 6.811 -0.001 0.001 0.316 -0.07° +_scene_ 0.073 0.000 0.029 -5.670 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.434, -0.001, 0.659] + !! OVERLAP: chair <-> floor depth=[0.672, -0.001, 0.849] + !! OVERLAP: chair <-> floor depth=[0.752, -0.001, 0.755] + !! OVERLAP: table <-> floor depth=[0.483, -0.001, 0.527] + !! OVERLAP: table <-> floor depth=[0.472, -0.001, 0.445] + !! OVERLAP: table <-> tv_stand depth=[0.042, 0.463, -0.053] + !! OVERLAP: table <-> floor depth=[0.715, -0.001, 0.921] + !! OVERLAP: tv_stand <-> floor depth=[2.010, -0.001, -0.053] + !! OVERLAP: cabinet <-> floor depth=[0.975, -0.001, 0.240] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.0681, Walkable Loss: 1.3962 (C1 Heatmap: 0.7574, C2 Repulsion: 3.9514), Relational Loss: 0.0237 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.627 0.856 0.688 -1.422 0.009 -1.406 90.01° +chair 0.841 0.803 0.839 -0.141 0.004 -3.018 16.30° +chair 1.159 0.339 0.457 0.220 -0.002 0.001 -0.01° +table 0.971 0.359 0.563 0.135 0.020 -1.442 -179.98° +table 0.492 0.595 0.491 -1.695 -0.001 -3.426 0.00° +table 0.546 0.641 0.536 -1.457 -0.001 0.205 -0.00° +tv_stand 1.887 0.416 0.308 1.522 -0.001 -1.880 -90.13° +table 0.883 0.700 0.754 -0.153 -0.003 2.419 179.50° +chair 0.353 0.597 0.361 0.780 -0.001 1.558 0.01° +chair 0.382 0.483 0.377 1.050 0.001 2.607 -90.03° +chair 0.407 0.613 0.397 -0.523 -0.001 1.225 0.03° +chair 0.434 0.568 0.460 -0.546 -0.001 2.758 -179.96° +table 0.810 0.867 0.471 -2.062 -0.000 2.478 89.75° +lamp 0.637 0.632 0.621 0.173 1.989 -1.719 -0.06° +lamp 0.539 0.843 0.443 0.263 1.686 2.289 -0.01° +floor 4.879 -0.003 8.409 0.041 -0.001 -0.259 0.02° +_scene_ 0.070 -0.000 0.016 -5.665 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.627, -0.003, 0.688] + !! OVERLAP: chair <-> floor depth=[0.841, -0.003, 0.839] + !! OVERLAP: chair <-> floor depth=[1.159, -0.003, 0.457] + !! OVERLAP: table <-> floor depth=[0.971, -0.003, 0.563] + !! OVERLAP: table <-> floor depth=[0.492, -0.003, 0.491] + !! OVERLAP: table <-> floor depth=[0.546, -0.003, 0.536] + !! OVERLAP: tv_stand <-> floor depth=[1.887, -0.003, 0.308] + !! OVERLAP: table <-> chair depth=[0.266, 0.568, 0.268] + !! OVERLAP: table <-> floor depth=[0.883, -0.003, 0.754] + !! OVERLAP: chair <-> floor depth=[0.353, -0.003, 0.361] + !! OVERLAP: chair <-> floor depth=[0.382, -0.003, 0.377] + !! OVERLAP: chair <-> floor depth=[0.407, -0.003, 0.397] + !! OVERLAP: chair <-> floor depth=[0.434, -0.003, 0.460] + !! OVERLAP: table <-> floor depth=[0.741, -0.003, 0.471] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0546, Walkable Loss: 1.9001 (C1 Heatmap: 0.6591, C2 Repulsion: 6.8640), Relational Loss: 0.0195 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.720 0.997 0.603 -1.373 0.010 1.610 90.01° +table 0.946 0.455 0.910 -0.248 0.011 1.609 1.13° +chair 0.736 0.981 0.757 -0.444 0.002 3.077 179.84° +table 0.475 0.638 0.474 -1.859 0.002 -0.127 90.02° +table 0.519 0.585 0.341 -1.862 0.001 3.274 90.19° +tv_stand 1.382 0.497 0.316 0.988 0.000 1.602 -89.90° +chair 0.740 0.995 0.714 -0.291 -0.001 -0.355 0.91° +table 0.974 0.774 0.264 -0.063 -0.005 -2.041 -0.52° +chair 0.384 1.097 0.434 -0.740 -0.002 -1.700 -179.83° +chair 0.455 0.965 0.457 -1.131 -0.003 -2.504 0.11° +chair 0.257 0.984 0.282 -0.388 -0.021 -2.795 -1.05° +chair 0.393 1.007 0.374 -0.217 0.000 -1.406 -179.74° +table 0.458 0.552 0.392 -1.023 -0.002 -3.206 0.02° +table 0.654 1.291 0.343 1.321 0.004 -3.308 -90.14° +lamp 0.711 0.768 0.714 -0.522 1.908 -2.407 -0.06° +lamp 1.379 1.187 1.322 -0.786 1.753 1.960 0.05° +floor 4.060 0.001 7.494 -0.148 -0.002 0.179 -0.05° +_scene_ 0.072 -0.001 0.025 -5.672 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.208, 0.455, 0.603] + !! OVERLAP: sofa <-> floor depth=[1.666, 0.001, 0.603] + !! OVERLAP: table <-> floor depth=[0.946, 0.001, 0.910] + !! OVERLAP: chair <-> floor depth=[0.736, 0.001, 0.757] + !! OVERLAP: table <-> floor depth=[0.475, 0.001, 0.474] + !! OVERLAP: table <-> floor depth=[0.519, 0.001, 0.341] + !! OVERLAP: tv_stand <-> floor depth=[1.382, 0.001, 0.316] + !! OVERLAP: chair <-> floor depth=[0.740, 0.001, 0.714] + !! OVERLAP: table <-> chair depth=[0.001, 0.774, 0.008] + !! OVERLAP: table <-> floor depth=[0.974, 0.001, 0.264] + !! OVERLAP: chair <-> floor depth=[0.384, 0.001, 0.434] + !! OVERLAP: chair <-> floor depth=[0.455, 0.001, 0.457] + !! OVERLAP: chair <-> floor depth=[0.257, 0.001, 0.282] + !! OVERLAP: chair <-> floor depth=[0.393, 0.001, 0.374] + !! OVERLAP: table <-> floor depth=[0.458, 0.001, 0.392] + !! OVERLAP: table <-> floor depth=[0.654, 0.001, 0.343] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0000, Walkable Loss: 0.9452 (C1 Heatmap: 0.4357, C2 Repulsion: 2.9831), Relational Loss: 0.0404 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.538 0.875 0.667 -0.640 -0.007 -0.492 -77.90° +table 0.543 0.347 0.586 0.771 0.001 -0.744 -0.07° +sofa 1.598 0.777 0.431 0.925 0.002 -1.664 0.03° +chair 0.706 1.061 0.753 2.965 0.011 0.061 -108.20° +table 0.462 0.539 0.486 2.726 0.003 -1.765 -0.10° +table 0.490 0.494 0.506 -0.468 0.001 -1.780 0.03° +lamp 0.634 0.773 0.641 1.005 1.930 -0.678 0.01° +chair 0.463 1.045 0.623 -2.963 -0.001 -1.750 0.03° +chair 0.566 1.002 0.611 -2.587 -0.002 -0.399 179.92° +table 1.087 0.794 -0.378 -2.754 -0.024 -1.520 91.48° +cabinet 0.925 0.753 0.279 -1.707 0.003 -1.737 0.06° +floor 6.931 -0.006 5.200 -0.062 0.000 -0.187 -0.00° +_scene_ 0.082 0.000 0.027 -5.671 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.538, -0.006, 0.667] + !! OVERLAP: table <-> floor depth=[0.543, -0.006, 0.586] + !! OVERLAP: sofa <-> floor depth=[1.598, -0.006, 0.431] + !! OVERLAP: chair <-> floor depth=[0.706, -0.006, 0.753] + !! OVERLAP: table <-> floor depth=[0.462, -0.006, 0.486] + !! OVERLAP: table <-> floor depth=[0.490, -0.006, 0.506] + !! OVERLAP: chair <-> floor depth=[0.463, -0.006, 0.623] + !! OVERLAP: chair <-> floor depth=[0.566, -0.006, 0.611] + !! OVERLAP: table <-> floor depth=[1.087, -0.006, -0.378] + !! OVERLAP: cabinet <-> floor depth=[0.925, -0.006, 0.279] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6931 (C1 Heatmap: 0.5539, C2 Repulsion: 1.2501), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.108 0.352 0.610 0.332 -0.004 0.374 90.11° +table 0.447 0.554 0.430 -1.318 -0.000 -1.796 -0.31° +sofa 2.100 0.812 0.835 -1.401 0.003 0.151 89.99° +chair 0.695 0.915 0.702 0.421 -0.003 -1.471 -24.35° +tv_stand 1.298 0.705 0.370 1.628 -0.002 0.366 -90.11° +lamp 0.400 0.490 0.399 0.536 2.224 0.718 -0.04° +floor 4.880 -0.005 4.978 -0.043 0.000 -0.372 0.01° +_scene_ 0.062 0.002 0.023 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.108, -0.005, 0.610] + !! OVERLAP: table <-> floor depth=[0.447, -0.005, 0.430] + !! OVERLAP: sofa <-> floor depth=[2.100, -0.005, 0.835] + !! OVERLAP: chair <-> floor depth=[0.695, -0.005, 0.702] + !! OVERLAP: tv_stand <-> floor depth=[1.298, -0.005, 0.370] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0597, Walkable Loss: 0.5692 (C1 Heatmap: 0.4652, C2 Repulsion: 0.9850), Relational Loss: 0.0326 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.632 0.835 0.537 -0.025 1.880 -1.930 -0.03° +tv_stand 1.492 0.375 0.237 -1.155 0.000 1.773 90.04° +sofa 1.604 0.852 0.790 1.349 -0.005 1.448 -89.97° +cabinet 1.078 0.977 0.411 1.469 0.002 -0.621 -89.84° +table 0.791 0.408 0.536 -0.006 0.000 1.910 90.08° +bookshelf 0.795 2.659 0.349 -1.445 -0.005 -0.728 90.11° +lamp 0.956 1.288 1.006 -0.139 1.654 1.445 0.08° +chair 0.494 1.032 0.314 -0.136 0.011 -1.819 53.40° +floor 4.099 -0.001 6.410 0.042 0.002 0.360 -0.03° +_scene_ 0.069 0.001 0.021 -5.671 -0.004 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.492, -0.001, 0.237] + !! OVERLAP: sofa <-> floor depth=[1.544, -0.001, 0.790] + !! OVERLAP: cabinet <-> floor depth=[1.078, -0.001, 0.411] + !! OVERLAP: table <-> floor depth=[0.791, -0.001, 0.536] + !! OVERLAP: bookshelf <-> floor depth=[0.795, -0.001, 0.349] + !! OVERLAP: chair <-> floor depth=[0.494, -0.001, 0.314] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0503, Walkable Loss: 1.0065 (C1 Heatmap: 0.3704, C2 Repulsion: 3.5509), Relational Loss: 0.0229 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.061 0.961 1.072 -1.085 1.934 1.514 -0.03° +tv_stand 1.433 0.515 0.246 0.865 -0.001 -1.149 -90.54° +table 0.597 0.518 0.613 -0.617 0.003 -1.106 179.88° +sofa 1.219 0.766 0.726 -1.041 0.001 -0.001 90.94° +table 1.023 0.584 0.497 -0.329 -0.002 1.487 -179.90° +chair 0.297 0.749 0.283 -0.962 0.003 0.797 179.80° +chair 0.366 0.722 0.367 -0.336 0.002 0.583 0.07° +lamp 0.493 0.223 0.501 -0.655 2.201 -0.905 -0.01° +floor 3.240 0.001 5.226 0.012 0.001 -0.029 -0.02° +_scene_ 0.068 0.000 0.024 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.433, 0.001, 0.246] + !! OVERLAP: table <-> floor depth=[0.597, 0.001, 0.613] + !! OVERLAP: sofa <-> floor depth=[1.176, 0.001, 0.726] + !! OVERLAP: table <-> floor depth=[1.023, 0.001, 0.497] + !! OVERLAP: chair <-> floor depth=[0.297, 0.001, 0.283] + !! OVERLAP: chair <-> floor depth=[0.366, 0.001, 0.367] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0008, Room Outer Loss: 0.0579, Walkable Loss: 0.9330 (C1 Heatmap: 0.6580, C2 Repulsion: 2.0329), Relational Loss: 0.0026 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.969 0.438 0.699 1.316 -0.000 0.114 0.07° +table 0.451 0.648 0.392 1.437 -0.003 -0.418 -0.14° +sofa 2.491 1.101 0.609 0.528 -0.005 -1.816 -0.60° +chair 0.644 0.776 0.437 -1.053 0.016 -0.182 133.13° +tv_stand 2.402 0.738 0.454 0.813 0.006 1.825 179.93° +floor 5.156 -0.004 4.179 0.067 0.000 0.027 -0.02° +_scene_ 0.048 -0.002 0.027 -5.638 -0.002 -5.681 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.451, 0.438, 0.013] + !! OVERLAP: table <-> floor depth=[0.969, -0.004, 0.699] + !! OVERLAP: table <-> floor depth=[0.451, -0.004, 0.392] + !! OVERLAP: sofa <-> floor depth=[2.491, -0.004, 0.551] + !! OVERLAP: chair <-> floor depth=[0.644, -0.004, 0.437] + !! OVERLAP: tv_stand <-> floor depth=[2.402, -0.004, 0.454] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6470 (C1 Heatmap: 0.4077, C2 Repulsion: 1.6042), Relational Loss: 0.0339 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.483 0.702 0.640 -1.007 0.001 0.015 90.12° +table 0.781 1.060 0.288 -1.177 0.001 -2.024 90.19° +tv_stand 1.361 0.685 0.378 1.007 -0.001 0.065 -89.86° +table 1.567 0.728 -0.115 -0.225 0.003 1.356 1.17° +chair 0.386 0.910 0.398 0.173 0.006 2.331 -159.38° +chair 0.349 0.910 0.376 -0.453 0.001 2.303 160.92° +lamp 0.502 0.941 0.522 -0.228 1.765 0.298 -0.01° +chair 0.490 0.389 0.502 -0.232 0.001 -1.832 -0.11° +floor 3.484 -0.003 5.669 -0.008 0.001 0.274 -0.01° +_scene_ 0.065 -0.001 0.020 -5.671 -0.006 -5.718 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.483, -0.003, 0.640] + !! OVERLAP: table <-> floor depth=[0.781, -0.003, 0.288] + !! OVERLAP: tv_stand <-> floor depth=[1.361, -0.003, 0.378] + !! OVERLAP: table <-> floor depth=[1.567, -0.003, -0.115] + !! OVERLAP: chair <-> floor depth=[0.386, -0.003, 0.398] + !! OVERLAP: chair <-> floor depth=[0.349, -0.003, 0.376] + !! OVERLAP: chair <-> floor depth=[0.490, -0.003, 0.502] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2712 (C1 Heatmap: 0.7376, C2 Repulsion: 3.4052), Relational Loss: 0.0153 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.488 0.811 0.521 2.342 -0.000 0.159 -72.85° +sofa 1.810 0.840 0.619 0.955 0.003 -1.342 -0.19° +chair 0.515 0.497 0.531 -0.052 0.001 0.278 -90.05° +table 0.304 0.281 0.310 1.132 0.002 -0.278 -179.96° +table 0.389 0.446 0.508 2.246 0.000 -1.091 179.92° +table 0.485 0.349 0.483 -0.652 0.004 -0.924 179.85° +table 1.309 0.672 0.357 -1.912 0.004 0.870 179.89° +chair 0.488 0.795 0.543 -2.836 0.001 1.548 179.96° +chair 0.414 0.820 0.464 -1.841 0.001 1.822 179.92° +chair 0.479 0.829 0.491 -1.969 0.001 -0.116 0.03° +chair 0.454 0.757 0.506 -2.991 0.001 -0.145 0.01° +tv_stand 2.696 0.796 0.538 1.234 0.002 2.540 179.94° +cabinet 0.936 1.150 0.396 -3.155 0.001 -2.182 89.97° +lamp 0.297 0.694 0.283 1.267 1.919 0.532 -0.02° +lamp 0.707 0.925 0.709 -1.896 2.030 0.863 0.01° +floor 6.564 -0.002 5.436 -0.524 -0.001 0.312 0.01° +_scene_ 0.072 -0.000 0.020 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.521] + !! OVERLAP: sofa <-> floor depth=[1.810, -0.002, 0.619] + !! OVERLAP: chair <-> floor depth=[0.515, -0.002, 0.531] + !! OVERLAP: table <-> floor depth=[0.304, -0.002, 0.310] + !! OVERLAP: table <-> floor depth=[0.389, -0.002, 0.508] + !! OVERLAP: table <-> floor depth=[0.485, -0.002, 0.483] + !! OVERLAP: table <-> floor depth=[1.309, -0.002, 0.357] + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.543] + !! OVERLAP: chair <-> floor depth=[0.414, -0.002, 0.464] + !! OVERLAP: chair <-> floor depth=[0.479, -0.002, 0.491] + !! OVERLAP: chair <-> floor depth=[0.454, -0.002, 0.506] + !! OVERLAP: tv_stand <-> floor depth=[2.696, -0.002, 0.538] + !! OVERLAP: cabinet <-> floor depth=[0.936, -0.002, 0.396] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0014, Room Outer Loss: 0.0493, Walkable Loss: 1.6171 (C1 Heatmap: 0.5706, C2 Repulsion: 5.8030), Relational Loss: 0.0201 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.923 0.971 0.795 0.021 -0.002 -2.460 90.06° +table 0.867 0.883 0.184 0.478 -0.026 0.510 -0.87° +tv_stand 1.114 0.452 0.346 -1.118 0.001 -2.351 90.68° +cabinet 0.786 1.213 0.191 -1.356 -0.004 3.338 89.93° +cabinet 0.513 0.739 0.224 -1.386 0.013 0.005 89.99° +table 0.478 0.516 0.494 1.051 0.000 -1.071 0.01° +bookshelf 1.643 2.330 0.305 0.628 -0.006 1.973 179.81° +sofa 1.943 0.736 0.651 0.669 0.006 -2.916 -89.94° +lamp 0.913 0.781 0.897 -0.197 1.753 -2.290 90.11° +chair 0.420 0.979 0.436 0.102 0.002 1.037 179.98° +lamp 0.748 0.967 0.738 0.299 1.703 0.296 0.02° +chair 0.459 0.978 0.440 1.122 0.004 0.875 179.88° +chair 0.431 0.996 0.459 0.149 0.001 -0.208 0.04° +chair 0.437 1.074 0.479 0.984 0.002 -0.192 -0.06° +floor 3.391 0.004 7.950 -0.005 -0.001 -0.410 0.01° +_scene_ 0.069 0.001 0.022 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.785, 0.736, 0.267] + !! OVERLAP: table <-> floor depth=[0.923, 0.004, 0.795] + !! OVERLAP: table <-> floor depth=[0.867, 0.004, 0.184] + !! OVERLAP: tv_stand <-> floor depth=[1.114, 0.004, 0.346] + !! OVERLAP: cabinet <-> floor depth=[0.737, 0.004, 0.191] + !! OVERLAP: cabinet <-> floor depth=[0.513, 0.004, 0.224] + !! OVERLAP: table <-> floor depth=[0.478, 0.004, 0.494] + !! OVERLAP: bookshelf <-> floor depth=[1.643, 0.004, 0.305] + !! OVERLAP: sofa <-> floor depth=[1.943, 0.004, 0.651] + !! OVERLAP: chair <-> floor depth=[0.420, 0.004, 0.436] + !! OVERLAP: chair <-> floor depth=[0.459, 0.004, 0.440] + !! OVERLAP: chair <-> floor depth=[0.431, 0.004, 0.459] + !! OVERLAP: chair <-> floor depth=[0.437, 0.004, 0.479] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1965, Walkable Loss: 1.1627 (C1 Heatmap: 0.5669, C2 Repulsion: 3.5459), Relational Loss: 0.0329 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.391 0.895 -0.269 -0.100 -0.119 -1.635 -95.42° +chair 0.425 0.893 0.471 -0.787 0.000 -2.416 0.02° +chair 0.409 0.943 0.494 -0.610 -0.001 -1.510 -179.96° +chair 0.379 0.835 0.470 0.524 0.002 -2.360 -89.83° +chair 0.319 0.892 0.503 0.483 0.014 -1.306 -157.42° +sofa 1.608 0.973 0.759 -1.476 -0.001 1.414 90.09° +table 1.020 0.380 0.285 -0.394 0.003 1.921 90.15° +table 0.842 0.418 0.660 -1.517 0.003 -0.139 90.13° +tv_stand 1.931 0.536 0.253 0.599 -0.003 1.565 -89.74° +lamp 0.737 0.897 0.752 -0.133 1.814 1.432 -0.04° +lamp 0.124 0.773 0.185 -0.103 2.206 -2.126 -0.00° +floor 3.648 0.001 6.119 -0.327 0.001 0.139 0.01° +_scene_ 0.068 0.001 0.022 -5.669 -0.005 -5.718 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.391, 0.001, -0.269] + !! OVERLAP: chair <-> floor depth=[0.425, 0.001, 0.471] + !! OVERLAP: chair <-> floor depth=[0.409, 0.001, 0.494] + !! OVERLAP: chair <-> floor depth=[0.379, 0.001, 0.470] + !! OVERLAP: chair <-> floor depth=[0.319, 0.001, 0.503] + !! OVERLAP: sofa <-> table depth=[0.232, 0.380, 0.015] + !! OVERLAP: sofa <-> floor depth=[1.480, 0.001, 0.759] + !! OVERLAP: table <-> floor depth=[1.020, 0.001, 0.285] + !! OVERLAP: table <-> floor depth=[0.842, 0.001, 0.660] + !! OVERLAP: tv_stand <-> floor depth=[1.863, 0.001, 0.253] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0841, Walkable Loss: 0.6321 (C1 Heatmap: 0.4141, C2 Repulsion: 1.5041), Relational Loss: 0.0247 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.881 0.930 0.740 -1.093 0.007 -0.145 90.19° +table 1.130 0.692 0.610 0.031 -0.006 0.049 -90.47° +tv_stand 1.489 0.384 0.218 1.140 -0.003 -0.109 -89.87° +lamp 0.647 0.427 0.627 0.066 2.120 0.045 0.02° +floor 3.901 -0.002 2.947 -0.150 0.000 -0.019 -0.02° +_scene_ 0.068 -0.000 0.038 -5.657 -0.004 -5.698 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.382, 0.692, 0.481] + !! OVERLAP: sofa <-> floor depth=[1.881, -0.002, 0.740] + !! OVERLAP: table <-> tv_stand depth=[0.200, 0.384, 0.218] + !! OVERLAP: table <-> floor depth=[1.130, -0.002, 0.610] + !! OVERLAP: tv_stand <-> floor depth=[1.405, -0.002, 0.218] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 1.5631 (C1 Heatmap: 0.6525, C2 Repulsion: 5.2055), Relational Loss: 0.0137 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.854 0.817 0.596 -1.174 0.000 -1.653 89.80° +table 1.481 0.478 0.710 0.713 0.001 -1.788 90.18° +chair 0.639 0.860 0.669 0.614 -0.000 -2.883 3.73° +table 0.497 0.542 0.460 -1.551 0.004 -3.591 90.02° +table 0.448 0.665 0.523 -1.488 0.004 -0.426 90.11° +table 1.580 0.779 0.749 0.925 -0.004 3.098 0.07° +chair 0.460 1.010 0.465 -0.214 0.006 1.612 89.81° +chair 0.483 0.936 0.501 -0.286 -0.000 2.445 179.78° +chair 0.475 0.955 0.542 1.581 0.001 1.631 -90.12° +chair 0.410 0.952 0.349 1.541 0.004 2.488 -118.90° +bookshelf 1.075 2.148 0.311 -1.476 0.006 0.530 90.10° +lamp 0.815 0.897 0.846 1.090 1.661 2.462 -0.03° +floor 4.533 -0.002 8.042 0.064 0.001 -0.095 -0.01° +_scene_ 0.066 0.000 0.023 -5.672 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.854, -0.002, 0.596] + !! OVERLAP: table <-> floor depth=[1.481, -0.002, 0.710] + !! OVERLAP: chair <-> floor depth=[0.639, -0.002, 0.669] + !! OVERLAP: table <-> floor depth=[0.497, -0.002, 0.460] + !! OVERLAP: table <-> floor depth=[0.448, -0.002, 0.523] + !! OVERLAP: table <-> floor depth=[1.580, -0.002, 0.749] + !! OVERLAP: chair <-> floor depth=[0.460, -0.002, 0.465] + !! OVERLAP: chair <-> floor depth=[0.483, -0.002, 0.501] + !! OVERLAP: chair <-> floor depth=[0.475, -0.002, 0.542] + !! OVERLAP: chair <-> floor depth=[0.410, -0.002, 0.349] + !! OVERLAP: bookshelf <-> floor depth=[1.075, -0.002, 0.311] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1459, Walkable Loss: 0.5176 (C1 Heatmap: 0.3853, C2 Repulsion: 1.0465), Relational Loss: 0.0432 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.615 1.233 0.305 0.095 0.001 2.068 179.98° +sofa 1.829 0.832 0.920 1.062 0.003 0.202 0.28° +table 0.842 0.758 0.985 1.502 -0.004 1.635 90.12° +lamp 1.083 0.792 0.510 0.887 2.191 0.908 -0.05° +lamp 0.574 0.794 0.229 -1.456 2.199 -1.446 0.01° +floor 5.147 -0.001 4.372 -0.057 0.001 -0.085 0.03° +_scene_ 0.064 0.002 0.021 -5.669 -0.004 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.615, -0.001, 0.186] + !! OVERLAP: sofa <-> floor depth=[1.829, -0.001, 0.920] + !! OVERLAP: table <-> floor depth=[0.842, -0.001, 0.958] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0934, Walkable Loss: 0.7850 (C1 Heatmap: 0.5356, C2 Repulsion: 1.7826), Relational Loss: 0.0148 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.467 0.649 0.277 1.248 0.000 1.042 -89.98° +cabinet 0.548 1.131 0.420 -1.695 0.002 1.874 89.98° +sofa 1.709 0.855 0.716 -1.379 0.012 0.163 90.37° +table 0.571 0.334 0.623 0.073 0.000 0.034 0.01° +chair 0.811 0.797 0.845 -0.188 -0.001 1.909 -179.95° +bookshelf 1.268 1.885 0.308 -1.347 -0.000 -1.607 89.89° +lamp 1.016 0.704 0.914 -0.144 2.061 0.236 0.01° +floor 4.225 -0.001 5.374 -0.028 0.001 0.149 -0.05° +_scene_ 0.071 0.000 0.025 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.467, -0.001, 0.277] + !! OVERLAP: cabinet <-> floor depth=[0.548, -0.001, 0.420] + !! OVERLAP: sofa <-> floor depth=[1.615, -0.001, 0.716] + !! OVERLAP: table <-> floor depth=[0.571, -0.001, 0.623] + !! OVERLAP: chair <-> floor depth=[0.811, -0.001, 0.845] + !! OVERLAP: bookshelf <-> floor depth=[1.268, -0.001, 0.308] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0970, Walkable Loss: 0.9823 (C1 Heatmap: 0.7397, C2 Repulsion: 1.9525), Relational Loss: 0.0039 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.220 0.760 0.682 0.109 0.003 -1.633 -0.02° +chair 0.854 0.887 0.693 2.730 0.004 -0.135 -68.17° +table 1.443 0.866 0.704 0.627 -0.000 0.138 0.05° +tv_stand 1.970 0.630 0.266 0.451 0.002 1.609 -179.97° +table 0.521 0.526 0.532 -1.936 0.000 -1.730 -0.07° +table 0.487 0.459 0.478 2.794 0.002 -1.465 -0.04° +lamp 0.540 0.805 0.572 0.861 1.884 0.209 -0.01° +chair 0.730 0.734 0.616 -1.789 0.005 -0.284 52.86° +floor 7.359 -0.005 3.703 -0.078 -0.001 -0.085 -0.01° +_scene_ 0.069 -0.000 0.017 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.220, -0.005, 0.645] + !! OVERLAP: chair <-> floor depth=[0.854, -0.005, 0.693] + !! OVERLAP: table <-> floor depth=[1.443, -0.005, 0.704] + !! OVERLAP: tv_stand <-> floor depth=[1.970, -0.005, 0.266] + !! OVERLAP: table <-> floor depth=[0.521, -0.005, 0.472] + !! OVERLAP: table <-> floor depth=[0.487, -0.005, 0.478] + !! OVERLAP: chair <-> floor depth=[0.730, -0.005, 0.616] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8098 (C1 Heatmap: 0.5449, C2 Repulsion: 1.8695), Relational Loss: 0.0432 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.594 0.076 0.581 -0.352 2.600 0.086 -0.03° +table 1.137 0.733 1.127 -0.879 0.003 -0.731 -90.00° +sofa 1.904 1.305 0.953 -0.682 -0.000 0.635 179.88° +table 0.726 1.089 0.443 1.892 0.002 1.511 -90.08° +sofa 0.611 0.457 0.667 0.818 0.002 0.103 -73.16° +floor 5.048 -0.000 3.681 -0.033 0.000 0.076 0.01° +_scene_ 0.074 0.002 0.049 -5.670 -0.003 -5.702 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.137, -0.000, 1.127] + !! OVERLAP: sofa <-> floor depth=[1.904, -0.000, 0.953] + !! OVERLAP: table <-> floor depth=[0.726, -0.000, 0.443] + !! OVERLAP: sofa <-> floor depth=[0.611, -0.000, 0.667] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9683 (C1 Heatmap: 0.5714, C2 Repulsion: 2.5558), Relational Loss: 0.0138 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.836 0.643 0.311 -1.623 0.002 -1.598 89.98° +table 0.459 0.376 0.537 2.143 0.003 -1.673 -0.09° +table 1.194 1.396 0.408 -2.670 0.003 0.183 89.94° +table 0.561 0.739 0.576 -1.053 0.001 -0.401 0.02° +table 0.527 0.650 0.454 -1.140 -0.002 -2.686 -0.16° +sofa 2.602 1.019 0.737 1.535 -0.001 -1.583 -90.14° +lamp 1.054 1.171 0.718 0.902 1.619 1.546 -0.04° +lamp 0.463 0.702 0.481 0.459 1.991 -1.953 -0.05° +floor 6.556 -0.004 6.498 -0.138 -0.001 -0.152 0.03° +_scene_ 0.112 -0.004 0.134 -5.604 -0.003 -5.641 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.836, -0.004, 0.311] + !! OVERLAP: table <-> sofa depth=[0.459, 0.376, 0.537] + !! OVERLAP: table <-> floor depth=[0.459, -0.004, 0.537] + !! OVERLAP: table <-> floor depth=[1.194, -0.004, 0.408] + !! OVERLAP: table <-> floor depth=[0.561, -0.004, 0.576] + !! OVERLAP: table <-> floor depth=[0.527, -0.004, 0.454] + !! OVERLAP: sofa <-> floor depth=[2.602, -0.004, 0.737] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5897 (C1 Heatmap: 0.6935, C2 Repulsion: 5.1745), Relational Loss: 0.0090 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.177 2.568 0.408 1.495 -0.005 3.136 -90.10° +table 1.346 0.763 0.220 -0.710 0.000 1.801 0.71° +chair 0.451 0.860 0.473 -1.238 -0.001 0.825 0.10° +chair 0.546 0.840 0.450 -0.118 -0.000 0.776 0.04° +chair 0.354 0.841 0.409 -0.859 -0.001 2.849 180.00° +chair 0.421 0.801 0.456 0.007 0.004 2.985 -179.91° +chair 0.454 0.760 0.531 0.531 0.001 2.087 -90.22° +chair 0.527 0.823 0.510 -1.823 0.001 1.997 90.05° +sofa 1.583 0.976 0.718 -1.446 -0.007 -2.384 90.22° +sofa 1.016 0.836 0.774 -0.016 0.005 -4.079 -0.03° +chair 0.771 0.981 0.923 -0.339 0.001 -0.707 -170.30° +table 0.985 0.673 0.794 -0.347 0.001 -2.479 90.11° +table 0.543 0.434 0.462 -1.805 0.002 -0.451 89.99° +table 0.458 0.319 0.561 -1.587 0.003 -4.174 -0.14° +cabinet 1.724 2.160 0.301 -1.184 0.006 4.045 -179.75° +tv_stand 1.513 0.707 0.228 1.291 -0.009 -2.369 -90.54° +lamp 0.827 0.773 0.817 -0.067 2.031 -2.481 -0.04° +lamp 0.758 0.828 0.736 -0.243 1.748 2.745 0.02° +lamp 0.399 1.427 0.409 0.774 1.396 4.321 0.35° +floor 4.543 -0.002 9.187 -0.132 0.001 0.043 0.00° +_scene_ 0.069 -0.000 0.021 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.177, -0.002, 0.408] + !! OVERLAP: table <-> floor depth=[1.346, -0.002, 0.220] + !! OVERLAP: chair <-> floor depth=[0.451, -0.002, 0.473] + !! OVERLAP: chair <-> floor depth=[0.546, -0.002, 0.450] + !! OVERLAP: chair <-> floor depth=[0.354, -0.002, 0.409] + !! OVERLAP: chair <-> floor depth=[0.421, -0.002, 0.456] + !! OVERLAP: chair <-> floor depth=[0.454, -0.002, 0.531] + !! OVERLAP: chair <-> floor depth=[0.527, -0.002, 0.510] + !! OVERLAP: sofa <-> table depth=[0.185, 0.673, 0.661] + !! OVERLAP: sofa <-> floor depth=[1.583, -0.002, 0.718] + !! OVERLAP: sofa <-> floor depth=[1.016, -0.002, 0.774] + !! OVERLAP: chair <-> floor depth=[0.771, -0.002, 0.923] + !! OVERLAP: table <-> floor depth=[0.985, -0.002, 0.794] + !! OVERLAP: table <-> floor depth=[0.543, -0.002, 0.462] + !! OVERLAP: table <-> floor depth=[0.458, -0.002, 0.561] + !! OVERLAP: cabinet <-> floor depth=[1.724, -0.002, 0.301] + !! OVERLAP: tv_stand <-> floor depth=[1.513, -0.002, 0.228] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9828 (C1 Heatmap: 0.8784, C2 Repulsion: 1.4005), Relational Loss: 0.0157 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.299 0.810 0.864 -0.717 -0.025 1.373 -179.74° +lamp 0.578 0.552 0.574 -0.665 2.042 0.586 0.00° +table 1.727 0.517 0.741 -0.828 0.007 0.521 -0.09° +tv_stand 2.418 0.703 0.447 -0.895 0.000 -1.554 0.06° +floor 4.608 -0.003 3.737 -0.110 0.000 0.063 -0.02° +_scene_ 0.078 -0.000 0.021 -5.671 -0.005 -5.702 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[3.299, -0.003, 0.864] + !! OVERLAP: table <-> floor depth=[1.727, -0.003, 0.741] + !! OVERLAP: tv_stand <-> floor depth=[2.418, -0.003, 0.447] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4551 (C1 Heatmap: 0.7303, C2 Repulsion: 4.3541), Relational Loss: 0.0254 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.635 0.816 0.630 -0.905 1.843 -1.993 -0.02° +sofa 1.840 0.867 0.699 -1.940 0.001 1.885 90.11° +table 0.911 0.695 0.712 -0.928 0.002 1.766 -90.50° +tv_stand 1.791 0.445 0.381 1.296 -0.001 1.965 -90.29° +chair 0.599 0.885 0.696 -1.947 0.003 0.413 90.03° +chair 0.666 0.944 0.824 -1.760 -0.003 -0.592 -179.72° +cabinet 0.503 0.970 0.308 1.498 0.002 0.103 -89.97° +table 1.460 0.743 0.982 -0.490 -0.001 -2.348 0.07° +chair 0.273 0.459 0.315 0.704 -0.000 -0.303 -90.03° +chair 0.343 0.414 0.371 -0.128 0.004 1.780 -89.96° +chair 0.336 0.404 0.331 -0.431 0.031 2.541 -137.95° +lamp 0.740 0.646 0.705 -0.580 2.049 1.452 -0.03° +floor 6.045 -0.002 6.616 -0.802 -0.001 0.217 -0.01° +_scene_ 0.069 -0.000 0.020 -5.674 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.363, 0.695, 0.587] + !! OVERLAP: sofa <-> floor depth=[1.840, -0.002, 0.699] + !! OVERLAP: table <-> floor depth=[0.911, -0.002, 0.712] + !! OVERLAP: tv_stand <-> floor depth=[1.791, -0.002, 0.381] + !! OVERLAP: chair <-> floor depth=[0.599, -0.002, 0.696] + !! OVERLAP: chair <-> floor depth=[0.666, -0.002, 0.824] + !! OVERLAP: cabinet <-> floor depth=[0.503, -0.002, 0.308] + !! OVERLAP: table <-> floor depth=[1.460, -0.002, 0.982] + !! OVERLAP: chair <-> floor depth=[0.273, -0.002, 0.315] + !! OVERLAP: chair <-> floor depth=[0.343, -0.002, 0.371] + !! OVERLAP: chair <-> floor depth=[0.336, -0.002, 0.331] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0159, Room Outer Loss: 0.0538, Walkable Loss: 0.9130 (C1 Heatmap: 0.4472, C2 Repulsion: 2.7761), Relational Loss: 0.0183 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.407 0.617 0.462 0.594 0.018 -0.188 -1.09° +chair 0.249 0.921 0.333 0.208 0.001 2.135 -160.72° +chair 0.299 0.882 0.339 0.021 -0.001 1.564 -179.93° +table 0.731 0.496 0.486 0.840 0.009 1.728 -179.80° +sofa 1.302 0.788 0.481 0.957 -0.010 -0.635 -91.67° +tv_stand 1.625 0.971 0.347 -0.977 -0.003 -0.725 89.90° +cabinet 0.823 1.177 0.207 0.659 0.000 -2.257 0.01° +lamp 0.972 1.122 0.839 0.676 1.644 -0.288 0.01° +floor 3.406 -0.002 5.509 -0.032 0.002 -0.027 -0.04° +_scene_ 0.070 0.001 0.024 -5.669 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.992, 0.617, 0.025] + !! OVERLAP: table <-> floor depth=[1.407, -0.002, 0.462] + !! OVERLAP: chair <-> floor depth=[0.249, -0.002, 0.333] + !! OVERLAP: chair <-> floor depth=[0.299, -0.002, 0.339] + !! OVERLAP: table <-> floor depth=[0.731, -0.002, 0.486] + !! OVERLAP: sofa <-> floor depth=[1.302, -0.002, 0.481] + !! OVERLAP: tv_stand <-> floor depth=[1.571, -0.002, 0.347] + !! OVERLAP: cabinet <-> floor depth=[0.823, -0.002, 0.207] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3804 (C1 Heatmap: 0.5664, C2 Repulsion: 4.6367), Relational Loss: 0.0170 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.826 1.105 0.984 -0.638 0.012 4.127 179.85° +sofa 1.722 0.870 0.778 -2.060 0.013 2.131 90.34° +chair 0.739 0.808 0.946 -0.562 0.002 1.517 56.77° +table 0.584 0.337 0.692 -0.623 -0.001 2.457 -0.04° +tv_stand 1.525 0.950 0.286 0.812 0.002 2.648 -90.01° +table 0.443 0.558 0.416 -2.007 -0.001 0.481 -0.02° +table 0.502 0.467 0.550 -2.171 -0.003 3.942 -0.04° +cabinet 0.818 2.324 0.333 -1.972 -0.001 -1.168 0.16° +chair 0.619 1.028 0.707 1.742 0.002 -2.172 -90.04° +table 1.004 0.738 0.041 1.034 -0.010 -2.829 89.92° +chair 0.471 1.017 0.569 1.875 0.005 -3.508 -90.07° +chair 0.456 0.995 0.516 0.075 0.001 -2.460 89.99° +chair 0.394 0.980 0.476 0.401 -0.003 -3.323 89.94° +bookshelf 1.136 2.119 0.220 -0.918 0.002 -3.357 90.05° +lamp 0.732 0.560 0.735 -0.594 2.004 2.594 -0.02° +lamp 0.394 1.016 0.386 1.347 1.965 -2.981 -0.03° +floor 5.460 -0.000 8.557 -0.506 0.000 0.405 -0.07° +_scene_ 0.074 0.001 0.021 -5.668 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.826, -0.000, 0.984] + !! OVERLAP: sofa <-> floor depth=[1.722, -0.000, 0.778] + !! OVERLAP: chair <-> floor depth=[0.739, -0.000, 0.946] + !! OVERLAP: table <-> floor depth=[0.584, -0.000, 0.692] + !! OVERLAP: tv_stand <-> floor depth=[1.525, -0.000, 0.286] + !! OVERLAP: table <-> floor depth=[0.443, -0.000, 0.416] + !! OVERLAP: table <-> floor depth=[0.502, -0.000, 0.550] + !! OVERLAP: cabinet <-> floor depth=[0.818, -0.000, 0.333] + !! OVERLAP: chair <-> floor depth=[0.619, -0.000, 0.707] + !! OVERLAP: table <-> floor depth=[1.004, -0.000, 0.041] + !! OVERLAP: chair <-> floor depth=[0.471, -0.000, 0.569] + !! OVERLAP: chair <-> floor depth=[0.456, -0.000, 0.516] + !! OVERLAP: chair <-> floor depth=[0.394, -0.000, 0.476] + !! OVERLAP: bookshelf <-> floor depth=[1.136, -0.000, 0.220] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3674 (C1 Heatmap: 0.6304, C2 Repulsion: 4.3156), Relational Loss: 0.0216 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.578 1.414 0.634 -0.177 1.554 0.517 0.02° +tv_stand 1.954 0.443 0.368 1.102 0.001 1.537 -90.09° +table 0.421 0.318 0.417 -0.233 -0.000 1.212 -90.06° +table 0.475 0.433 0.395 -1.693 0.003 2.625 89.94° +table 0.510 0.523 0.516 -1.610 0.001 -0.645 0.04° +sofa 1.516 0.943 0.565 -1.615 -0.022 1.086 90.07° +chair 0.717 0.743 0.735 -0.334 -0.000 2.708 -179.99° +chair 0.383 0.745 0.461 -0.270 0.000 -2.741 89.89° +chair 0.473 0.794 0.429 -0.391 -0.008 -2.010 90.21° +chair 0.476 0.800 0.589 1.303 0.006 -2.632 -90.44° +chair 0.460 0.755 0.525 1.335 0.002 -1.852 -90.24° +table 1.248 0.733 0.446 0.430 0.002 -1.869 -91.01° +floor 4.555 -0.002 6.383 -0.130 0.001 0.106 -0.03° +_scene_ 0.069 0.001 0.022 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.954, -0.002, 0.368] + !! OVERLAP: table <-> floor depth=[0.421, -0.002, 0.417] + !! OVERLAP: table <-> floor depth=[0.475, -0.002, 0.395] + !! OVERLAP: table <-> floor depth=[0.510, -0.002, 0.516] + !! OVERLAP: sofa <-> floor depth=[1.516, -0.002, 0.565] + !! OVERLAP: chair <-> floor depth=[0.717, -0.002, 0.735] + !! OVERLAP: chair <-> floor depth=[0.383, -0.002, 0.461] + !! OVERLAP: chair <-> table depth=[0.040, 0.733, 0.296] + !! OVERLAP: chair <-> floor depth=[0.473, -0.002, 0.429] + !! OVERLAP: chair <-> floor depth=[0.476, -0.002, 0.589] + !! OVERLAP: chair <-> floor depth=[0.460, -0.002, 0.525] + !! OVERLAP: table <-> floor depth=[1.248, -0.002, 0.446] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0000, Walkable Loss: 1.1101 (C1 Heatmap: 0.4432, C2 Repulsion: 3.7776), Relational Loss: 0.0408 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.213 0.675 0.427 1.207 0.010 0.735 -179.81° +chair 0.569 0.784 0.516 2.171 0.004 0.015 -104.35° +table 0.490 0.585 0.586 -0.022 0.001 0.983 179.96° +chair 0.418 1.014 0.471 -1.206 0.000 0.190 -89.89° +chair 0.494 1.008 0.474 -2.133 0.006 -0.213 89.96° +table 1.501 0.825 0.565 -0.744 -0.008 0.319 90.13° +table 0.754 0.477 0.760 0.878 0.003 -0.534 179.89° +lamp 0.391 0.848 0.352 1.420 1.620 -0.474 -0.03° +lamp 0.306 0.880 0.288 -1.015 1.709 0.640 -0.00° +floor 5.781 -0.002 2.859 0.142 -0.001 -0.150 0.05° +_scene_ 0.071 0.000 0.021 -5.673 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.213, -0.002, 0.427] + !! OVERLAP: chair <-> floor depth=[0.569, -0.002, 0.516] + !! OVERLAP: table <-> floor depth=[0.490, -0.002, 0.586] + !! OVERLAP: chair <-> table depth=[0.418, 0.825, 0.389] + !! OVERLAP: chair <-> floor depth=[0.418, -0.002, 0.471] + !! OVERLAP: chair <-> floor depth=[0.494, -0.002, 0.474] + !! OVERLAP: table <-> floor depth=[1.501, -0.002, 0.565] + !! OVERLAP: table <-> floor depth=[0.754, -0.002, 0.760] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4620 (C1 Heatmap: 0.5184, C2 Repulsion: 0.2362), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.188 0.762 0.781 0.601 -0.000 -1.589 -0.08° +table 0.998 0.428 1.001 0.749 -0.004 0.609 -0.10° +lamp 0.819 0.806 0.799 0.782 1.887 0.100 0.01° +table 1.404 1.153 0.474 -1.614 0.001 0.625 89.93° +floor 4.780 -0.003 5.229 0.029 0.001 -0.018 0.01° +_scene_ 0.093 0.006 0.103 -5.632 -0.005 -5.699 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.188, -0.003, 0.781] + !! OVERLAP: table <-> floor depth=[0.998, -0.003, 1.001] + !! OVERLAP: table <-> floor depth=[1.404, -0.003, 0.474] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1272, Walkable Loss: 1.3197 (C1 Heatmap: 0.5223, C2 Repulsion: 4.5096), Relational Loss: 0.0176 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.540 0.954 0.554 1.109 0.012 -0.639 -90.19° +table 0.868 0.464 0.746 -0.153 -0.001 -0.537 -89.77° +table 0.463 0.680 0.495 1.527 0.000 -2.652 -89.91° +table 0.463 0.590 0.485 1.486 -0.001 0.617 -89.93° +chair 0.815 0.723 0.723 0.055 0.006 0.863 -174.69° +chair 0.683 0.317 0.478 -0.253 0.001 -2.175 -0.03° +table 0.783 0.753 0.386 -0.002 0.022 2.839 -90.58° +chair 0.398 0.841 0.422 0.634 0.003 3.021 -90.01° +chair 0.404 0.843 0.373 0.566 0.007 2.098 -102.80° +chair 0.287 0.886 0.272 -0.507 0.002 3.329 179.52° +chair 0.433 0.886 0.492 -0.681 -0.002 2.179 90.04° +lamp 0.200 0.645 0.175 0.344 1.950 2.724 0.08° +lamp 0.640 0.923 0.658 -0.081 1.877 -0.848 -0.05° +bookshelf 0.960 2.533 0.270 1.155 -0.001 -3.727 0.11° +bookshelf 1.651 2.418 0.231 -0.826 -0.011 -3.626 0.31° +floor 3.507 -0.001 7.696 0.002 -0.002 -0.132 -0.00° +_scene_ 0.070 0.001 0.023 -5.667 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.416, -0.001, 0.554] + !! OVERLAP: table <-> floor depth=[0.868, -0.001, 0.746] + !! OVERLAP: table <-> floor depth=[0.459, -0.001, 0.495] + !! OVERLAP: table <-> floor depth=[0.463, -0.001, 0.485] + !! OVERLAP: chair <-> floor depth=[0.815, -0.001, 0.723] + !! OVERLAP: chair <-> floor depth=[0.683, -0.001, 0.478] + !! OVERLAP: table <-> floor depth=[0.783, -0.001, 0.386] + !! OVERLAP: chair <-> floor depth=[0.398, -0.001, 0.422] + !! OVERLAP: chair <-> floor depth=[0.404, -0.001, 0.373] + !! OVERLAP: chair <-> floor depth=[0.287, -0.001, 0.272] + !! OVERLAP: chair <-> floor depth=[0.433, -0.001, 0.492] + !! OVERLAP: bookshelf <-> floor depth=[0.960, -0.001, 0.270] + !! OVERLAP: bookshelf <-> floor depth=[1.651, -0.001, 0.231] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4790 (C1 Heatmap: 0.6772, C2 Repulsion: 4.6865), Relational Loss: 0.0360 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.118 0.817 0.700 1.580 0.003 1.257 179.77° +table 0.877 0.450 1.008 1.346 0.000 -0.055 179.99° +tv_stand 2.124 1.028 0.336 1.463 -0.000 -1.450 -0.03° +table 1.577 0.723 0.008 -1.165 0.009 0.585 89.47° +chair 0.421 1.100 0.501 -0.584 0.001 1.485 -89.85° +chair 0.351 1.083 0.345 -0.612 0.003 0.623 -90.05° +chair 0.438 1.123 0.556 -2.012 0.001 1.281 89.98° +chair 0.360 1.106 0.386 -1.900 0.006 0.546 90.10° +lamp 0.737 0.895 0.747 1.280 1.632 0.088 0.24° +lamp 0.381 0.866 0.344 -1.117 2.362 0.166 0.01° +floor 5.453 -0.002 3.473 0.183 -0.000 0.005 -0.03° +_scene_ 0.071 0.000 0.021 -5.668 -0.004 -5.707 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.118, -0.002, 0.700] + !! OVERLAP: table <-> floor depth=[0.877, -0.002, 1.008] + !! OVERLAP: tv_stand <-> floor depth=[2.124, -0.002, 0.336] + !! OVERLAP: table <-> chair depth=[0.351, 0.723, 0.008] + !! OVERLAP: table <-> chair depth=[0.233, 0.723, 0.008] + !! OVERLAP: table <-> floor depth=[1.577, -0.002, 0.008] + !! OVERLAP: chair <-> floor depth=[0.421, -0.002, 0.501] + !! OVERLAP: chair <-> floor depth=[0.351, -0.002, 0.345] + !! OVERLAP: chair <-> floor depth=[0.438, -0.002, 0.556] + !! OVERLAP: chair <-> floor depth=[0.360, -0.002, 0.386] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0916, Walkable Loss: 0.6767 (C1 Heatmap: 0.4699, C2 Repulsion: 1.5042), Relational Loss: 0.0103 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.542 0.532 0.351 1.428 0.002 1.186 -89.89° +table 0.575 1.087 0.272 -1.323 0.002 1.708 90.01° +sofa 1.340 0.832 0.763 -1.100 -0.001 0.352 90.30° +table 0.811 0.368 0.559 0.079 -0.000 0.432 90.06° +chair 0.752 0.723 0.771 -0.281 -0.001 2.345 -179.99° +bookshelf 1.051 1.715 0.268 -1.220 0.000 -2.173 89.98° +lamp 0.547 0.940 0.562 0.082 2.330 0.282 -0.02° +floor 3.877 -0.001 7.015 0.181 -0.000 0.207 -0.05° +_scene_ 0.071 0.001 0.023 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.463, -0.001, 0.351] + !! OVERLAP: table <-> floor depth=[0.575, -0.001, 0.272] + !! OVERLAP: sofa <-> floor depth=[1.327, -0.001, 0.763] + !! OVERLAP: table <-> floor depth=[0.811, -0.001, 0.559] + !! OVERLAP: chair <-> floor depth=[0.752, -0.001, 0.771] + !! OVERLAP: bookshelf <-> floor depth=[1.051, -0.001, 0.268] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4536 (C1 Heatmap: 0.7588, C2 Repulsion: 4.2328), Relational Loss: 0.0329 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.619 1.009 0.347 2.559 -0.003 -2.215 -0.05° +shelf 0.341 1.757 0.264 2.687 -0.006 -1.146 0.08° +table 1.067 0.879 0.145 1.547 0.040 2.763 -1.44° +table 0.657 0.725 0.387 1.419 -0.005 1.581 -0.49° +chair 0.439 1.072 0.518 2.573 0.002 1.779 -90.04° +chair 0.421 1.097 0.399 0.755 -0.002 1.927 89.85° +chair 0.461 1.091 0.527 1.984 -0.000 0.814 -0.03° +chair 0.516 1.069 0.455 1.205 0.001 0.895 89.79° +table 0.391 0.576 0.380 -0.205 0.000 -0.899 -0.06° +sofa 2.292 0.878 0.920 -1.513 0.001 -1.683 90.23° +table 0.963 0.406 0.810 -1.156 -0.000 0.274 -0.00° +tv_stand 2.111 0.477 0.357 -1.472 0.000 2.949 179.95° +lamp 0.407 0.705 0.418 1.349 1.983 -1.240 -0.06° +lamp 0.113 1.178 0.106 1.473 1.385 2.198 -0.01° +lamp 0.218 0.709 0.227 -1.944 1.989 0.425 0.06° +floor 6.792 -0.004 6.111 0.179 0.003 0.379 -0.01° +_scene_ 0.071 -0.000 0.023 -5.671 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.619, -0.004, 0.347] + !! OVERLAP: shelf <-> floor depth=[0.341, -0.004, 0.264] + !! OVERLAP: table <-> floor depth=[1.067, -0.004, 0.145] + !! OVERLAP: table <-> floor depth=[0.657, -0.004, 0.387] + !! OVERLAP: chair <-> floor depth=[0.439, -0.004, 0.518] + !! OVERLAP: chair <-> floor depth=[0.421, -0.004, 0.399] + !! OVERLAP: chair <-> floor depth=[0.461, -0.004, 0.527] + !! OVERLAP: chair <-> floor depth=[0.516, -0.004, 0.455] + !! OVERLAP: table <-> floor depth=[0.391, -0.004, 0.380] + !! OVERLAP: sofa <-> floor depth=[2.292, -0.004, 0.920] + !! OVERLAP: table <-> floor depth=[0.963, -0.004, 0.810] + !! OVERLAP: tv_stand <-> floor depth=[2.111, -0.004, 0.357] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3477 (C1 Heatmap: 0.4645, C2 Repulsion: 4.8807), Relational Loss: 0.0410 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.532 0.813 0.232 1.037 0.010 1.268 178.61° +chair 0.714 0.743 0.581 1.980 -0.003 0.411 175.05° +table 0.864 0.474 0.918 0.643 0.004 -1.050 -0.12° +table 0.906 0.374 0.709 0.816 -0.005 0.199 -0.06° +bookshelf 0.666 1.844 0.143 1.989 0.002 1.404 -90.12° +table 0.347 0.755 0.455 -1.607 0.008 1.011 90.23° +chair 0.502 0.766 0.514 -1.581 0.000 0.218 -0.00° +chair 0.401 0.782 0.475 -0.884 0.008 1.250 -89.82° +chair 0.313 0.705 0.305 -1.585 0.002 1.521 179.96° +lamp 0.508 0.639 0.524 0.731 1.936 -0.188 -0.00° +floor 6.145 -0.000 4.333 0.108 -0.000 0.049 -0.00° +_scene_ 0.073 0.005 0.009 -5.676 -0.009 -5.717 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> bookshelf depth=[0.147, 0.813, 0.051] + !! OVERLAP: sofa <-> floor depth=[1.532, -0.000, 0.232] + !! OVERLAP: chair <-> floor depth=[0.714, -0.000, 0.581] + !! OVERLAP: table <-> floor depth=[0.864, -0.000, 0.918] + !! OVERLAP: table <-> floor depth=[0.906, -0.000, 0.709] + !! OVERLAP: bookshelf <-> floor depth=[0.666, -0.000, 0.143] + !! OVERLAP: table <-> floor depth=[0.347, -0.000, 0.455] + !! OVERLAP: chair <-> floor depth=[0.502, -0.000, 0.514] + !! OVERLAP: chair <-> floor depth=[0.401, -0.000, 0.475] + !! OVERLAP: chair <-> floor depth=[0.313, -0.000, 0.305] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0178, Room Outer Loss: 0.1856, Walkable Loss: 1.2878 (C1 Heatmap: 0.6302, C2 Repulsion: 3.9183), Relational Loss: 0.0403 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.799 0.514 0.394 0.977 0.001 1.172 -90.32° +sofa 1.766 0.938 0.657 -0.981 -0.006 0.841 90.95° +table 1.118 0.484 1.036 -0.431 0.000 0.918 90.03° +lamp 0.316 0.724 0.336 -0.227 1.882 0.968 -0.03° +table 0.463 0.594 0.473 -0.498 -0.000 -1.663 -94.91° +chair 0.392 0.824 0.455 -1.363 0.001 -2.161 0.09° +chair 0.412 0.869 0.508 -0.343 -0.000 -2.364 -90.02° +chair 0.425 0.849 0.457 -1.485 -0.001 -1.011 179.87° +chair 0.369 0.852 0.474 -0.670 0.006 -0.976 -179.91° +floor 3.555 -0.002 5.474 0.007 -0.000 -0.033 0.01° +_scene_ 0.070 0.002 0.024 -5.668 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.051, 0.484, 0.394] + !! OVERLAP: tv_stand <-> floor depth=[1.707, -0.002, 0.394] + !! OVERLAP: sofa <-> table depth=[0.892, 0.484, 0.657] + !! OVERLAP: sofa <-> floor depth=[1.672, -0.002, 0.657] + !! OVERLAP: table <-> floor depth=[1.118, -0.002, 1.036] + !! OVERLAP: table <-> floor depth=[0.463, -0.002, 0.473] + !! OVERLAP: chair <-> floor depth=[0.392, -0.002, 0.455] + !! OVERLAP: chair <-> floor depth=[0.412, -0.002, 0.508] + !! OVERLAP: chair <-> floor depth=[0.425, -0.002, 0.457] + !! OVERLAP: chair <-> floor depth=[0.369, -0.002, 0.474] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0238, Walkable Loss: 1.0366 (C1 Heatmap: 0.7883, C2 Repulsion: 2.0301), Relational Loss: 0.0005 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.299 0.821 0.791 -0.208 0.005 1.695 -179.93° +table 0.616 0.638 0.551 1.789 0.001 1.577 179.98° +table 0.492 0.698 0.485 -2.006 0.000 1.722 -179.99° +chair 0.735 0.806 0.780 2.010 -0.002 0.042 -51.54° +table 1.273 1.243 0.686 -0.271 0.006 0.107 -179.85° +tv_stand 2.017 0.328 0.398 -0.092 0.001 -1.896 -0.00° +lamp 1.114 1.018 0.961 -0.253 1.832 -0.083 0.01° +chair 0.570 0.805 0.612 -2.138 0.002 -0.067 1.84° +floor 6.297 -0.003 4.169 -0.194 0.001 -0.018 -0.01° +_scene_ 0.075 -0.001 0.029 -5.678 -0.005 -5.715 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.299, -0.003, 0.767] + !! OVERLAP: table <-> floor depth=[0.616, -0.003, 0.551] + !! OVERLAP: table <-> floor depth=[0.492, -0.003, 0.485] + !! OVERLAP: chair <-> floor depth=[0.735, -0.003, 0.780] + !! OVERLAP: table <-> floor depth=[1.273, -0.003, 0.686] + !! OVERLAP: tv_stand <-> floor depth=[2.017, -0.003, 0.398] + !! OVERLAP: chair <-> floor depth=[0.570, -0.003, 0.612] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3675 (C1 Heatmap: 0.5922, C2 Repulsion: 4.4685), Relational Loss: 0.0287 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.173 0.855 0.763 1.905 0.003 0.980 179.90° +table 0.775 0.725 0.680 2.088 0.001 -0.489 -90.06° +chair 0.776 0.747 0.832 3.457 0.002 -0.557 -89.92° +table 0.597 0.360 0.580 0.075 0.000 0.923 -0.03° +lamp 0.639 0.961 0.707 1.856 2.006 -0.762 -89.65° +chair 0.432 0.758 0.446 -1.710 0.003 -1.748 0.04° +chair 0.445 0.808 0.487 -0.730 0.000 -0.761 -90.02° +chair 0.441 0.770 0.465 -1.792 0.004 -0.089 179.88° +table 0.631 0.679 0.706 -1.673 0.008 -1.028 1.08° +lamp 0.382 0.767 0.383 -1.784 1.951 -1.166 0.07° +table 1.267 1.153 0.347 -3.164 0.004 1.113 89.89° +chair 0.562 0.729 0.513 -2.536 0.006 -0.853 90.00° +chair 0.427 0.349 0.289 0.590 -0.000 -0.355 89.94° +floor 7.996 -0.003 4.083 0.091 0.000 -0.023 -0.03° +_scene_ 0.067 0.001 0.024 -5.670 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.173, -0.003, 0.763] + !! OVERLAP: table <-> floor depth=[0.775, -0.003, 0.680] + !! OVERLAP: chair <-> floor depth=[0.776, -0.003, 0.832] + !! OVERLAP: table <-> floor depth=[0.597, -0.003, 0.580] + !! OVERLAP: chair <-> floor depth=[0.432, -0.003, 0.446] + !! OVERLAP: chair <-> floor depth=[0.445, -0.003, 0.487] + !! OVERLAP: chair <-> floor depth=[0.441, -0.003, 0.465] + !! OVERLAP: table <-> floor depth=[0.631, -0.003, 0.706] + !! OVERLAP: table <-> floor depth=[1.267, -0.003, 0.347] + !! OVERLAP: chair <-> floor depth=[0.562, -0.003, 0.513] + !! OVERLAP: chair <-> floor depth=[0.427, -0.003, 0.289] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.0098, Room Outer Loss: 0.0557, Walkable Loss: 1.6840 (C1 Heatmap: 0.7220, C2 Repulsion: 5.5319), Relational Loss: 0.0320 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.138 1.012 1.145 -0.541 1.722 1.468 -0.01° +table 1.051 0.423 0.918 -1.287 0.014 1.280 90.38° +tv_stand 1.572 0.680 0.227 0.899 -0.001 1.728 -89.96° +sofa 1.800 0.907 0.525 -1.035 -0.022 1.572 89.97° +table 0.882 0.733 0.281 -1.016 -0.020 -2.484 0.41° +table 1.906 0.496 0.749 -1.236 0.001 3.220 -179.68° +table 1.116 0.411 0.739 -1.337 -0.005 -0.816 0.19° +chair 0.464 1.005 0.538 -1.745 -0.001 -1.873 179.91° +chair 0.360 0.903 0.352 -0.911 0.005 -1.908 -154.23° +chair 0.443 0.981 0.438 -1.728 -0.002 -3.126 0.05° +chair 0.422 0.892 0.343 -0.792 0.004 -3.245 -65.86° +lamp 0.946 0.975 0.823 -1.357 1.624 -2.584 -0.04° +table 0.347 1.407 0.351 0.952 0.002 -0.693 -89.95° +floor 4.032 -0.001 6.987 -0.297 -0.002 0.045 -0.00° +_scene_ 0.074 0.000 0.028 -5.662 -0.005 -5.711 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.051, 0.423, 0.429] + !! OVERLAP: table <-> floor depth=[1.051, -0.001, 0.918] + !! OVERLAP: tv_stand <-> floor depth=[1.572, -0.001, 0.227] + !! OVERLAP: sofa <-> floor depth=[1.800, -0.001, 0.525] + !! OVERLAP: table <-> floor depth=[0.882, -0.001, 0.281] + !! OVERLAP: table <-> floor depth=[1.906, -0.001, 0.694] + !! OVERLAP: table <-> floor depth=[1.116, -0.001, 0.739] + !! OVERLAP: chair <-> floor depth=[0.464, -0.001, 0.538] + !! OVERLAP: chair <-> floor depth=[0.360, -0.001, 0.352] + !! OVERLAP: chair <-> floor depth=[0.443, -0.001, 0.438] + !! OVERLAP: chair <-> floor depth=[0.422, -0.001, 0.343] + !! OVERLAP: table <-> floor depth=[0.347, -0.001, 0.351] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0418, Walkable Loss: 0.8356 (C1 Heatmap: 0.6869, C2 Repulsion: 1.4304), Relational Loss: 0.0162 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.329 0.870 0.479 -1.395 -0.001 -1.649 90.07° +table 0.337 0.281 0.294 0.147 0.001 -2.265 -89.92° +lamp 0.543 0.750 0.505 0.144 2.002 -2.199 -0.00° +lamp 0.943 0.903 0.942 1.102 1.757 2.217 -0.03° +sofa 2.046 0.820 1.284 2.055 0.001 -2.295 -90.34° +table 0.470 0.700 0.483 0.246 0.003 2.788 -0.07° +chair 0.456 0.918 0.539 -0.483 0.001 1.951 90.08° +chair 0.439 0.951 0.426 -0.565 -0.002 3.127 90.12° +chair 0.456 0.820 0.578 1.657 0.002 1.979 -90.06° +chair 0.452 0.977 0.553 1.852 0.001 3.157 -90.18° +table 1.154 0.433 0.960 1.460 -0.001 -0.231 -90.02° +floor 5.606 -0.005 6.978 0.233 -0.002 0.101 -0.04° +_scene_ 0.068 -0.000 0.021 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.329, -0.005, 0.479] + !! OVERLAP: table <-> floor depth=[0.337, -0.005, 0.294] + !! OVERLAP: sofa <-> floor depth=[2.005, -0.005, 1.284] + !! OVERLAP: table <-> floor depth=[0.470, -0.005, 0.483] + !! OVERLAP: chair <-> floor depth=[0.456, -0.005, 0.539] + !! OVERLAP: chair <-> floor depth=[0.439, -0.005, 0.426] + !! OVERLAP: chair <-> floor depth=[0.456, -0.005, 0.578] + !! OVERLAP: chair <-> floor depth=[0.452, -0.005, 0.553] + !! OVERLAP: table <-> floor depth=[1.154, -0.005, 0.960] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9910 (C1 Heatmap: 0.5905, C2 Repulsion: 2.5929), Relational Loss: 0.0264 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.652 0.593 0.672 1.980 0.000 1.378 -90.06° +tv_stand 2.245 0.589 0.283 -1.411 0.006 0.571 90.08° +table 1.408 1.819 0.351 0.413 0.005 -0.420 -179.97° +table 0.664 0.561 0.662 1.871 0.003 -1.443 -0.01° +sofa 1.268 0.800 0.593 1.870 0.001 0.015 -90.18° +chair 0.675 0.966 0.771 0.753 0.002 0.987 -118.06° +floor 5.379 -0.004 5.009 -0.056 0.001 0.001 0.00° +_scene_ 0.059 0.030 0.183 -5.415 0.009 -5.485 -58.77° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.652, -0.004, 0.672] + !! OVERLAP: tv_stand <-> floor depth=[2.245, -0.004, 0.283] + !! OVERLAP: table <-> floor depth=[1.408, -0.004, 0.351] + !! OVERLAP: table <-> floor depth=[0.664, -0.004, 0.662] + !! OVERLAP: sofa <-> floor depth=[1.268, -0.004, 0.593] + !! OVERLAP: chair <-> floor depth=[0.675, -0.004, 0.771] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0689, Walkable Loss: 1.0514 (C1 Heatmap: 0.5609, C2 Repulsion: 3.0137), Relational Loss: 0.0082 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.381 0.955 1.060 1.403 -0.007 1.996 -90.91° +table 0.853 0.756 0.893 -0.377 0.001 1.987 0.14° +tv_stand 1.671 0.830 0.325 -1.214 0.011 0.709 89.92° +table 0.838 0.607 0.395 0.906 -0.005 -0.893 90.15° +chair 0.488 0.709 0.352 0.222 -0.000 -0.286 179.90° +chair 0.393 0.656 0.450 0.335 0.001 -1.446 0.00° +chair 0.449 0.586 0.372 1.674 0.001 -0.561 179.92° +chair 0.426 0.665 0.465 1.584 0.001 -1.786 -0.01° +cabinet 0.866 1.195 0.328 -0.088 -0.000 -3.129 -0.04° +lamp 0.661 0.910 0.602 0.101 1.707 1.231 -0.02° +lamp 0.296 1.118 0.268 1.161 1.800 -1.231 0.02° +floor 4.073 -0.001 7.547 -0.006 0.002 0.472 -0.06° +_scene_ 0.067 0.001 0.021 -5.668 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.318, -0.001, 1.060] + !! OVERLAP: table <-> floor depth=[0.853, -0.001, 0.893] + !! OVERLAP: tv_stand <-> floor depth=[1.664, -0.001, 0.325] + !! OVERLAP: table <-> floor depth=[0.838, -0.001, 0.395] + !! OVERLAP: chair <-> floor depth=[0.488, -0.001, 0.352] + !! OVERLAP: chair <-> floor depth=[0.393, -0.001, 0.450] + !! OVERLAP: chair <-> floor depth=[0.449, -0.001, 0.372] + !! OVERLAP: chair <-> floor depth=[0.426, -0.001, 0.465] + !! OVERLAP: cabinet <-> floor depth=[0.866, -0.001, 0.328] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.0000, Walkable Loss: 1.3616 (C1 Heatmap: 0.6143, C2 Repulsion: 4.3507), Relational Loss: 0.0130 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.563 0.859 0.968 1.144 -0.005 -0.775 -0.20° +table 1.216 0.437 0.498 0.578 -0.004 -0.143 -0.04° +shelf 0.331 2.078 0.328 3.634 -0.005 -0.896 -0.01° +cabinet 0.765 1.151 0.391 -1.497 0.002 1.314 179.99° +table 1.036 0.747 0.403 -2.977 0.022 -0.416 90.06° +chair 0.542 0.739 0.460 -3.366 -0.003 -0.308 89.76° +chair 0.337 0.764 0.292 -3.477 -0.001 -1.083 89.90° +chair 0.512 0.666 0.531 -2.075 -0.002 -0.202 -89.96° +chair 0.473 0.622 0.519 -1.989 0.001 -1.098 -90.01° +lamp 0.790 0.815 0.795 0.988 1.722 -0.046 -0.00° +lamp 0.859 0.952 0.874 -3.030 1.728 -0.650 0.02° +floor 7.860 -0.008 3.145 0.121 -0.001 -0.038 -0.04° +_scene_ 0.074 -0.000 0.023 -5.678 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.216, 0.437, 0.102] + !! OVERLAP: sofa <-> floor depth=[2.563, -0.008, 0.968] + !! OVERLAP: table <-> floor depth=[1.216, -0.008, 0.498] + !! OVERLAP: shelf <-> floor depth=[0.331, -0.008, 0.328] + !! OVERLAP: cabinet <-> floor depth=[0.765, -0.008, 0.391] + !! OVERLAP: table <-> chair depth=[0.400, 0.718, 0.323] + !! OVERLAP: table <-> floor depth=[1.036, -0.008, 0.403] + !! OVERLAP: chair <-> floor depth=[0.542, -0.008, 0.460] + !! OVERLAP: chair <-> floor depth=[0.337, -0.008, 0.292] + !! OVERLAP: chair <-> floor depth=[0.512, -0.008, 0.531] + !! OVERLAP: chair <-> floor depth=[0.473, -0.008, 0.519] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9599 (C1 Heatmap: 0.5981, C2 Repulsion: 2.4073), Relational Loss: 0.0291 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.238 2.716 0.334 0.034 -0.000 2.083 179.85° +sofa 1.611 0.927 0.443 0.767 -0.000 -0.748 -90.44° +table 0.900 0.622 0.723 0.888 0.003 0.560 -0.39° +table 0.838 0.471 0.604 -0.206 0.014 -0.895 -127.37° +lamp 0.343 0.528 0.331 0.319 2.299 0.356 -0.05° +floor 3.372 -0.001 4.523 -0.014 0.001 0.018 -0.03° +_scene_ 0.066 0.001 0.027 -5.672 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[3.238, -0.001, 0.334] + !! OVERLAP: sofa <-> table depth=[0.251, 0.471, 0.377] + !! OVERLAP: sofa <-> floor depth=[1.611, -0.001, 0.443] + !! OVERLAP: table <-> floor depth=[0.900, -0.001, 0.723] + !! OVERLAP: table <-> floor depth=[0.838, -0.001, 0.604] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 1.4954 (C1 Heatmap: 0.6660, C2 Repulsion: 4.8133), Relational Loss: 0.0219 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.293 0.741 0.375 -0.079 0.011 -2.380 0.18° +chair 0.435 1.000 0.536 1.251 0.003 -2.800 0.06° +chair 0.359 0.941 0.329 1.544 -0.003 -1.651 -124.73° +chair 0.397 1.020 0.414 0.700 0.007 -1.648 -179.97° +chair 0.455 1.008 0.411 0.312 -0.005 -3.237 0.09° +lamp 0.750 0.832 0.764 -0.081 1.836 1.597 -0.04° +sofa 1.793 0.894 0.697 -1.904 0.009 1.639 90.04° +chair 0.659 0.803 0.642 -0.353 0.004 3.226 -170.26° +chair 0.711 0.847 0.758 0.440 0.000 3.372 -164.36° +table 1.484 0.411 0.851 -0.023 -0.003 1.680 90.08° +table 0.535 0.608 0.472 -1.634 -0.001 -0.024 0.02° +table 0.468 0.554 0.459 -1.962 -0.003 3.424 0.01° +chair 0.430 0.532 0.503 -0.172 0.000 0.182 0.07° +table 1.127 0.723 0.297 -2.315 0.001 -1.436 90.16° +lamp 0.826 1.046 0.832 0.167 1.755 -2.400 0.00° +floor 5.074 -0.001 8.189 -0.380 -0.002 0.083 -0.02° +_scene_ 0.069 0.000 0.021 -5.672 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.293, -0.001, 0.375] + !! OVERLAP: chair <-> floor depth=[0.435, -0.001, 0.536] + !! OVERLAP: chair <-> floor depth=[0.359, -0.001, 0.329] + !! OVERLAP: chair <-> floor depth=[0.397, -0.001, 0.414] + !! OVERLAP: chair <-> floor depth=[0.455, -0.001, 0.411] + !! OVERLAP: sofa <-> floor depth=[1.793, -0.001, 0.697] + !! OVERLAP: chair <-> floor depth=[0.659, -0.001, 0.642] + !! OVERLAP: chair <-> floor depth=[0.711, -0.001, 0.758] + !! OVERLAP: table <-> floor depth=[1.484, -0.001, 0.851] + !! OVERLAP: table <-> floor depth=[0.535, -0.001, 0.472] + !! OVERLAP: table <-> floor depth=[0.468, -0.001, 0.459] + !! OVERLAP: chair <-> floor depth=[0.430, -0.001, 0.503] + !! OVERLAP: table <-> floor depth=[1.127, -0.001, 0.297] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5576 (C1 Heatmap: 0.7507, C2 Repulsion: 4.7850), Relational Loss: 0.0270 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.434 0.930 0.535 1.824 0.000 -1.596 -0.05° +chair 0.437 0.944 0.505 2.812 -0.002 -1.793 -1.72° +chair 0.451 0.962 0.557 1.897 0.001 0.028 -90.15° +chair 0.459 0.881 0.568 2.780 0.001 0.057 -90.14° +chair 0.379 0.843 0.383 -2.969 0.003 -0.415 90.08° +sofa 1.775 0.764 0.555 -1.712 -0.001 1.467 -179.88° +table 1.021 0.581 0.945 0.129 0.002 0.767 -0.01° +table 0.751 0.575 0.695 -3.114 0.001 0.931 0.08° +table 0.989 0.480 0.825 -1.167 0.001 -1.309 -0.05° +table 0.797 0.675 0.496 2.795 -0.022 -0.858 -0.08° +table 1.265 1.655 0.157 1.350 0.001 1.765 -179.95° +table 0.861 0.517 0.811 -1.723 0.003 0.255 -0.48° +lamp 0.379 0.471 0.375 -1.483 2.154 -0.384 -0.00° +lamp 0.816 0.708 0.393 2.205 1.918 -0.289 0.03° +floor 7.046 -0.004 4.510 0.017 0.000 0.172 -0.01° +_scene_ 0.070 -0.001 0.029 -5.643 -0.004 -5.688 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.434, -0.004, 0.535] + !! OVERLAP: chair <-> floor depth=[0.437, -0.004, 0.505] + !! OVERLAP: chair <-> floor depth=[0.451, -0.004, 0.557] + !! OVERLAP: chair <-> floor depth=[0.459, -0.004, 0.568] + !! OVERLAP: chair <-> floor depth=[0.379, -0.004, 0.383] + !! OVERLAP: sofa <-> floor depth=[1.775, -0.004, 0.555] + !! OVERLAP: table <-> floor depth=[1.021, -0.004, 0.945] + !! OVERLAP: table <-> floor depth=[0.751, -0.004, 0.695] + !! OVERLAP: table <-> floor depth=[0.989, -0.004, 0.825] + !! OVERLAP: table <-> floor depth=[0.797, -0.004, 0.496] + !! OVERLAP: table <-> floor depth=[1.265, -0.004, 0.157] + !! OVERLAP: table <-> floor depth=[0.861, -0.004, 0.811] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2129 (C1 Heatmap: 0.6901, C2 Repulsion: 3.3042), Relational Loss: 0.0209 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.034 0.871 0.854 0.348 -0.002 -1.330 -0.01° +table 1.193 0.868 0.723 0.373 0.004 -0.022 -0.05° +table 0.487 0.554 0.461 -1.418 -0.001 -1.455 -0.00° +chair 0.758 0.819 0.695 -1.599 0.004 -0.279 66.05° +table 0.525 0.529 0.455 1.832 0.002 -1.506 -0.04° +chair 0.624 0.371 0.380 1.774 0.001 0.108 -96.22° +lamp 0.653 0.827 0.519 0.296 1.813 -0.052 0.06° +tv_stand 1.886 0.523 0.211 0.836 0.005 1.546 -179.99° +floor 4.796 -0.000 3.629 -0.002 0.000 0.039 -0.02° +_scene_ 0.060 0.002 0.022 -5.675 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.034, -0.000, 0.854] + !! OVERLAP: table <-> floor depth=[1.193, -0.000, 0.723] + !! OVERLAP: table <-> floor depth=[0.487, -0.000, 0.461] + !! OVERLAP: chair <-> floor depth=[0.758, -0.000, 0.695] + !! OVERLAP: table <-> floor depth=[0.525, -0.000, 0.455] + !! OVERLAP: chair <-> floor depth=[0.624, -0.000, 0.380] + !! OVERLAP: tv_stand <-> floor depth=[1.886, -0.000, 0.211] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5900 (C1 Heatmap: 0.5000, C2 Repulsion: 5.9498), Relational Loss: 0.0368 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.447 0.487 0.509 0.476 -0.001 1.219 0.09° +sofa 2.012 0.807 0.759 -0.930 0.008 0.907 89.90° +table 0.380 0.737 0.476 1.045 0.028 -1.006 0.54° +chair 0.316 0.985 0.431 1.352 0.004 -1.547 -90.02° +chair 0.471 1.044 0.466 1.153 0.001 -0.240 179.93° +chair 0.511 1.008 0.611 0.050 -0.001 -0.482 179.92° +chair 0.540 1.035 0.624 -0.149 -0.005 -1.573 89.74° +chair 0.269 1.037 0.189 0.711 0.016 -0.533 179.48° +chair 0.441 0.940 0.545 0.682 0.002 -1.830 -0.13° +bookshelf 0.576 1.276 0.238 -1.444 -0.003 2.160 0.18° +floor 4.282 -0.000 6.114 0.017 0.000 -0.145 -0.03° +_scene_ 0.067 0.002 0.023 -5.660 -0.004 -5.696 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.447, -0.000, 0.509] + !! OVERLAP: sofa <-> floor depth=[2.012, -0.000, 0.759] + !! OVERLAP: table <-> floor depth=[0.380, -0.000, 0.476] + !! OVERLAP: chair <-> floor depth=[0.316, -0.000, 0.431] + !! OVERLAP: chair <-> floor depth=[0.471, -0.000, 0.466] + !! OVERLAP: chair <-> floor depth=[0.511, -0.000, 0.611] + !! OVERLAP: chair <-> floor depth=[0.540, -0.000, 0.624] + !! OVERLAP: chair <-> floor depth=[0.269, -0.000, 0.189] + !! OVERLAP: chair <-> floor depth=[0.441, -0.000, 0.545] + !! OVERLAP: bookshelf <-> floor depth=[0.576, -0.000, 0.238] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7819 (C1 Heatmap: 0.7594, C2 Repulsion: 5.8718), Relational Loss: 0.0186 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.434 0.584 0.469 0.248 0.002 1.518 -180.00° +table 0.503 0.583 0.489 -2.696 -0.001 1.484 -179.99° +table 0.735 0.392 0.853 -1.764 -0.001 0.095 -0.01° +sofa 1.573 0.997 0.673 -1.144 0.006 1.505 179.90° +chair 0.718 0.800 0.908 -0.402 -0.004 0.115 -90.78° +chair 0.646 0.831 0.757 -3.604 0.001 0.317 89.87° +table 0.800 0.753 0.442 1.966 -0.020 0.750 0.60° +chair 0.374 0.910 0.378 1.684 -0.003 0.079 0.25° +chair 0.330 0.915 0.400 2.401 -0.001 0.048 -0.06° +chair 0.375 0.917 0.433 3.164 -0.003 -0.058 -0.08° +chair 0.420 0.910 0.466 1.848 -0.002 1.649 179.99° +chair 0.361 0.913 0.498 2.684 -0.000 1.641 179.80° +chair 0.378 0.915 0.440 3.358 0.003 1.382 -90.29° +tv_stand 2.086 0.765 0.346 -1.929 -0.001 -1.521 0.01° +lamp 0.362 0.886 0.336 -1.393 1.593 -0.204 -0.06° +lamp 0.368 1.157 0.290 2.847 0.897 0.673 -0.07° +table 1.255 1.740 0.287 2.691 -0.006 -1.650 0.03° +floor 7.755 -0.005 4.107 -0.216 0.001 -0.086 -0.04° +_scene_ 0.067 -0.001 0.025 -5.669 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.434, -0.005, 0.469] + !! OVERLAP: table <-> floor depth=[0.503, -0.005, 0.489] + !! OVERLAP: table <-> floor depth=[0.735, -0.005, 0.853] + !! OVERLAP: sofa <-> floor depth=[1.573, -0.005, 0.673] + !! OVERLAP: chair <-> floor depth=[0.718, -0.005, 0.908] + !! OVERLAP: chair <-> floor depth=[0.646, -0.005, 0.757] + !! OVERLAP: table <-> floor depth=[0.800, -0.005, 0.442] + !! OVERLAP: chair <-> floor depth=[0.374, -0.005, 0.378] + !! OVERLAP: chair <-> floor depth=[0.330, -0.005, 0.400] + !! OVERLAP: chair <-> floor depth=[0.375, -0.005, 0.433] + !! OVERLAP: chair <-> floor depth=[0.420, -0.005, 0.466] + !! OVERLAP: chair <-> floor depth=[0.361, -0.005, 0.498] + !! OVERLAP: chair <-> floor depth=[0.378, -0.005, 0.440] + !! OVERLAP: tv_stand <-> floor depth=[2.086, -0.005, 0.346] + !! OVERLAP: table <-> floor depth=[1.255, -0.005, 0.287] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7167 (C1 Heatmap: 0.5589, C2 Repulsion: 1.3479), Relational Loss: 0.0200 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.673 0.937 0.687 -0.093 1.746 -0.038 -0.05° +chair 0.760 0.777 0.733 -1.712 -0.004 0.372 112.94° +sofa 2.158 0.992 0.677 -0.523 -0.007 -1.303 -0.28° +table 0.659 0.492 0.555 1.142 0.001 -1.289 -0.08° +table 0.727 0.533 0.729 1.774 0.001 0.265 -101.09° +table 0.666 0.459 1.127 -0.249 -0.003 0.748 -90.14° +floor 4.851 -0.001 3.616 -0.010 0.001 -0.012 -0.04° +_scene_ 0.069 0.019 0.053 -5.611 -0.002 -5.633 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.760, -0.001, 0.733] + !! OVERLAP: sofa <-> floor depth=[2.158, -0.001, 0.677] + !! OVERLAP: table <-> floor depth=[0.659, -0.001, 0.555] + !! OVERLAP: table <-> floor depth=[0.727, -0.001, 0.729] + !! OVERLAP: table <-> floor depth=[0.666, -0.001, 1.127] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1579, Walkable Loss: 1.3917 (C1 Heatmap: 0.6284, C2 Repulsion: 4.4450), Relational Loss: 0.0215 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.815 0.928 0.474 -1.442 0.012 -1.816 89.95° +chair 0.803 0.781 0.732 0.515 -0.001 -3.668 -15.11° +table 1.054 0.357 0.658 0.112 0.001 -1.739 90.10° +cabinet 0.679 1.795 0.280 1.898 0.003 3.607 -90.02° +table 1.314 0.860 0.420 0.329 0.007 3.511 0.24° +chair 0.487 0.804 0.541 0.095 -0.000 1.253 0.05° +chair 0.460 0.797 0.529 0.932 -0.000 1.741 -90.17° +chair 0.356 0.810 0.419 0.952 0.002 2.716 -90.05° +chair 0.420 0.807 0.465 -0.081 0.002 2.640 179.96° +chair 0.512 0.865 0.554 -0.927 0.007 2.799 89.95° +chair 0.461 0.803 0.492 -0.919 -0.000 1.565 90.00° +tv_stand 1.584 0.455 0.276 1.550 0.005 -2.179 -90.02° +table 0.446 0.468 0.450 -1.153 0.003 -0.452 89.95° +table 0.442 0.479 0.450 -1.210 -0.002 -3.712 0.21° +chair 0.718 0.866 0.708 0.002 0.000 -0.288 171.70° +lamp 0.333 0.662 0.360 0.161 1.809 -2.125 -0.09° +lamp 0.333 0.450 0.342 0.436 2.170 2.049 -0.00° +floor 4.534 -0.004 7.953 -0.029 -0.000 -0.188 -0.02° +_scene_ 0.070 0.003 0.021 -5.670 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.762, -0.004, 0.474] + !! OVERLAP: chair <-> floor depth=[0.803, -0.004, 0.732] + !! OVERLAP: table <-> floor depth=[1.054, -0.004, 0.658] + !! OVERLAP: cabinet <-> floor depth=[0.679, -0.004, 0.280] + !! OVERLAP: table <-> floor depth=[1.314, -0.004, 0.420] + !! OVERLAP: chair <-> floor depth=[0.487, -0.004, 0.541] + !! OVERLAP: chair <-> floor depth=[0.460, -0.004, 0.529] + !! OVERLAP: chair <-> floor depth=[0.356, -0.004, 0.419] + !! OVERLAP: chair <-> floor depth=[0.420, -0.004, 0.465] + !! OVERLAP: chair <-> floor depth=[0.512, -0.004, 0.554] + !! OVERLAP: chair <-> floor depth=[0.461, -0.004, 0.492] + !! OVERLAP: tv_stand <-> floor depth=[1.480, -0.004, 0.276] + !! OVERLAP: table <-> floor depth=[0.446, -0.004, 0.450] + !! OVERLAP: table <-> floor depth=[0.442, -0.004, 0.450] + !! OVERLAP: chair <-> floor depth=[0.718, -0.004, 0.708] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9713 (C1 Heatmap: 0.6700, C2 Repulsion: 7.1762), Relational Loss: 0.0146 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.421 0.920 0.603 -1.719 0.017 2.214 89.60° +chair 0.928 0.811 0.862 -0.265 0.019 4.178 179.86° +table 1.116 0.415 0.867 -0.023 -0.005 2.491 90.06° +table 0.392 0.733 0.352 -1.932 0.009 4.031 89.90° +table 0.525 0.539 0.512 -1.807 0.001 0.884 90.00° +table 0.361 0.506 0.428 -1.672 0.002 3.222 90.03° +table 1.069 0.726 0.123 -1.019 0.019 -2.154 1.54° +chair 0.455 1.043 0.539 -2.078 -0.004 -2.970 -0.14° +chair 0.474 1.120 0.487 -0.930 -0.006 -2.914 -0.66° +chair 0.428 1.126 0.543 0.038 -0.002 -2.381 -90.30° +chair 0.602 1.164 0.607 -2.241 -0.002 -1.783 179.98° +chair 0.350 1.166 0.443 -0.773 -0.004 -1.538 -179.96° +table 1.659 0.798 0.566 -1.031 0.004 -0.663 0.14° +table 0.504 0.499 0.371 -2.087 -0.000 -0.198 90.17° +table 0.813 0.962 0.471 -1.119 0.006 -3.883 -89.84° +chair 0.641 0.475 0.534 -0.581 0.001 0.916 3.57° +lamp 0.852 0.927 0.890 -0.496 1.837 2.188 0.01° +lamp 0.452 0.629 0.413 -0.656 2.119 0.109 89.99° +lamp 0.566 0.183 0.551 1.257 2.486 0.014 -0.03° +lamp 0.427 0.629 0.430 -1.616 2.226 -1.970 -0.03° +lamp 0.690 0.758 0.489 0.236 2.219 -3.896 89.99° +floor 5.242 -0.000 10.060 -0.258 0.000 0.117 0.02° +_scene_ 0.073 0.001 0.026 -5.663 -0.005 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.421, -0.000, 0.603] + !! OVERLAP: chair <-> floor depth=[0.928, -0.000, 0.862] + !! OVERLAP: table <-> floor depth=[1.116, -0.000, 0.867] + !! OVERLAP: table <-> floor depth=[0.392, -0.000, 0.352] + !! OVERLAP: table <-> floor depth=[0.525, -0.000, 0.512] + !! OVERLAP: table <-> floor depth=[0.361, -0.000, 0.428] + !! OVERLAP: table <-> floor depth=[1.069, -0.000, 0.123] + !! OVERLAP: chair <-> floor depth=[0.455, -0.000, 0.539] + !! OVERLAP: chair <-> floor depth=[0.474, -0.000, 0.487] + !! OVERLAP: chair <-> floor depth=[0.428, -0.000, 0.543] + !! OVERLAP: chair <-> floor depth=[0.602, -0.000, 0.607] + !! OVERLAP: chair <-> floor depth=[0.350, -0.000, 0.443] + !! OVERLAP: table <-> table depth=[0.026, 0.499, 0.004] + !! OVERLAP: table <-> floor depth=[1.659, -0.000, 0.566] + !! OVERLAP: table <-> floor depth=[0.504, -0.000, 0.371] + !! OVERLAP: table <-> floor depth=[0.813, -0.000, 0.471] + !! OVERLAP: chair <-> floor depth=[0.641, -0.000, 0.534] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.0000, Walkable Loss: 0.8522 (C1 Heatmap: 0.6926, C2 Repulsion: 1.4907), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.745 0.083 2.116 -0.103 -0.018 1.046 -0.42° +chair 0.505 0.807 0.539 -0.140 -0.001 -0.281 0.03° +chair 0.387 0.810 0.382 -1.246 0.001 -0.657 -0.00° +floor 5.018 0.003 6.079 0.023 0.001 0.118 -0.03° +_scene_ 0.048 0.005 0.015 -5.661 -0.004 -5.715 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.505, 0.083, 0.000] + !! OVERLAP: table <-> floor depth=[2.745, 0.003, 2.116] + !! OVERLAP: chair <-> floor depth=[0.505, 0.003, 0.539] + !! OVERLAP: chair <-> floor depth=[0.387, 0.003, 0.382] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0190, Room Outer Loss: 0.0000, Walkable Loss: 0.6307 (C1 Heatmap: 0.3176, C2 Repulsion: 1.8831), Relational Loss: 0.0208 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.664 1.160 0.665 -1.105 0.014 0.804 44.31° +tv_stand 0.973 0.416 0.178 0.826 0.005 0.792 -89.93° +table 0.347 0.754 0.298 -1.274 -0.005 2.417 0.04° +cabinet 0.721 0.968 0.279 1.009 0.003 2.163 -90.23° +lamp 0.433 0.757 0.414 -0.097 2.203 0.748 -0.01° +lamp 1.024 0.921 1.061 -0.784 1.696 -2.544 -89.90° +lamp 1.036 0.914 1.063 -0.537 2.092 -2.109 0.01° +table 1.095 0.611 0.689 -0.523 0.003 0.356 -0.07° +chair 0.466 0.895 0.473 -0.611 0.000 -0.676 0.05° +chair 0.499 0.867 0.480 -0.353 0.000 2.076 176.23° +floor 2.854 0.002 7.140 -0.031 -0.001 -0.148 0.03° +_scene_ 0.069 -0.000 0.021 -5.674 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.297, 0.611, 0.229] + !! OVERLAP: chair <-> floor depth=[0.664, 0.002, 0.665] + !! OVERLAP: tv_stand <-> floor depth=[0.973, 0.002, 0.178] + !! OVERLAP: table <-> floor depth=[0.347, 0.002, 0.298] + !! OVERLAP: cabinet <-> floor depth=[0.721, 0.002, 0.279] + !! OVERLAP: lamp <-> lamp depth=[0.783, 0.522, 0.627] + !! OVERLAP: table <-> floor depth=[1.095, 0.002, 0.689] + !! OVERLAP: chair <-> floor depth=[0.466, 0.002, 0.473] + !! OVERLAP: chair <-> floor depth=[0.499, 0.002, 0.480] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8241 (C1 Heatmap: 0.5702, C2 Repulsion: 1.8397), Relational Loss: 0.0255 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.724 0.647 0.726 -1.405 -0.006 0.358 90.03° +sofa 2.266 0.839 0.875 1.611 -0.000 0.492 -89.93° +chair 0.590 0.992 0.624 -0.103 0.000 0.111 -90.08° +chair 0.436 0.881 0.478 -2.008 0.002 0.686 89.90° +lamp 0.721 0.777 0.718 0.542 1.917 -0.149 -0.02° +lamp 0.590 0.735 0.515 -1.318 1.965 0.550 0.01° +floor 5.538 0.005 2.357 -0.005 -0.000 -0.057 0.02° +_scene_ 0.070 0.002 0.028 -5.669 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.436, 0.647, 0.274] + !! OVERLAP: table <-> floor depth=[1.724, 0.005, 0.726] + !! OVERLAP: sofa <-> floor depth=[2.266, 0.005, 0.875] + !! OVERLAP: chair <-> floor depth=[0.590, 0.005, 0.624] + !! OVERLAP: chair <-> floor depth=[0.436, 0.005, 0.478] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1377 (C1 Heatmap: 0.4708, C2 Repulsion: 3.8054), Relational Loss: 0.0033 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.838 0.636 0.095 -0.362 0.002 -0.163 -89.99° +chair 0.412 0.870 0.439 -1.491 -0.003 0.238 90.11° +chair 0.450 0.914 0.494 -1.453 0.001 -0.622 90.13° +chair 0.390 0.945 0.482 1.088 0.004 0.101 -90.07° +chair 0.393 0.923 0.472 1.038 0.003 -0.818 -89.91° +cabinet 2.597 2.388 0.375 0.585 0.002 1.455 -179.82° +lamp 0.095 0.983 0.102 0.101 1.149 -0.505 -0.06° +lamp 0.062 0.983 0.102 -0.169 1.251 0.182 -0.00° +floor 4.203 -0.002 3.181 -0.035 0.000 0.069 -0.01° +_scene_ 0.074 0.001 0.025 -5.672 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.838, -0.002, 0.095] + !! OVERLAP: chair <-> floor depth=[0.412, -0.002, 0.439] + !! OVERLAP: chair <-> floor depth=[0.450, -0.002, 0.494] + !! OVERLAP: chair <-> floor depth=[0.390, -0.002, 0.482] + !! OVERLAP: chair <-> floor depth=[0.393, -0.002, 0.472] + !! OVERLAP: cabinet <-> floor depth=[2.597, -0.002, 0.375] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0083, Room Outer Loss: 0.0000, Walkable Loss: 0.5543 (C1 Heatmap: 0.1659, C2 Repulsion: 2.1077), Relational Loss: 0.0127 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.856 0.722 0.475 -0.692 0.024 -0.458 0.05° +chair 0.488 0.768 0.496 0.530 -0.001 0.636 179.90° +chair 0.438 0.780 0.467 -0.370 0.000 0.497 178.30° +chair 0.412 0.789 0.469 0.451 0.004 -0.507 0.09° +chair 0.353 0.757 0.400 -0.229 0.004 -0.414 0.13° +lamp 1.230 1.125 1.218 -0.174 1.544 0.047 0.04° +floor 4.002 -0.001 2.462 0.019 -0.000 -0.001 -0.04° +_scene_ 0.068 0.000 0.022 -5.674 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.142, 0.719, 0.394] + !! OVERLAP: table <-> floor depth=[0.856, -0.001, 0.475] + !! OVERLAP: chair <-> floor depth=[0.488, -0.001, 0.496] + !! OVERLAP: chair <-> floor depth=[0.438, -0.001, 0.467] + !! OVERLAP: chair <-> floor depth=[0.412, -0.001, 0.469] + !! OVERLAP: chair <-> floor depth=[0.353, -0.001, 0.400] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0127, Walkable Loss: 1.2982 (C1 Heatmap: 0.4131, C2 Repulsion: 4.8382), Relational Loss: 0.0124 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.844 0.751 0.427 -0.267 -0.014 -0.179 179.93° +chair 0.346 0.862 0.345 -0.198 -0.000 0.668 -179.99° +chair 0.389 0.844 0.266 0.422 -0.002 0.563 -131.18° +chair 0.275 0.841 0.339 0.441 -0.007 -0.765 -44.94° +chair 0.435 0.902 0.433 -0.202 0.001 -1.157 0.03° +chair 0.319 0.832 0.391 -0.911 0.005 0.456 144.08° +cabinet 1.391 2.669 0.199 -1.807 -0.039 -0.128 90.60° +cabinet 1.520 2.011 0.234 1.646 0.003 -0.363 -90.20° +chair 0.482 0.819 0.447 -0.941 0.003 -0.640 46.61° +cabinet 1.623 2.147 0.010 1.307 -0.004 0.128 -90.35° +lamp 0.294 0.557 0.283 -0.174 2.238 -0.045 -0.07° +floor 4.900 0.000 4.209 -0.040 -0.000 -0.053 0.02° +_scene_ 0.076 -0.000 0.021 -5.677 -0.004 -5.722 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.844, 0.000, 0.427] + !! OVERLAP: chair <-> floor depth=[0.346, 0.000, 0.345] + !! OVERLAP: chair <-> floor depth=[0.389, 0.000, 0.266] + !! OVERLAP: chair <-> floor depth=[0.275, 0.000, 0.339] + !! OVERLAP: chair <-> floor depth=[0.435, 0.000, 0.433] + !! OVERLAP: chair <-> floor depth=[0.319, 0.000, 0.391] + !! OVERLAP: cabinet <-> floor depth=[1.379, 0.000, 0.199] + !! OVERLAP: cabinet <-> floor depth=[1.520, 0.000, 0.234] + !! OVERLAP: chair <-> floor depth=[0.482, 0.000, 0.447] + !! OVERLAP: cabinet <-> floor depth=[1.623, 0.000, 0.010] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3799 (C1 Heatmap: 0.1707, C2 Repulsion: 1.2167), Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.454 0.666 0.434 -0.554 -0.002 -1.196 20.12° +table 1.952 1.198 -0.718 0.126 0.075 -0.001 91.40° +chair 0.353 0.747 0.365 -0.679 0.002 -0.128 90.12° +chair 0.478 0.717 0.523 -0.814 -0.001 0.982 130.07° +chair 0.502 0.681 0.336 0.653 0.008 0.939 -140.20° +chair 0.477 0.733 0.494 0.491 0.000 -0.033 -90.11° +chair 0.428 0.710 0.390 0.616 -0.002 -0.946 -53.54° +floor 3.597 -0.005 4.143 0.022 -0.002 0.056 -0.07° +_scene_ 0.103 -0.006 0.093 -5.584 0.003 -5.643 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.454, -0.005, 0.434] + !! OVERLAP: table <-> floor depth=[1.952, -0.005, -0.718] + !! OVERLAP: chair <-> floor depth=[0.353, -0.005, 0.365] + !! OVERLAP: chair <-> floor depth=[0.478, -0.005, 0.523] + !! OVERLAP: chair <-> floor depth=[0.502, -0.005, 0.336] + !! OVERLAP: chair <-> floor depth=[0.477, -0.005, 0.494] + !! OVERLAP: chair <-> floor depth=[0.428, -0.005, 0.390] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6892 (C1 Heatmap: 0.2283, C2 Repulsion: 2.5328), Relational Loss: 0.0322 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.879 1.450 0.296 1.942 0.002 1.522 179.99° +table 0.736 0.717 0.665 -1.041 0.017 -0.285 0.25° +chair 0.417 0.930 0.480 -1.535 0.001 -1.179 0.07° +chair 0.420 0.925 0.526 -0.387 0.002 -1.128 -0.02° +chair 0.494 0.896 0.522 -1.856 -0.001 -0.162 89.95° +chair 0.423 0.887 0.418 -0.303 0.005 -0.019 -146.72° +lamp 1.038 0.728 0.800 -0.568 1.967 -0.390 -0.02° +floor 4.852 0.004 3.878 0.069 -0.000 0.047 -0.02° +_scene_ 0.072 0.002 0.023 -5.671 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.879, 0.004, 0.296] + !! OVERLAP: table <-> floor depth=[0.736, 0.004, 0.665] + !! OVERLAP: chair <-> floor depth=[0.417, 0.004, 0.480] + !! OVERLAP: chair <-> floor depth=[0.420, 0.004, 0.526] + !! OVERLAP: chair <-> floor depth=[0.494, 0.004, 0.522] + !! OVERLAP: chair <-> floor depth=[0.423, 0.004, 0.418] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7540 (C1 Heatmap: 0.2173, C2 Repulsion: 2.9008), Relational Loss: 0.0200 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.717 0.685 0.549 -0.087 -0.008 0.153 89.40° +chair 0.410 0.846 0.504 0.758 0.001 -0.443 -90.23° +chair 0.409 0.832 0.429 0.713 -0.000 0.286 -90.17° +chair 0.504 0.794 0.489 -0.095 0.002 1.359 179.77° +chair 0.376 0.749 0.397 -0.809 -0.002 0.516 90.22° +chair 0.403 0.804 0.428 -0.788 0.001 -0.320 89.96° +chair 0.495 0.792 0.495 0.033 0.003 -1.188 -0.01° +lamp 1.000 0.722 1.049 -0.031 2.225 0.081 179.97° +floor 3.216 -0.005 3.999 -0.011 0.001 0.027 -0.05° +_scene_ 0.064 -0.003 0.051 -5.646 0.000 -5.690 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.717, -0.005, 0.549] + !! OVERLAP: chair <-> floor depth=[0.410, -0.005, 0.504] + !! OVERLAP: chair <-> floor depth=[0.409, -0.005, 0.429] + !! OVERLAP: chair <-> floor depth=[0.504, -0.005, 0.489] + !! OVERLAP: chair <-> floor depth=[0.376, -0.005, 0.397] + !! OVERLAP: chair <-> floor depth=[0.403, -0.005, 0.428] + !! OVERLAP: chair <-> floor depth=[0.495, -0.005, 0.495] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0117, Walkable Loss: 0.8284 (C1 Heatmap: 0.2110, C2 Repulsion: 3.2979), Relational Loss: 0.0146 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.006 0.857 0.571 0.776 -0.005 0.904 0.06° +chair 0.386 0.772 0.414 0.337 0.004 0.081 -0.09° +chair 0.410 0.824 0.432 1.098 0.002 0.120 -0.08° +chair 0.356 0.821 0.381 1.025 0.001 1.874 179.79° +chair 0.317 0.827 0.369 0.495 0.018 1.593 179.99° +bookshelf 0.947 1.189 0.267 -0.653 0.000 0.742 90.02° +lamp 0.714 1.135 0.710 0.506 1.704 0.972 -0.06° +lamp 0.456 0.287 0.451 -1.316 2.353 -2.088 -0.08° +lamp 0.637 0.566 0.168 0.611 1.913 -1.557 -0.04° +floor 3.218 -0.003 4.754 -0.049 0.002 0.076 0.02° +_scene_ 0.064 0.001 0.020 -5.671 -0.004 -5.707 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.006, -0.003, 0.571] + !! OVERLAP: chair <-> floor depth=[0.386, -0.003, 0.414] + !! OVERLAP: chair <-> floor depth=[0.410, -0.003, 0.432] + !! OVERLAP: chair <-> floor depth=[0.356, -0.003, 0.381] + !! OVERLAP: chair <-> floor depth=[0.317, -0.003, 0.369] + !! OVERLAP: bookshelf <-> floor depth=[0.947, -0.003, 0.267] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0008, Room Outer Loss: 0.0000, Walkable Loss: 0.6301 (C1 Heatmap: 0.2474, C2 Repulsion: 2.1611), Relational Loss: 0.0157 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.642 0.728 0.316 1.158 -0.026 -2.907 90.16° +chair 0.376 0.961 0.449 0.333 0.002 -2.970 89.90° +lamp 0.907 1.187 0.877 0.814 1.630 -2.601 0.04° +chair 0.360 1.031 0.396 1.483 0.001 -2.887 -90.14° +chair 0.393 0.930 0.444 0.436 0.001 -2.142 90.09° +chair 0.384 0.937 0.416 1.407 0.001 -2.170 -90.00° +table 1.462 1.146 0.434 -1.085 0.006 0.506 -0.01° +shelf 0.773 1.863 0.340 -0.941 -0.000 -0.964 0.10° +lamp 0.279 0.434 0.272 0.201 2.471 0.762 -0.06° +floor 3.971 0.000 7.350 0.043 0.000 -0.367 -0.02° +_scene_ 0.072 0.000 0.022 -5.672 -0.005 -5.706 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.176, 0.728, 0.316] + !! OVERLAP: table <-> floor depth=[0.642, 0.000, 0.316] + !! OVERLAP: chair <-> floor depth=[0.376, 0.000, 0.449] + !! OVERLAP: chair <-> floor depth=[0.360, 0.000, 0.396] + !! OVERLAP: chair <-> floor depth=[0.393, 0.000, 0.444] + !! OVERLAP: chair <-> floor depth=[0.384, 0.000, 0.416] + !! OVERLAP: table <-> floor depth=[1.462, 0.000, 0.434] + !! OVERLAP: shelf <-> floor depth=[0.773, 0.000, 0.340] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0425, Walkable Loss: 0.4228 (C1 Heatmap: 0.1735, C2 Repulsion: 1.4203), Relational Loss: 0.0053 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.755 0.818 0.534 -0.206 0.016 0.139 1.42° +chair 0.210 0.454 0.231 -0.078 -0.002 -0.623 -0.02° +chair 0.286 0.448 0.294 0.567 0.001 -0.554 -0.03° +chair 0.301 0.556 0.342 -0.309 0.001 0.860 179.78° +chair 0.355 0.622 0.356 0.603 0.002 0.816 179.85° +cabinet 1.026 1.110 0.411 -1.438 0.003 -0.327 90.13° +lamp 1.710 0.937 0.355 0.062 1.857 -0.008 0.04° +floor 3.729 -0.001 3.591 -0.045 0.001 -0.100 0.03° +_scene_ 0.071 -0.000 0.022 -5.669 -0.003 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.755, -0.001, 0.534] + !! OVERLAP: chair <-> floor depth=[0.210, -0.001, 0.231] + !! OVERLAP: chair <-> floor depth=[0.286, -0.001, 0.294] + !! OVERLAP: chair <-> floor depth=[0.301, -0.001, 0.342] + !! OVERLAP: chair <-> floor depth=[0.355, -0.001, 0.356] + !! OVERLAP: cabinet <-> floor depth=[0.984, -0.001, 0.411] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4717 (C1 Heatmap: 0.1498, C2 Repulsion: 1.7593), Relational Loss: 0.0406 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.687 1.938 0.239 1.238 0.003 1.019 -90.17° +lamp 0.457 0.913 0.451 -0.479 1.776 -0.080 -0.05° +chair 0.391 0.824 0.452 0.410 -0.001 -0.511 0.02° +chair 0.441 0.755 0.487 -0.452 -0.001 -0.489 0.06° +table 0.566 0.757 0.387 0.128 0.031 0.315 179.46° +chair 0.388 0.804 0.427 -0.529 0.001 0.775 179.86° +chair 0.330 0.812 0.339 0.235 0.000 0.881 179.95° +floor 3.329 -0.001 2.436 -0.063 -0.000 0.011 -0.05° +_scene_ 0.069 -0.000 0.025 -5.672 -0.007 -5.727 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.687, -0.001, 0.239] + !! OVERLAP: chair <-> floor depth=[0.391, -0.001, 0.452] + !! OVERLAP: chair <-> floor depth=[0.441, -0.001, 0.487] + !! OVERLAP: table <-> floor depth=[0.566, -0.001, 0.387] + !! OVERLAP: chair <-> floor depth=[0.388, -0.001, 0.427] + !! OVERLAP: chair <-> floor depth=[0.330, -0.001, 0.339] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2057 (C1 Heatmap: 0.3210, C2 Repulsion: 4.7447), Relational Loss: 0.0268 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.943 0.835 0.173 0.116 1.583 -0.188 90.09° +table 0.463 0.606 0.180 -0.200 0.013 -0.075 -0.18° +chair 0.402 1.033 0.543 0.682 0.005 0.524 -90.43° +chair 0.973 1.061 0.466 0.003 0.001 1.573 -179.99° +chair 0.263 1.044 0.352 0.525 0.010 -0.018 -98.08° +chair 0.325 1.056 0.456 0.416 -0.001 -0.626 -84.81° +chair 0.416 1.065 0.380 -0.444 0.006 0.569 111.86° +chair 0.213 1.030 0.357 -0.949 -0.001 0.151 90.45° +chair 0.571 1.050 0.632 -0.562 -0.001 -0.457 89.98° +chair 0.537 0.979 0.480 -0.278 0.001 -1.411 -0.07° +table 1.202 0.668 0.187 0.061 0.000 -2.204 -0.09° +floor 2.698 0.000 5.544 0.006 0.000 -0.076 0.03° +_scene_ 0.134 -0.009 0.129 -5.608 -0.003 -5.655 -57.16° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.155, 0.606, 0.024] + !! OVERLAP: table <-> floor depth=[0.463, 0.000, 0.180] + !! OVERLAP: chair <-> floor depth=[0.402, 0.000, 0.543] + !! OVERLAP: chair <-> floor depth=[0.973, 0.000, 0.466] + !! OVERLAP: chair <-> floor depth=[0.263, 0.000, 0.352] + !! OVERLAP: chair <-> floor depth=[0.325, 0.000, 0.456] + !! OVERLAP: chair <-> floor depth=[0.416, 0.000, 0.380] + !! OVERLAP: chair <-> floor depth=[0.213, 0.000, 0.357] + !! OVERLAP: chair <-> floor depth=[0.571, 0.000, 0.632] + !! OVERLAP: chair <-> floor depth=[0.537, 0.000, 0.480] + !! OVERLAP: table <-> floor depth=[1.202, 0.000, 0.187] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5331 (C1 Heatmap: 0.1752, C2 Repulsion: 1.9650), Relational Loss: 0.0192 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.581 0.718 0.513 0.178 0.032 -0.301 -0.27° +chair 0.426 1.052 0.480 -0.702 -0.002 0.451 -179.97° +chair 0.435 0.853 0.449 0.158 0.000 0.594 -179.93° +chair 0.384 0.829 0.390 1.233 -0.001 0.387 179.88° +chair 0.490 0.821 0.530 0.985 0.001 -0.849 0.06° +chair 0.394 0.851 0.451 0.003 0.001 -0.877 0.06° +lamp 0.524 0.981 0.515 0.129 1.723 -0.202 0.01° +floor 3.579 -0.003 2.798 -0.014 0.001 0.000 -0.00° +_scene_ 0.063 0.002 0.015 -5.669 -0.003 -5.704 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.581, -0.003, 0.513] + !! OVERLAP: chair <-> floor depth=[0.426, -0.003, 0.480] + !! OVERLAP: chair <-> floor depth=[0.435, -0.003, 0.449] + !! OVERLAP: chair <-> floor depth=[0.384, -0.003, 0.390] + !! OVERLAP: chair <-> floor depth=[0.490, -0.003, 0.530] + !! OVERLAP: chair <-> floor depth=[0.394, -0.003, 0.451] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4211 (C1 Heatmap: 0.2108, C2 Repulsion: 1.2619), Relational Loss: 0.0193 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.284 0.512 0.330 -1.065 0.003 0.791 179.88° +shelf 0.405 0.801 0.267 -1.055 -0.001 -1.403 0.10° +chair 0.426 0.858 0.450 1.581 0.002 1.013 179.97° +chair 0.386 0.876 0.455 0.768 -0.001 0.999 179.87° +chair 0.424 0.858 0.461 1.505 -0.001 -0.569 0.02° +chair 0.362 0.847 0.432 0.699 -0.001 -0.360 0.10° +table 0.793 0.716 -0.039 1.449 0.078 0.313 -85.51° +lamp 0.389 0.742 0.152 1.477 1.972 0.659 -0.03° +lamp 0.531 0.873 0.548 0.423 1.740 -0.425 -0.06° +floor 3.722 -0.000 3.408 -0.010 0.000 -0.009 -0.02° +_scene_ 0.069 0.001 0.020 -5.669 -0.004 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.284, -0.000, 0.330] + !! OVERLAP: shelf <-> floor depth=[0.405, -0.000, 0.267] + !! OVERLAP: chair <-> floor depth=[0.426, -0.000, 0.450] + !! OVERLAP: chair <-> floor depth=[0.386, -0.000, 0.455] + !! OVERLAP: chair <-> floor depth=[0.424, -0.000, 0.461] + !! OVERLAP: chair <-> floor depth=[0.362, -0.000, 0.432] + !! OVERLAP: table <-> floor depth=[0.793, -0.000, -0.039] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5534 (C1 Heatmap: 0.2409, C2 Repulsion: 1.8034), Relational Loss: 0.0475 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.188 0.712 -0.069 -0.248 -0.013 0.251 -0.21° +chair 0.378 0.815 0.395 -0.667 -0.002 -0.353 0.04° +chair 0.409 0.859 0.396 0.298 0.001 -0.249 0.05° +chair 0.310 0.857 0.340 -0.581 -0.001 1.041 -179.90° +chair 0.437 0.875 0.508 0.210 0.001 1.075 -179.99° +table 1.348 0.800 0.576 -0.530 0.003 -1.529 -0.04° +lamp 1.003 0.624 1.051 -0.024 2.100 0.795 -0.02° +floor 3.470 0.000 4.184 0.039 0.000 -0.043 -0.03° +_scene_ 0.068 0.002 0.023 -5.661 -0.005 -5.717 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.188, 0.000, -0.069] + !! OVERLAP: chair <-> floor depth=[0.378, 0.000, 0.395] + !! OVERLAP: chair <-> floor depth=[0.409, 0.000, 0.396] + !! OVERLAP: chair <-> floor depth=[0.310, 0.000, 0.340] + !! OVERLAP: chair <-> floor depth=[0.437, 0.000, 0.508] + !! OVERLAP: table <-> floor depth=[1.348, 0.000, 0.576] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0010, Room Outer Loss: 0.0000, Walkable Loss: 0.4008 (C1 Heatmap: 0.1287, C2 Repulsion: 1.4892), Relational Loss: 0.0461 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.004 0.702 -0.183 0.618 -0.057 -0.386 1.75° +lamp 0.946 0.782 0.867 0.688 1.969 -0.907 34.30° +chair 0.427 1.070 0.585 -0.172 0.001 -1.269 90.00° +chair 0.476 1.017 0.539 -0.202 -0.000 -0.101 90.01° +chair 0.359 1.067 0.488 1.113 0.001 -1.106 -90.03° +chair 0.364 1.000 0.422 1.207 0.000 -0.262 -90.16° +floor 3.267 0.004 3.871 0.031 0.002 -0.056 0.03° +_scene_ 0.064 -0.000 0.023 -5.666 -0.004 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.004, 0.004, -0.183] + !! OVERLAP: chair <-> floor depth=[0.427, 0.004, 0.585] + !! OVERLAP: chair <-> floor depth=[0.476, 0.004, 0.539] + !! OVERLAP: chair <-> floor depth=[0.359, 0.004, 0.488] + !! OVERLAP: chair <-> floor depth=[0.364, 0.004, 0.422] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8841 (C1 Heatmap: 0.2199, C2 Repulsion: 3.5409), Relational Loss: 0.0347 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.859 0.807 0.418 -0.216 -0.012 -0.550 0.19° +chair 0.419 0.927 0.478 0.392 0.001 0.148 -179.92° +chair 0.424 0.829 0.447 -0.300 0.004 0.254 -179.89° +chair 0.290 0.874 0.370 0.412 -0.008 -1.249 -0.14° +chair 0.366 0.904 0.355 -0.131 -0.005 -1.145 0.15° +table 1.333 1.279 0.271 0.228 -0.002 1.224 -179.98° +lamp 0.789 0.897 0.762 0.023 1.851 -0.205 0.03° +floor 2.617 -0.000 3.055 -0.001 0.000 -0.007 -0.03° +_scene_ 0.057 -0.000 0.015 -5.664 -0.005 -5.716 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.859, -0.000, 0.418] + !! OVERLAP: chair <-> floor depth=[0.419, -0.000, 0.478] + !! OVERLAP: chair <-> floor depth=[0.424, -0.000, 0.447] + !! OVERLAP: chair <-> floor depth=[0.290, -0.000, 0.370] + !! OVERLAP: chair <-> floor depth=[0.366, -0.000, 0.355] + !! OVERLAP: table <-> floor depth=[1.333, -0.000, 0.271] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7040 (C1 Heatmap: 0.4341, C2 Repulsion: 1.7838), Relational Loss: 0.0322 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.971 0.850 -0.489 1.240 -0.016 -0.844 -1.07° +chair 0.521 0.963 0.544 1.795 0.002 -1.579 0.01° +chair 0.511 0.897 0.592 0.706 -0.001 -0.375 179.83° +cabinet 1.384 2.056 0.431 0.753 0.001 1.130 -179.89° +chair 0.453 0.968 0.526 1.928 0.001 -0.519 179.93° +chair 0.524 0.996 0.510 0.725 0.004 -1.570 -0.02° +lamp 0.596 0.243 0.605 0.137 2.236 -0.569 -0.05° +cabinet 1.367 1.701 0.343 -2.250 -0.004 -0.924 0.00° +tv_stand 1.592 0.345 0.165 -2.009 0.002 1.303 180.00° +chair 0.410 0.559 0.384 -0.399 -0.001 0.875 179.99° +floor 6.018 -0.002 3.647 0.045 -0.000 -0.080 0.02° +_scene_ 0.069 0.001 0.026 -5.672 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.971, -0.002, -0.489] + !! OVERLAP: chair <-> floor depth=[0.521, -0.002, 0.544] + !! OVERLAP: chair <-> floor depth=[0.511, -0.002, 0.592] + !! OVERLAP: cabinet <-> floor depth=[1.384, -0.002, 0.431] + !! OVERLAP: chair <-> floor depth=[0.453, -0.002, 0.526] + !! OVERLAP: chair <-> floor depth=[0.524, -0.002, 0.510] + !! OVERLAP: cabinet <-> floor depth=[1.367, -0.002, 0.343] + !! OVERLAP: tv_stand <-> floor depth=[1.592, -0.002, 0.165] + !! OVERLAP: chair <-> floor depth=[0.410, -0.002, 0.384] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3054 (C1 Heatmap: 0.1101, C2 Repulsion: 1.0868), Relational Loss: 0.0299 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.430 0.675 0.414 0.123 0.050 0.056 -177.17° +chair 0.423 0.730 0.442 0.768 -0.000 0.526 -89.95° +chair 0.349 0.762 0.377 0.842 0.006 -0.356 -90.15° +chair 0.349 0.744 0.445 -0.685 -0.001 0.521 90.03° +chair 0.403 0.706 0.384 -0.818 0.003 -0.151 76.63° +lamp 0.627 0.980 0.625 0.437 1.981 -0.384 -0.08° +floor 3.893 -0.003 2.959 0.019 0.000 -0.038 -0.04° +_scene_ 0.072 0.001 0.033 -5.659 -0.004 -5.694 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.430, -0.003, 0.414] + !! OVERLAP: chair <-> floor depth=[0.423, -0.003, 0.442] + !! OVERLAP: chair <-> floor depth=[0.349, -0.003, 0.377] + !! OVERLAP: chair <-> floor depth=[0.349, -0.003, 0.445] + !! OVERLAP: chair <-> floor depth=[0.403, -0.003, 0.384] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9066 (C1 Heatmap: 0.3168, C2 Repulsion: 3.2655), Relational Loss: 0.0278 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.480 1.024 0.470 -0.538 0.009 -1.199 63.61° +chair 0.540 0.992 0.549 -0.738 -0.003 -0.295 89.94° +chair 0.443 0.982 0.493 0.800 0.002 -0.289 -90.06° +chair 0.457 1.022 0.496 0.828 -0.001 -1.119 -0.48° +table 0.740 0.788 0.551 0.107 -0.009 -0.440 89.23° +table 1.526 0.832 0.309 -0.398 0.003 1.475 179.97° +chair 0.430 0.598 0.403 1.349 0.001 1.042 179.96° +lamp 0.936 0.826 0.968 -0.023 1.818 -0.609 -0.04° +floor 3.637 0.002 3.631 0.032 0.002 0.031 0.01° +_scene_ 0.068 0.003 0.024 -5.665 -0.003 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.480, 0.002, 0.470] + !! OVERLAP: chair <-> floor depth=[0.540, 0.002, 0.549] + !! OVERLAP: chair <-> floor depth=[0.443, 0.002, 0.493] + !! OVERLAP: chair <-> floor depth=[0.457, 0.002, 0.496] + !! OVERLAP: table <-> floor depth=[0.740, 0.002, 0.551] + !! OVERLAP: table <-> floor depth=[1.526, 0.002, 0.309] + !! OVERLAP: chair <-> floor depth=[0.430, 0.002, 0.403] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0018, Walkable Loss: 0.1573 (C1 Heatmap: 0.1184, C2 Repulsion: 0.3127), Relational Loss: 0.0288 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.844 0.905 0.290 0.707 0.000 -1.551 -0.01° +table 0.754 0.753 -0.166 0.132 -0.018 0.573 179.69° +chair 0.273 0.498 0.301 -0.934 0.001 0.040 90.06° +chair 0.320 0.460 0.286 0.219 0.000 -0.025 -0.02° +chair 0.303 0.570 0.281 0.162 -0.000 1.149 -179.89° +chair 0.365 0.527 0.369 -0.627 0.004 0.884 90.00° +chair 0.339 0.553 0.366 0.923 0.000 0.388 -90.20° +lamp 1.499 0.554 1.500 -0.077 2.191 0.672 0.08° +floor 3.401 -0.001 3.491 -0.012 0.001 0.051 0.01° +_scene_ 0.061 0.002 0.018 -5.665 -0.005 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.844, -0.001, 0.288] + !! OVERLAP: table <-> floor depth=[0.754, -0.001, -0.166] + !! OVERLAP: chair <-> floor depth=[0.273, -0.001, 0.301] + !! OVERLAP: chair <-> floor depth=[0.320, -0.001, 0.286] + !! OVERLAP: chair <-> floor depth=[0.303, -0.001, 0.281] + !! OVERLAP: chair <-> floor depth=[0.365, -0.001, 0.369] + !! OVERLAP: chair <-> floor depth=[0.339, -0.001, 0.366] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7168 (C1 Heatmap: 0.2538, C2 Repulsion: 2.5688), Relational Loss: 0.0270 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.098 0.556 0.147 -0.628 2.071 0.184 0.03° +chair 0.470 0.754 0.510 -0.795 0.000 -0.436 0.06° +chair 0.385 0.450 0.388 0.697 0.001 -1.528 0.01° +chair 0.317 0.792 0.390 -0.026 -0.026 -0.632 -47.90° +cabinet 1.556 1.961 0.132 -1.924 0.003 -0.078 89.97° +table 1.355 0.515 0.041 -0.444 0.041 0.264 1.54° +chair 0.463 0.743 0.438 0.190 0.002 0.789 -128.05° +chair 0.369 0.811 0.365 -0.654 -0.005 1.048 178.80° +floor 5.265 -0.002 3.726 -0.236 -0.001 0.025 0.01° +_scene_ 0.062 -0.000 0.017 -5.670 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.470, -0.002, 0.510] + !! OVERLAP: chair <-> floor depth=[0.385, -0.002, 0.388] + !! OVERLAP: chair <-> floor depth=[0.317, -0.002, 0.390] + !! OVERLAP: cabinet <-> floor depth=[1.556, -0.002, 0.132] + !! OVERLAP: table <-> floor depth=[1.355, -0.002, 0.041] + !! OVERLAP: chair <-> floor depth=[0.463, -0.002, 0.438] + !! OVERLAP: chair <-> floor depth=[0.369, -0.002, 0.365] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4721 (C1 Heatmap: 0.1522, C2 Repulsion: 1.7516), Relational Loss: 0.0547 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.989 0.696 -0.054 -0.001 0.022 0.187 -90.94° +chair 0.420 0.991 0.530 0.480 0.003 -0.516 -90.08° +chair 0.471 1.033 0.524 0.631 0.004 0.369 -90.03° +chair 0.433 0.927 0.489 -0.740 -0.002 -0.352 90.12° +chair 0.525 1.006 0.511 -0.790 -0.000 0.625 90.01° +lamp 0.710 1.172 0.672 0.087 1.539 0.157 90.04° +floor 2.547 -0.000 3.351 -0.006 0.002 0.002 -0.01° +_scene_ 0.063 0.005 0.020 -5.664 -0.006 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.099, 0.696, -0.054] + !! OVERLAP: table <-> floor depth=[0.989, -0.000, -0.054] + !! OVERLAP: chair <-> floor depth=[0.420, -0.000, 0.530] + !! OVERLAP: chair <-> floor depth=[0.471, -0.000, 0.524] + !! OVERLAP: chair <-> floor depth=[0.433, -0.000, 0.489] + !! OVERLAP: chair <-> floor depth=[0.525, -0.000, 0.511] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3011 (C1 Heatmap: 0.1404, C2 Repulsion: 0.9441), Relational Loss: 0.0386 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.861 0.677 -0.052 -0.182 0.066 -0.115 2.11° +chair 0.456 0.964 0.512 -0.725 0.000 0.496 179.94° +chair 0.483 0.970 0.545 -0.821 0.000 -0.794 0.01° +chair 0.396 1.017 0.476 0.343 0.004 0.493 -179.93° +chair 0.470 0.921 0.470 0.394 0.001 -0.887 0.04° +lamp 0.314 0.928 0.174 -0.051 1.704 -0.139 0.00° +floor 2.713 -0.006 2.447 -0.022 0.001 0.032 -0.07° +_scene_ 0.070 0.000 0.024 -5.668 -0.004 -5.709 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.861, -0.006, -0.052] + !! OVERLAP: chair <-> floor depth=[0.456, -0.006, 0.512] + !! OVERLAP: chair <-> floor depth=[0.483, -0.006, 0.545] + !! OVERLAP: chair <-> floor depth=[0.396, -0.006, 0.476] + !! OVERLAP: chair <-> floor depth=[0.470, -0.006, 0.470] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2676 (C1 Heatmap: 0.0681, C2 Repulsion: 1.0658), Relational Loss: 0.0249 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.899 0.658 -0.219 0.182 0.053 0.109 91.59° +chair 0.344 0.630 0.356 0.609 0.001 0.528 -90.09° +chair 0.338 0.667 0.396 0.567 0.001 -0.238 -89.98° +chair 0.310 0.576 0.274 -0.409 0.006 0.468 89.93° +chair 0.316 0.545 0.319 -0.499 -0.000 -0.218 90.01° +lamp 0.571 0.847 0.539 0.137 1.893 -0.113 90.07° +floor 2.327 -0.000 2.433 0.003 -0.000 -0.006 -0.05° +_scene_ 0.072 0.001 0.027 -5.665 -0.003 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.899, -0.000, -0.219] + !! OVERLAP: chair <-> floor depth=[0.344, -0.000, 0.356] + !! OVERLAP: chair <-> floor depth=[0.338, -0.000, 0.396] + !! OVERLAP: chair <-> floor depth=[0.310, -0.000, 0.274] + !! OVERLAP: chair <-> floor depth=[0.316, -0.000, 0.319] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2836 (C1 Heatmap: 0.1799, C2 Repulsion: 0.6981), Relational Loss: 0.0273 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.454 0.823 0.401 -0.293 -0.012 -1.116 -90.67° +chair 0.416 0.991 0.444 0.190 0.002 -0.179 -179.77° +chair 0.425 0.937 0.463 0.329 -0.005 -1.773 -41.30° +chair 0.373 0.958 0.417 -1.047 -0.001 -1.509 0.04° +chair 0.418 0.886 0.475 -1.033 0.004 -0.590 90.11° +bookshelf 1.113 2.346 0.216 0.820 -0.001 1.080 -90.34° +lamp 0.440 0.851 0.335 0.050 1.759 1.173 -0.03° +lamp 0.554 1.146 0.524 -0.152 1.699 -1.065 -0.01° +floor 2.960 -0.003 4.581 -0.029 0.001 0.007 -0.01° +_scene_ 0.067 0.001 0.020 -5.670 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.454, -0.003, 0.401] + !! OVERLAP: chair <-> floor depth=[0.416, -0.003, 0.444] + !! OVERLAP: chair <-> floor depth=[0.425, -0.003, 0.463] + !! OVERLAP: chair <-> floor depth=[0.373, -0.003, 0.417] + !! OVERLAP: chair <-> floor depth=[0.418, -0.003, 0.475] + !! OVERLAP: bookshelf <-> floor depth=[1.113, -0.003, 0.216] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4870 (C1 Heatmap: 0.1904, C2 Repulsion: 1.6732), Relational Loss: 0.0497 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.434 0.920 0.534 -0.600 0.001 -0.995 0.03° +chair 0.363 0.920 0.412 0.714 -0.002 -0.380 -71.09° +chair 0.356 0.890 0.437 0.481 0.002 0.685 -133.36° +chair 0.431 0.942 0.479 -0.810 0.000 0.880 -179.97° +chair 0.497 0.950 0.486 -1.367 0.006 -0.316 69.62° +table 0.739 0.793 0.544 -0.231 0.000 0.154 0.32° +floor 4.001 -0.002 5.340 0.106 -0.001 0.175 -0.04° +_scene_ 0.134 -0.006 0.170 -5.408 -0.003 -5.479 -57.83° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.434, -0.002, 0.534] + !! OVERLAP: chair <-> floor depth=[0.363, -0.002, 0.412] + !! OVERLAP: chair <-> floor depth=[0.356, -0.002, 0.437] + !! OVERLAP: chair <-> floor depth=[0.431, -0.002, 0.479] + !! OVERLAP: chair <-> floor depth=[0.497, -0.002, 0.486] + !! OVERLAP: table <-> floor depth=[0.739, -0.002, 0.544] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6318 (C1 Heatmap: 0.2933, C2 Repulsion: 1.9857), Relational Loss: 0.0394 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.113 0.791 0.512 -1.448 0.002 2.041 89.61° +chair 0.421 0.877 0.462 -1.025 0.009 0.894 133.06° +chair 0.404 0.805 0.368 -0.298 0.010 1.254 -160.25° +chair 0.369 0.866 0.391 0.388 0.006 1.089 -134.37° +chair 0.444 0.767 0.418 -1.294 -0.000 -0.604 17.28° +chair 0.431 0.790 0.465 -0.464 -0.002 -1.167 -10.18° +chair 0.431 0.819 0.425 0.271 -0.004 -0.857 -42.08° +chair 0.504 0.831 0.509 0.731 0.000 0.055 -76.27° +chair 0.492 0.854 0.484 -1.781 0.000 0.241 89.96° +floor 4.801 -0.009 6.000 -0.450 0.007 0.230 -0.08° +_scene_ 1.076 0.368 1.844 -2.471 0.003 -2.826 -83.21° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.113, -0.009, 0.512] + !! OVERLAP: chair <-> floor depth=[0.421, -0.009, 0.462] + !! OVERLAP: chair <-> floor depth=[0.404, -0.009, 0.368] + !! OVERLAP: chair <-> floor depth=[0.369, -0.009, 0.391] + !! OVERLAP: chair <-> floor depth=[0.444, -0.009, 0.418] + !! OVERLAP: chair <-> floor depth=[0.431, -0.009, 0.465] + !! OVERLAP: chair <-> floor depth=[0.431, -0.009, 0.425] + !! OVERLAP: chair <-> floor depth=[0.504, -0.009, 0.509] + !! OVERLAP: chair <-> floor depth=[0.492, -0.009, 0.484] + !! OVERLAP: floor <-> _scene_ depth=[0.918, -0.009, 0.866] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8852 (C1 Heatmap: 0.1791, C2 Repulsion: 3.7096), Relational Loss: 0.0302 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.831 0.638 0.152 -0.427 0.002 -0.242 90.83° +chair 0.374 0.934 0.417 -0.355 -0.002 -0.942 0.09° +chair 0.386 0.861 0.414 0.318 0.001 -0.937 -0.05° +chair 0.410 0.934 0.404 -0.425 -0.001 0.615 179.94° +chair 0.403 0.878 0.468 0.284 0.001 0.619 -179.98° +chair 0.489 0.962 0.421 -1.002 -0.000 -0.310 89.97° +chair 0.392 0.954 0.410 0.940 0.002 -0.105 -89.96° +lamp 0.314 1.190 0.174 0.088 1.497 -0.276 -0.33° +floor 3.344 -0.006 2.746 -0.009 0.001 -0.015 -0.03° +_scene_ 0.068 -0.007 0.092 -5.589 0.000 -5.635 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.085, 0.638, 0.152] + !! OVERLAP: table <-> floor depth=[0.831, -0.006, 0.152] + !! OVERLAP: chair <-> floor depth=[0.374, -0.006, 0.417] + !! OVERLAP: chair <-> floor depth=[0.386, -0.006, 0.414] + !! OVERLAP: chair <-> floor depth=[0.410, -0.006, 0.404] + !! OVERLAP: chair <-> floor depth=[0.403, -0.006, 0.468] + !! OVERLAP: chair <-> floor depth=[0.489, -0.006, 0.421] + !! OVERLAP: chair <-> floor depth=[0.392, -0.006, 0.410] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7699 (C1 Heatmap: 0.1911, C2 Repulsion: 3.0850), Relational Loss: 0.0390 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.741 0.809 -0.060 -0.124 0.016 -0.006 -2.74° +chair 0.476 0.963 0.514 -0.689 -0.001 0.578 90.03° +chair 0.475 0.953 0.476 0.644 0.002 0.478 -90.28° +chair 0.390 1.001 0.464 0.609 -0.001 -0.288 -83.24° +chair 0.385 0.923 0.456 -0.735 -0.002 -0.277 90.00° +chair 0.445 0.958 0.487 0.077 0.001 1.083 179.97° +chair 0.526 0.983 0.520 -0.040 -0.000 -1.057 0.10° +lamp 0.297 0.627 0.235 -0.004 2.128 -0.083 -0.04° +floor 2.599 -0.003 3.380 -0.012 0.001 0.022 -0.03° +_scene_ 0.077 0.000 0.047 -5.649 -0.003 -5.687 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.741, -0.003, -0.060] + !! OVERLAP: chair <-> floor depth=[0.476, -0.003, 0.514] + !! OVERLAP: chair <-> floor depth=[0.475, -0.003, 0.476] + !! OVERLAP: chair <-> floor depth=[0.390, -0.003, 0.464] + !! OVERLAP: chair <-> floor depth=[0.385, -0.003, 0.456] + !! OVERLAP: chair <-> floor depth=[0.445, -0.003, 0.487] + !! OVERLAP: chair <-> floor depth=[0.526, -0.003, 0.520] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5431 (C1 Heatmap: 0.1860, C2 Repulsion: 1.9715), Relational Loss: 0.0391 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.583 0.690 0.149 -0.179 -0.002 0.003 -0.93° +chair 0.210 0.910 0.344 -0.906 0.002 0.366 106.14° +chair 0.463 0.963 0.506 0.641 -0.002 0.361 -89.81° +chair 0.416 0.988 0.370 0.608 -0.003 -0.440 -81.36° +chair 0.415 0.966 0.486 -1.036 0.002 -0.234 68.37° +chair 0.526 0.849 0.506 -0.245 0.001 0.895 179.98° +chair 0.553 0.932 0.558 -0.244 -0.001 -1.061 0.08° +lamp 0.373 0.558 0.383 -0.097 2.284 -0.059 -0.07° +floor 2.642 -0.007 2.820 -0.029 0.000 -0.004 -0.02° +_scene_ 0.073 -0.002 0.036 -5.656 -0.004 -5.699 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.583, -0.007, 0.149] + !! OVERLAP: chair <-> floor depth=[0.210, -0.007, 0.344] + !! OVERLAP: chair <-> floor depth=[0.463, -0.007, 0.506] + !! OVERLAP: chair <-> floor depth=[0.416, -0.007, 0.370] + !! OVERLAP: chair <-> floor depth=[0.415, -0.007, 0.486] + !! OVERLAP: chair <-> floor depth=[0.526, -0.007, 0.506] + !! OVERLAP: chair <-> floor depth=[0.553, -0.007, 0.558] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0044, Walkable Loss: 1.2390 (C1 Heatmap: 0.3155, C2 Repulsion: 4.9330), Relational Loss: 0.0329 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.985 1.372 0.016 -1.461 0.005 -0.761 90.24° +chair 0.430 0.968 0.501 0.385 0.001 -1.106 0.05° +chair 0.293 0.965 0.420 1.203 0.007 -1.049 0.14° +chair 0.297 1.032 0.378 0.766 0.003 0.794 179.83° +chair 0.380 0.979 0.482 1.516 0.001 0.748 -179.98° +table 1.190 0.745 0.511 1.035 -0.010 -0.062 -0.21° +table 1.426 0.757 0.288 -1.109 0.022 -0.633 90.28° +cabinet 1.153 2.172 -0.277 -1.287 -0.013 -0.201 90.05° +lamp 0.825 0.801 0.819 0.435 2.275 -0.166 -0.04° +floor 4.030 -0.003 3.467 0.066 -0.000 -0.113 0.01° +_scene_ 0.071 -0.000 0.025 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.853, 0.757, 0.016] + !! OVERLAP: table <-> floor depth=[0.980, -0.003, 0.016] + !! OVERLAP: chair <-> floor depth=[0.430, -0.003, 0.501] + !! OVERLAP: chair <-> floor depth=[0.293, -0.003, 0.420] + !! OVERLAP: chair <-> floor depth=[0.297, -0.003, 0.378] + !! OVERLAP: chair <-> floor depth=[0.380, -0.003, 0.482] + !! OVERLAP: table <-> floor depth=[1.190, -0.003, 0.511] + !! OVERLAP: table <-> floor depth=[1.426, -0.003, 0.288] + !! OVERLAP: cabinet <-> floor depth=[1.153, -0.003, -0.277] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.0250, Room Outer Loss: 0.0000, Walkable Loss: 0.8240 (C1 Heatmap: 0.1949, C2 Repulsion: 3.3403), Relational Loss: 0.0483 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.975 0.738 0.567 0.405 0.033 -0.033 90.62° +chair 0.443 0.927 0.482 0.878 0.001 0.407 -91.13° +chair 0.368 0.845 0.436 0.789 0.001 -0.822 -89.75° +chair 0.482 0.817 0.567 -0.442 0.000 0.333 89.93° +chair 0.437 0.859 0.445 -0.251 -0.000 -0.665 0.06° +lamp 1.051 0.924 1.051 0.342 1.724 -0.653 0.02° +lamp 1.156 0.902 1.156 0.001 1.683 0.522 0.05° +lamp 0.988 0.835 0.728 0.649 1.642 -0.074 -0.21° +floor 3.501 -0.002 2.557 0.053 0.001 -0.003 -0.04° +_scene_ 0.067 -0.001 0.021 -5.670 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.236, 0.738, 0.084] + !! OVERLAP: table <-> floor depth=[0.975, -0.002, 0.567] + !! OVERLAP: chair <-> floor depth=[0.443, -0.002, 0.482] + !! OVERLAP: chair <-> floor depth=[0.368, -0.002, 0.436] + !! OVERLAP: chair <-> floor depth=[0.482, -0.002, 0.567] + !! OVERLAP: chair <-> floor depth=[0.437, -0.002, 0.445] + !! OVERLAP: lamp <-> lamp depth=[0.713, 0.797, 0.310] + !! OVERLAP: lamp <-> lamp depth=[0.424, 0.827, 0.347] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6109 (C1 Heatmap: 0.2036, C2 Repulsion: 2.2399), Relational Loss: 0.0387 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.574 0.680 0.251 -0.300 0.002 1.338 -179.73° +table 0.950 0.806 0.040 -0.493 0.001 -0.162 -89.99° +chair 0.422 0.901 0.446 0.087 -0.000 -0.871 0.04° +chair 0.360 0.890 0.433 -0.825 0.005 -0.975 0.12° +chair 0.347 0.926 0.398 0.098 -0.001 0.424 -179.91° +chair 0.218 0.872 0.280 -0.537 0.001 0.464 -179.94° +lamp 1.887 0.910 0.063 -0.145 1.947 -0.294 -0.11° +floor 2.407 -0.000 3.267 -0.007 0.001 0.009 -0.02° +_scene_ 0.064 0.005 0.018 -5.667 -0.006 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.574, -0.000, 0.251] + !! OVERLAP: table <-> floor depth=[0.950, -0.000, 0.040] + !! OVERLAP: chair <-> floor depth=[0.422, -0.000, 0.446] + !! OVERLAP: chair <-> floor depth=[0.360, -0.000, 0.433] + !! OVERLAP: chair <-> floor depth=[0.347, -0.000, 0.398] + !! OVERLAP: chair <-> floor depth=[0.218, -0.000, 0.280] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3195 (C1 Heatmap: 0.1203, C2 Repulsion: 1.1164), Relational Loss: 0.0564 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.268 0.684 0.386 -0.076 0.002 0.288 90.02° +chair 0.349 1.017 0.479 -0.474 0.000 -0.334 5.59° +chair 0.507 0.991 0.506 0.496 0.001 -0.443 0.04° +chair 0.382 0.911 0.449 -0.440 -0.003 0.897 179.91° +chair 0.391 0.961 0.454 0.450 -0.000 0.852 -179.98° +lamp 0.765 0.935 0.855 0.081 1.825 -0.025 -0.07° +floor 3.144 -0.005 2.744 0.031 0.001 -0.037 -0.04° +_scene_ 0.076 0.006 0.045 -5.649 -0.004 -5.703 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.268, -0.005, 0.386] + !! OVERLAP: chair <-> floor depth=[0.349, -0.005, 0.479] + !! OVERLAP: chair <-> floor depth=[0.507, -0.005, 0.506] + !! OVERLAP: chair <-> floor depth=[0.382, -0.005, 0.449] + !! OVERLAP: chair <-> floor depth=[0.391, -0.005, 0.454] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7811 (C1 Heatmap: 0.1666, C2 Repulsion: 3.2391), Relational Loss: 0.0229 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.890 0.693 0.334 -0.453 0.003 -0.186 1.15° +chair 0.397 0.779 0.368 -1.007 -0.001 -0.741 51.38° +chair 0.425 0.780 0.447 -0.193 -0.001 -1.012 0.06° +chair 0.392 0.779 0.362 0.509 -0.003 -0.476 -56.75° +chair 0.353 0.737 0.380 -0.791 0.003 0.656 162.35° +chair 0.401 0.708 0.257 0.337 0.004 0.111 -129.64° +chair 0.383 0.796 0.380 -0.070 0.002 0.691 179.85° +lamp 0.472 1.029 0.442 -0.013 1.655 -0.118 0.01° +floor 3.839 -0.004 3.286 -0.014 -0.000 0.017 0.02° +_scene_ 0.059 0.008 0.023 -5.668 -0.005 -5.713 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.890, -0.004, 0.334] + !! OVERLAP: chair <-> floor depth=[0.397, -0.004, 0.368] + !! OVERLAP: chair <-> floor depth=[0.425, -0.004, 0.447] + !! OVERLAP: chair <-> floor depth=[0.392, -0.004, 0.362] + !! OVERLAP: chair <-> floor depth=[0.353, -0.004, 0.380] + !! OVERLAP: chair <-> floor depth=[0.401, -0.004, 0.257] + !! OVERLAP: chair <-> floor depth=[0.383, -0.004, 0.380] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 0.8104 (C1 Heatmap: 0.2168, C2 Repulsion: 3.1851), Relational Loss: 0.0250 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.725 0.918 0.771 0.414 0.058 0.183 179.48° +chair 0.407 0.770 0.400 0.958 -0.000 0.368 -90.14° +chair 0.369 0.734 0.362 0.921 0.002 -0.434 -90.39° +chair 0.413 0.712 0.400 0.281 0.005 1.078 179.92° +chair 0.393 0.655 0.360 -0.709 0.000 -0.282 89.95° +chair 0.401 0.688 0.454 -0.847 -0.000 0.547 89.98° +chair 0.536 0.702 0.457 0.305 -0.001 -1.074 0.09° +lamp 0.577 0.740 0.566 -0.347 2.046 -0.171 -0.04° +floor 3.486 -0.003 3.748 -0.000 0.000 -0.021 -0.02° +_scene_ 0.062 0.001 0.023 -5.659 -0.004 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.022, 0.770, 0.400] + !! OVERLAP: table <-> floor depth=[0.725, -0.003, 0.771] + !! OVERLAP: chair <-> floor depth=[0.407, -0.003, 0.400] + !! OVERLAP: chair <-> floor depth=[0.369, -0.003, 0.362] + !! OVERLAP: chair <-> floor depth=[0.413, -0.003, 0.400] + !! OVERLAP: chair <-> floor depth=[0.393, -0.003, 0.360] + !! OVERLAP: chair <-> floor depth=[0.401, -0.003, 0.454] + !! OVERLAP: chair <-> floor depth=[0.536, -0.003, 0.457] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4603 (C1 Heatmap: 0.2277, C2 Repulsion: 1.3906), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.548 0.938 0.538 0.148 1.932 -0.578 0.19° +table 1.583 1.282 0.334 0.076 0.002 1.262 -179.88° +chair 0.387 0.543 0.360 -0.856 -0.000 -0.429 90.08° +table 1.163 0.809 0.193 -0.028 -0.022 -0.744 90.21° +chair 0.309 0.607 0.248 -0.745 0.010 -1.106 90.30° +chair 0.263 0.648 0.347 0.716 0.002 -0.670 -90.46° +chair 0.307 0.683 0.345 0.595 -0.003 -1.343 -90.11° +floor 2.743 -0.003 3.731 0.008 0.002 -0.057 0.00° +_scene_ 0.069 0.001 0.024 -5.671 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.583, -0.003, 0.334] + !! OVERLAP: chair <-> floor depth=[0.387, -0.003, 0.360] + !! OVERLAP: table <-> floor depth=[1.163, -0.003, 0.193] + !! OVERLAP: chair <-> floor depth=[0.309, -0.003, 0.248] + !! OVERLAP: chair <-> floor depth=[0.263, -0.003, 0.347] + !! OVERLAP: chair <-> floor depth=[0.307, -0.003, 0.345] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9294 (C1 Heatmap: 0.3292, C2 Repulsion: 3.3303), Relational Loss: 0.0338 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.413 0.697 0.399 -1.052 0.001 0.958 179.83° +table 0.943 0.760 0.296 -0.384 -0.013 0.080 0.25° +chair 0.267 0.683 0.307 -0.420 0.007 0.789 178.37° +chair 0.418 0.661 0.394 0.144 0.005 0.849 -151.21° +chair 0.449 0.697 0.418 0.186 -0.001 -0.862 0.04° +chair 0.375 0.643 0.377 -0.437 -0.001 -0.817 0.03° +chair 0.398 0.682 0.381 -1.296 0.007 -0.982 -0.06° +chair 0.370 0.703 0.389 0.601 0.000 -0.059 -90.11° +chair 0.474 0.686 0.475 -1.449 0.000 0.113 90.02° +table 1.568 0.793 0.307 1.847 0.001 0.814 -90.05° +lamp 0.693 0.966 0.705 -0.359 1.799 0.081 -0.04° +floor 5.958 0.000 3.726 -0.063 -0.002 -0.027 0.05° +_scene_ 0.058 0.003 0.043 -5.624 -0.004 -5.696 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.413, 0.000, 0.399] + !! OVERLAP: table <-> floor depth=[0.943, 0.000, 0.296] + !! OVERLAP: chair <-> floor depth=[0.267, 0.000, 0.307] + !! OVERLAP: chair <-> floor depth=[0.418, 0.000, 0.394] + !! OVERLAP: chair <-> floor depth=[0.449, 0.000, 0.418] + !! OVERLAP: chair <-> floor depth=[0.375, 0.000, 0.377] + !! OVERLAP: chair <-> floor depth=[0.398, 0.000, 0.381] + !! OVERLAP: chair <-> floor depth=[0.370, 0.000, 0.389] + !! OVERLAP: chair <-> floor depth=[0.474, 0.000, 0.475] + !! OVERLAP: table <-> floor depth=[1.568, 0.000, 0.307] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7110 (C1 Heatmap: 0.2772, C2 Repulsion: 2.4464), Relational Loss: 0.0285 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.349 0.628 0.315 -0.902 0.001 0.874 179.92° +table 0.751 0.681 0.310 -0.406 -0.005 0.064 -0.18° +chair 0.278 0.601 0.321 -0.343 -0.002 0.710 -179.96° +chair 0.294 0.683 0.360 0.266 0.009 0.883 -179.64° +chair 0.310 0.603 0.324 0.232 -0.002 -0.775 0.06° +chair 0.246 0.549 0.242 -0.399 -0.003 -0.679 0.05° +chair 0.414 0.655 0.393 -0.996 0.001 -0.876 0.04° +chair 0.396 0.652 0.395 0.600 0.002 -0.093 -90.03° +chair 0.445 0.634 0.474 -1.303 0.001 0.115 90.03° +table 1.489 0.813 0.340 1.665 0.007 1.010 -90.06° +lamp 0.689 0.773 0.695 -0.522 1.734 0.225 -0.05° +floor 4.922 -0.002 3.343 -0.010 -0.001 -0.059 0.00° +_scene_ 0.107 -0.008 0.108 -5.627 -0.004 -5.651 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.349, -0.002, 0.315] + !! OVERLAP: table <-> floor depth=[0.751, -0.002, 0.310] + !! OVERLAP: chair <-> floor depth=[0.278, -0.002, 0.321] + !! OVERLAP: chair <-> floor depth=[0.294, -0.002, 0.360] + !! OVERLAP: chair <-> floor depth=[0.310, -0.002, 0.324] + !! OVERLAP: chair <-> floor depth=[0.246, -0.002, 0.242] + !! OVERLAP: chair <-> floor depth=[0.414, -0.002, 0.393] + !! OVERLAP: chair <-> floor depth=[0.396, -0.002, 0.395] + !! OVERLAP: chair <-> floor depth=[0.445, -0.002, 0.474] + !! OVERLAP: table <-> floor depth=[1.489, -0.002, 0.340] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1880, Walkable Loss: 0.6873 (C1 Heatmap: 0.1715, C2 Repulsion: 2.7504), Relational Loss: 0.0391 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.896 1.137 0.279 -1.386 -0.010 -0.021 90.26° +lamp 1.314 1.111 0.340 -0.166 1.743 0.057 -0.06° +table 0.780 0.778 0.463 -0.193 0.009 0.096 0.02° +chair 0.416 0.898 0.462 -0.398 -0.001 -0.661 0.04° +chair 0.235 0.967 0.388 0.365 0.001 -0.598 0.08° +chair 0.360 0.904 0.327 -0.439 0.002 0.671 179.97° +chair 0.338 0.908 0.425 0.210 0.003 0.886 179.98° +floor 3.266 -0.004 2.862 -0.013 0.001 -0.007 -0.03° +_scene_ 0.089 0.007 0.061 -5.639 -0.006 -5.665 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.708, -0.004, 0.279] + !! OVERLAP: table <-> floor depth=[0.780, -0.004, 0.463] + !! OVERLAP: chair <-> floor depth=[0.416, -0.004, 0.462] + !! OVERLAP: chair <-> floor depth=[0.235, -0.004, 0.388] + !! OVERLAP: chair <-> floor depth=[0.360, -0.004, 0.327] + !! OVERLAP: chair <-> floor depth=[0.338, -0.004, 0.425] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0085, Room Outer Loss: 0.0200, Walkable Loss: 0.8417 (C1 Heatmap: 0.2613, C2 Repulsion: 3.1632), Relational Loss: 0.0353 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.098 0.935 0.498 0.797 0.003 -1.255 -90.06° +chair 0.382 0.875 0.390 -0.793 -0.002 -1.067 0.07° +table 0.885 0.758 0.496 -0.063 -0.002 -0.135 0.34° +chair 0.387 0.864 0.369 -0.017 -0.000 -1.012 0.09° +chair 0.383 0.836 0.433 -0.471 -0.000 0.863 -179.94° +chair 0.374 0.854 0.444 0.093 0.001 0.826 -179.94° +cabinet 0.645 1.171 0.276 -1.133 0.003 0.355 89.66° +lamp 0.703 0.735 0.709 -0.160 1.708 0.058 0.02° +lamp 1.006 0.880 0.691 -0.507 1.795 -0.308 0.00° +floor 2.855 -0.001 3.603 -0.008 0.001 -0.014 -0.00° +_scene_ 0.063 0.000 0.015 -5.677 -0.005 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.098, -0.001, 0.498] + !! OVERLAP: chair <-> floor depth=[0.382, -0.001, 0.390] + !! OVERLAP: table <-> floor depth=[0.885, -0.001, 0.496] + !! OVERLAP: chair <-> floor depth=[0.387, -0.001, 0.369] + !! OVERLAP: chair <-> floor depth=[0.383, -0.001, 0.433] + !! OVERLAP: chair <-> floor depth=[0.374, -0.001, 0.444] + !! OVERLAP: cabinet <-> floor depth=[0.625, -0.001, 0.276] + !! OVERLAP: lamp <-> lamp depth=[0.508, 0.720, 0.334] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 0.5951 (C1 Heatmap: 0.1551, C2 Repulsion: 2.3550), Relational Loss: 0.0276 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.557 0.727 -0.059 0.062 0.014 0.066 -178.77° +chair 0.390 0.683 0.376 -0.998 -0.002 0.132 90.06° +chair 0.333 0.635 0.298 0.790 -0.001 0.226 -90.09° +chair 0.302 0.572 0.326 -0.510 -0.001 -0.676 0.03° +chair 0.323 0.621 0.373 0.139 -0.006 -0.723 0.05° +chair 0.283 0.528 0.314 0.253 0.002 0.860 -179.96° +chair 0.415 0.545 0.368 -0.425 0.000 0.995 179.91° +lamp 0.687 0.711 0.677 -0.225 2.107 0.082 -0.04° +floor 3.600 -0.003 3.275 0.027 0.000 -0.037 -0.10° +_scene_ 0.061 0.004 0.030 -5.630 -0.004 -5.681 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.557, -0.003, -0.059] + !! OVERLAP: chair <-> floor depth=[0.390, -0.003, 0.376] + !! OVERLAP: chair <-> floor depth=[0.333, -0.003, 0.298] + !! OVERLAP: chair <-> floor depth=[0.302, -0.003, 0.326] + !! OVERLAP: chair <-> floor depth=[0.323, -0.003, 0.373] + !! OVERLAP: chair <-> floor depth=[0.283, -0.003, 0.314] + !! OVERLAP: chair <-> floor depth=[0.415, -0.003, 0.368] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2148 (C1 Heatmap: 0.1316, C2 Repulsion: 0.5479), Relational Loss: 0.0139 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.352 0.841 0.340 -0.881 0.001 0.784 128.03° +chair 0.426 0.871 0.416 -0.125 -0.003 0.679 -109.03° +chair 0.419 0.866 0.467 0.300 0.001 -0.110 -54.78° +chair 0.525 0.861 0.613 -0.707 -0.000 -0.418 0.04° +lamp 0.925 1.044 1.078 -0.066 1.636 -0.127 -0.03° +table 0.480 1.214 0.301 1.316 0.002 -1.402 -89.86° +floor 3.249 -0.003 4.143 -0.008 0.001 -0.017 0.09° +_scene_ 0.072 0.001 0.020 -5.672 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.352, -0.003, 0.340] + !! OVERLAP: chair <-> floor depth=[0.426, -0.003, 0.416] + !! OVERLAP: chair <-> floor depth=[0.419, -0.003, 0.467] + !! OVERLAP: chair <-> floor depth=[0.525, -0.003, 0.613] + !! OVERLAP: table <-> floor depth=[0.480, -0.003, 0.301] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3288 (C1 Heatmap: 0.1676, C2 Repulsion: 0.9738), Relational Loss: 0.0371 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.871 1.964 0.261 0.893 0.002 1.388 -90.11° +table 0.638 0.832 -0.161 -0.627 -0.044 -0.187 89.50° +chair 0.453 0.991 0.532 -0.890 -0.002 -1.165 0.23° +chair 0.380 0.889 0.432 -0.001 -0.001 -0.893 -90.01° +chair 0.441 0.921 0.501 -1.151 -0.000 -0.011 89.97° +chair 0.510 0.928 0.534 -0.056 -0.001 0.311 179.92° +lamp 1.721 0.690 0.031 0.121 2.114 -0.393 0.01° +floor 2.945 0.001 3.742 0.025 0.002 0.016 -0.02° +_scene_ 0.057 -0.001 0.021 -5.664 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.871, 0.001, 0.261] + !! OVERLAP: table <-> floor depth=[0.638, 0.001, -0.161] + !! OVERLAP: chair <-> floor depth=[0.453, 0.001, 0.532] + !! OVERLAP: chair <-> floor depth=[0.380, 0.001, 0.432] + !! OVERLAP: chair <-> floor depth=[0.441, 0.001, 0.501] + !! OVERLAP: chair <-> floor depth=[0.510, 0.001, 0.534] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0820, Walkable Loss: 0.5799 (C1 Heatmap: 0.2526, C2 Repulsion: 1.8890), Relational Loss: 0.0255 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.458 1.901 0.425 -1.240 0.008 0.327 89.74° +table 0.859 0.686 0.222 0.197 -0.026 0.041 -0.16° +chair 0.452 0.922 0.466 -0.124 -0.000 -0.678 0.02° +chair 0.380 0.970 0.456 0.852 -0.002 -0.649 -0.06° +chair 0.441 0.934 0.385 -0.020 0.002 0.765 -179.92° +chair 0.389 0.921 0.489 1.006 -0.001 0.585 -179.82° +floor 3.795 -0.002 3.679 0.011 0.000 -0.016 -0.07° +_scene_ 0.067 -0.001 0.026 -5.669 -0.005 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.376, -0.002, 0.425] + !! OVERLAP: table <-> floor depth=[0.859, -0.002, 0.222] + !! OVERLAP: chair <-> floor depth=[0.452, -0.002, 0.466] + !! OVERLAP: chair <-> floor depth=[0.380, -0.002, 0.456] + !! OVERLAP: chair <-> floor depth=[0.441, -0.002, 0.385] + !! OVERLAP: chair <-> floor depth=[0.389, -0.002, 0.489] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6962 (C1 Heatmap: 0.2594, C2 Repulsion: 2.4438), Relational Loss: 0.0215 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.533 0.865 0.548 0.413 0.018 1.201 0.72° +chair 0.348 0.764 0.399 0.050 -0.001 1.951 179.46° +chair 0.383 0.757 0.357 0.769 0.002 1.719 -179.96° +chair 0.369 0.744 0.392 0.178 0.000 0.300 -0.07° +chair 0.375 0.798 0.476 0.891 0.001 0.172 0.03° +chair 0.486 0.759 0.454 -0.663 -0.004 0.985 90.18° +chair 0.364 0.804 0.417 1.312 0.001 0.976 -90.12° +table 1.226 0.736 0.414 -1.767 -0.001 -0.382 90.11° +lamp 0.330 0.665 0.329 0.314 1.907 1.283 -0.02° +floor 4.929 -0.005 5.174 -0.206 0.000 0.363 -0.07° +_scene_ 0.062 0.000 0.019 -5.669 -0.006 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.533, -0.005, 0.548] + !! OVERLAP: chair <-> floor depth=[0.348, -0.005, 0.399] + !! OVERLAP: chair <-> floor depth=[0.383, -0.005, 0.357] + !! OVERLAP: chair <-> floor depth=[0.369, -0.005, 0.392] + !! OVERLAP: chair <-> floor depth=[0.375, -0.005, 0.476] + !! OVERLAP: chair <-> floor depth=[0.486, -0.005, 0.454] + !! OVERLAP: chair <-> floor depth=[0.364, -0.005, 0.417] + !! OVERLAP: table <-> floor depth=[1.226, -0.005, 0.414] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3851 (C1 Heatmap: 0.1283, C2 Repulsion: 1.4124), Relational Loss: 0.0268 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.902 0.737 0.089 0.214 -0.011 -0.147 -0.11° +chair 0.393 0.849 0.495 -0.394 -0.004 0.407 131.39° +chair 0.427 0.934 0.461 0.547 0.001 0.518 179.91° +chair 0.429 0.969 0.450 -0.266 -0.002 -0.923 9.41° +chair 0.362 0.940 0.394 0.668 -0.004 -0.769 -63.41° +lamp 0.395 0.759 0.368 0.016 1.915 0.007 -0.00° +floor 2.873 -0.003 2.595 -0.019 0.001 -0.006 -0.04° +_scene_ 0.067 -0.000 0.020 -5.667 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.902, -0.003, 0.089] + !! OVERLAP: chair <-> floor depth=[0.393, -0.003, 0.495] + !! OVERLAP: chair <-> floor depth=[0.427, -0.003, 0.461] + !! OVERLAP: chair <-> floor depth=[0.429, -0.003, 0.450] + !! OVERLAP: chair <-> floor depth=[0.362, -0.003, 0.394] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5051 (C1 Heatmap: 0.2719, C2 Repulsion: 1.4381), Relational Loss: 0.0102 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.479 0.750 0.789 -0.177 -0.002 -0.808 -0.04° +chair 0.284 0.882 0.318 -1.122 0.002 -0.376 83.59° +chair 0.453 0.852 0.502 -0.470 0.004 0.709 -151.99° +chair 0.430 0.807 0.513 0.351 0.000 1.089 -179.99° +table 0.577 1.201 0.307 1.124 0.002 -0.681 -89.76° +lamp 0.593 0.395 0.598 -0.031 2.210 -0.143 -0.01° +floor 2.996 -0.002 3.589 -0.007 -0.001 -0.062 -0.05° +_scene_ 0.069 0.003 0.021 -5.667 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.479, -0.002, 0.789] + !! OVERLAP: chair <-> floor depth=[0.284, -0.002, 0.318] + !! OVERLAP: chair <-> floor depth=[0.453, -0.002, 0.502] + !! OVERLAP: chair <-> floor depth=[0.430, -0.002, 0.513] + !! OVERLAP: table <-> floor depth=[0.577, -0.002, 0.307] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9273 (C1 Heatmap: 0.3724, C2 Repulsion: 3.1467), Relational Loss: 0.0190 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.381 0.910 0.413 -0.845 0.001 -0.153 90.03° +chair 0.421 0.921 0.453 -0.760 -0.002 0.731 90.05° +chair 0.466 0.927 0.524 0.987 0.002 -0.181 -90.06° +chair 0.406 0.874 0.450 0.998 0.005 0.671 -90.11° +chair 0.457 0.916 0.486 0.182 -0.000 1.575 -179.97° +chair 0.462 0.894 0.449 -0.012 -0.000 -1.004 0.15° +table 1.729 0.638 0.345 0.075 -0.001 -2.039 -0.17° +table 0.789 0.798 0.742 0.086 -0.004 0.222 -89.53° +lamp 1.052 0.838 0.606 0.081 1.761 0.477 90.12° +floor 3.156 -0.003 4.791 0.000 -0.001 0.029 -0.02° +_scene_ 0.075 0.007 0.046 -5.648 -0.004 -5.692 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.381, -0.003, 0.413] + !! OVERLAP: chair <-> floor depth=[0.421, -0.003, 0.453] + !! OVERLAP: chair <-> floor depth=[0.466, -0.003, 0.524] + !! OVERLAP: chair <-> floor depth=[0.406, -0.003, 0.450] + !! OVERLAP: chair <-> floor depth=[0.457, -0.003, 0.486] + !! OVERLAP: chair <-> floor depth=[0.462, -0.003, 0.449] + !! OVERLAP: table <-> floor depth=[1.729, -0.003, 0.345] + !! OVERLAP: table <-> floor depth=[0.789, -0.003, 0.742] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0880, Walkable Loss: 1.0377 (C1 Heatmap: 0.2975, C2 Repulsion: 3.9986), Relational Loss: 0.0147 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.787 0.659 0.688 -0.386 -0.003 0.151 89.80° +cabinet 1.290 2.769 -0.078 -1.259 0.018 -0.889 90.81° +cabinet 0.543 1.172 0.382 1.263 0.000 -0.417 -90.24° +cabinet 0.614 0.974 0.418 1.591 0.002 -1.605 -89.99° +chair 0.378 0.713 0.322 -1.018 0.003 -0.278 89.91° +chair 0.409 0.794 0.450 0.322 0.001 -0.656 -90.14° +chair 0.413 0.767 0.411 0.551 0.001 0.337 -89.74° +chair 0.357 0.768 0.347 -1.058 -0.001 0.725 90.10° +chair 0.398 0.739 0.413 -0.291 0.003 1.336 160.82° +chair 0.364 0.730 0.345 -0.211 0.000 -1.218 0.09° +lamp 0.349 0.898 0.360 -0.161 1.604 0.649 -0.01° +lamp 0.225 1.068 0.229 0.051 1.511 0.057 -0.05° +lamp 0.316 0.766 0.321 0.881 1.830 -0.190 -0.05° +floor 3.715 -0.001 4.771 0.006 0.001 -0.007 -0.02° +_scene_ 0.066 0.002 0.021 -5.672 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.787, -0.001, 0.688] + !! OVERLAP: cabinet <-> floor depth=[1.237, -0.001, -0.078] + !! OVERLAP: cabinet <-> floor depth=[0.543, -0.001, 0.382] + !! OVERLAP: cabinet <-> floor depth=[0.579, -0.001, 0.418] + !! OVERLAP: chair <-> floor depth=[0.378, -0.001, 0.322] + !! OVERLAP: chair <-> floor depth=[0.409, -0.001, 0.450] + !! OVERLAP: chair <-> floor depth=[0.413, -0.001, 0.411] + !! OVERLAP: chair <-> floor depth=[0.357, -0.001, 0.347] + !! OVERLAP: chair <-> floor depth=[0.398, -0.001, 0.413] + !! OVERLAP: chair <-> floor depth=[0.364, -0.001, 0.345] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5145 (C1 Heatmap: 0.1927, C2 Repulsion: 1.8018), Relational Loss: 0.0348 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.276 1.240 0.278 0.669 0.001 1.296 180.00° +table 0.578 0.823 0.444 -0.112 -0.017 -0.224 90.13° +chair 0.421 0.800 0.471 -0.596 0.000 -0.677 0.08° +chair 0.247 0.824 0.346 -0.788 0.011 0.038 129.76° +chair 0.380 0.816 0.331 0.767 0.003 -0.703 0.17° +chair 0.404 0.833 0.464 0.950 0.000 0.034 -90.23° +lamp 0.849 0.973 0.879 0.364 1.689 -0.259 -0.02° +floor 3.707 -0.004 2.824 0.021 0.001 0.036 -0.01° +_scene_ 0.062 0.001 0.019 -5.672 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.276, -0.004, 0.278] + !! OVERLAP: table <-> chair depth=[0.015, 0.795, 0.005] + !! OVERLAP: table <-> floor depth=[0.578, -0.004, 0.444] + !! OVERLAP: chair <-> floor depth=[0.421, -0.004, 0.471] + !! OVERLAP: chair <-> floor depth=[0.247, -0.004, 0.346] + !! OVERLAP: chair <-> floor depth=[0.380, -0.004, 0.331] + !! OVERLAP: chair <-> floor depth=[0.404, -0.004, 0.464] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0028, Walkable Loss: 0.6127 (C1 Heatmap: 0.4121, C2 Repulsion: 1.4150), Relational Loss: 0.0021 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.686 1.275 0.357 -1.419 0.002 0.625 89.93° +table 1.497 1.042 0.683 1.131 -0.001 0.335 0.06° +table 1.486 0.767 1.056 -0.148 0.000 -0.151 90.00° +floor 3.784 -0.001 3.704 -0.015 0.001 -0.013 -0.01° +_scene_ -0.038 0.075 0.051 -5.284 0.070 -5.423 -59.02° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.686, -0.001, 0.357] + !! OVERLAP: table <-> table depth=[0.212, 0.767, 0.384] + !! OVERLAP: table <-> floor depth=[1.494, -0.001, 0.683] + !! OVERLAP: table <-> floor depth=[1.486, -0.001, 1.056] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8621 (C1 Heatmap: 0.4211, C2 Repulsion: 2.6263), Relational Loss: 0.0405 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.380 0.843 0.443 -0.892 0.002 0.211 90.07° +chair 0.485 0.829 0.508 -1.102 0.000 1.114 89.96° +chair 0.380 0.797 0.441 0.682 0.000 0.263 -90.05° +chair 0.457 0.837 0.494 0.777 0.001 1.170 -90.32° +chair 0.448 0.844 0.506 -0.126 0.001 1.838 179.95° +chair 0.372 0.828 0.429 -0.056 -0.000 -0.545 0.11° +table 1.934 0.643 0.616 -0.012 -0.000 -1.941 -0.04° +table 1.074 0.741 0.332 -0.161 -0.002 0.709 90.42° +lamp 0.627 0.927 0.604 0.007 1.783 0.691 -0.05° +floor 4.119 -0.005 5.526 0.057 0.000 0.418 -0.05° +_scene_ 0.063 0.002 0.029 -5.651 -0.003 -5.697 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.380, -0.005, 0.443] + !! OVERLAP: chair <-> floor depth=[0.485, -0.005, 0.508] + !! OVERLAP: chair <-> floor depth=[0.380, -0.005, 0.441] + !! OVERLAP: chair <-> floor depth=[0.457, -0.005, 0.494] + !! OVERLAP: chair <-> floor depth=[0.448, -0.005, 0.506] + !! OVERLAP: chair <-> floor depth=[0.372, -0.005, 0.429] + !! OVERLAP: table <-> floor depth=[1.934, -0.005, 0.616] + !! OVERLAP: table <-> floor depth=[1.074, -0.005, 0.332] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5205 (C1 Heatmap: 0.1828, C2 Repulsion: 1.8713), Relational Loss: 0.0314 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.741 0.993 0.098 -0.386 0.023 0.131 -91.43° +chair 0.330 0.714 0.330 -0.802 0.005 0.939 133.40° +chair 0.460 0.747 0.458 0.057 0.001 1.074 179.96° +chair 0.391 0.687 0.358 0.629 0.001 0.726 -124.00° +chair 0.417 0.754 0.337 0.413 0.000 -0.192 -51.39° +chair 0.319 0.727 0.360 -0.074 0.001 -0.842 0.09° +chair 0.365 0.753 0.345 -0.854 -0.000 -0.697 38.95° +chair 0.360 0.800 0.396 1.111 -0.000 0.127 -87.83° +chair 0.436 0.760 0.465 -1.153 -0.000 0.099 90.02° +lamp 0.557 0.864 0.554 -0.019 1.743 -0.044 -0.05° +floor 4.358 -0.003 3.326 -0.022 -0.001 -0.003 -0.01° +_scene_ 0.096 -0.006 0.157 -5.558 -0.008 -5.575 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.741, -0.003, 0.098] + !! OVERLAP: chair <-> floor depth=[0.330, -0.003, 0.330] + !! OVERLAP: chair <-> floor depth=[0.460, -0.003, 0.458] + !! OVERLAP: chair <-> floor depth=[0.391, -0.003, 0.358] + !! OVERLAP: chair <-> floor depth=[0.417, -0.003, 0.337] + !! OVERLAP: chair <-> floor depth=[0.319, -0.003, 0.360] + !! OVERLAP: chair <-> floor depth=[0.365, -0.003, 0.345] + !! OVERLAP: chair <-> floor depth=[0.360, -0.003, 0.396] + !! OVERLAP: chair <-> floor depth=[0.436, -0.003, 0.465] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7507 (C1 Heatmap: 0.3422, C2 Repulsion: 2.3845), Relational Loss: 0.0410 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.069 0.788 0.554 1.454 -0.002 -0.819 -89.79° +table 1.314 0.681 -0.130 -0.285 0.000 0.232 -0.97° +chair 0.407 0.754 0.473 -1.372 0.001 -0.509 0.06° +chair 0.309 0.775 0.385 -0.633 0.001 -0.592 0.09° +chair 0.443 0.730 0.500 -1.597 0.001 0.893 179.90° +chair 0.354 0.764 0.441 -0.695 0.002 0.861 -179.95° +table 1.261 0.871 0.267 -0.884 0.003 -1.501 -0.02° +lamp 0.308 0.890 0.242 -0.579 1.905 0.024 0.02° +chair 0.479 0.747 0.454 0.156 -0.000 -0.568 -47.34° +chair 0.436 0.770 0.395 0.416 -0.004 0.715 -134.18° +floor 5.249 -0.001 3.692 -0.070 -0.001 0.045 -0.04° +_scene_ 0.070 0.001 0.032 -5.668 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.069, -0.001, 0.554] + !! OVERLAP: table <-> floor depth=[1.314, -0.001, -0.130] + !! OVERLAP: chair <-> floor depth=[0.407, -0.001, 0.473] + !! OVERLAP: chair <-> floor depth=[0.309, -0.001, 0.385] + !! OVERLAP: chair <-> floor depth=[0.443, -0.001, 0.500] + !! OVERLAP: chair <-> floor depth=[0.354, -0.001, 0.441] + !! OVERLAP: table <-> floor depth=[1.261, -0.001, 0.267] + !! OVERLAP: chair <-> floor depth=[0.479, -0.001, 0.454] + !! OVERLAP: chair <-> floor depth=[0.436, -0.001, 0.395] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9583 (C1 Heatmap: 0.3428, C2 Repulsion: 3.4204), Relational Loss: 0.0111 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.956 0.796 0.372 -1.519 0.001 1.707 179.96° +cabinet 0.740 1.079 0.326 1.124 0.004 -1.130 -90.01° +cabinet 0.686 1.058 0.309 1.313 0.004 -0.062 -90.00° +table 1.677 0.720 0.449 -0.513 0.006 -0.854 90.22° +chair 0.380 0.841 0.410 0.236 0.012 -0.339 -89.87° +lamp 0.393 1.367 0.296 -0.521 1.568 -0.831 124.99° +chair 0.366 0.819 0.380 0.270 0.002 -1.232 -89.91° +chair 0.312 0.898 0.355 -1.331 0.002 -1.030 90.18° +chair 0.301 0.880 0.382 -1.485 0.000 -0.371 90.13° +floor 3.965 0.001 4.684 -0.174 0.001 0.082 -0.02° +_scene_ 0.067 -0.001 0.019 -5.673 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.956, 0.001, 0.372] + !! OVERLAP: cabinet <-> floor depth=[0.740, 0.001, 0.326] + !! OVERLAP: cabinet <-> floor depth=[0.686, 0.001, 0.309] + !! OVERLAP: table <-> chair depth=[0.239, 0.720, 0.037] + !! OVERLAP: table <-> chair depth=[0.177, 0.720, 0.227] + !! OVERLAP: table <-> floor depth=[1.677, 0.001, 0.449] + !! OVERLAP: chair <-> floor depth=[0.380, 0.001, 0.410] + !! OVERLAP: chair <-> floor depth=[0.366, 0.001, 0.380] + !! OVERLAP: chair <-> floor depth=[0.312, 0.001, 0.355] + !! OVERLAP: chair <-> floor depth=[0.301, 0.001, 0.382] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5290 (C1 Heatmap: 0.3676, C2 Repulsion: 1.1747), Relational Loss: 0.0481 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.142 0.772 -0.328 -0.952 -0.010 -0.642 -93.63° +chair 0.358 0.846 0.424 -0.374 0.001 0.043 -179.95° +chair 0.437 0.832 0.443 -0.457 0.002 -1.459 -0.10° +chair 0.399 0.799 0.421 -1.383 0.001 -1.409 0.11° +chair 0.399 0.852 0.434 -1.199 0.003 0.179 179.94° +table 1.066 0.967 0.302 1.001 0.003 -1.440 -90.12° +lamp 0.731 0.950 0.692 -0.831 1.771 -0.967 -0.03° +table 1.863 0.749 0.570 -0.386 0.002 1.820 179.85° +chair 0.417 0.478 0.400 0.716 0.000 0.810 -0.09° +floor 3.713 -0.002 4.949 -0.085 0.001 0.075 0.01° +_scene_ 0.071 0.003 0.026 -5.676 -0.005 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.142, -0.002, -0.328] + !! OVERLAP: chair <-> floor depth=[0.358, -0.002, 0.424] + !! OVERLAP: chair <-> floor depth=[0.437, -0.002, 0.443] + !! OVERLAP: chair <-> floor depth=[0.399, -0.002, 0.421] + !! OVERLAP: chair <-> floor depth=[0.399, -0.002, 0.434] + !! OVERLAP: table <-> floor depth=[1.066, -0.002, 0.302] + !! OVERLAP: table <-> floor depth=[1.863, -0.002, 0.570] + !! OVERLAP: chair <-> floor depth=[0.417, -0.002, 0.400] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7513 (C1 Heatmap: 0.2405, C2 Repulsion: 2.7946), Relational Loss: 0.0309 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.142 0.855 0.449 -0.627 0.001 1.230 179.84° +chair 0.449 0.886 0.463 0.587 0.005 -1.362 -89.91° +chair 0.428 0.911 0.491 0.571 0.002 -0.495 -90.07° +chair 0.329 0.927 0.322 -0.711 0.007 -1.297 90.03° +chair 0.419 0.898 0.495 -0.816 0.003 -0.676 90.04° +lamp 0.934 0.639 0.278 -0.084 1.853 -0.496 -89.96° +table 1.064 0.753 0.282 -0.093 0.041 -0.521 90.68° +floor 2.891 -0.002 3.655 0.045 0.001 -0.082 -0.03° +_scene_ 0.058 0.001 0.023 -5.663 -0.005 -5.703 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.142, -0.002, 0.449] + !! OVERLAP: chair <-> floor depth=[0.449, -0.002, 0.463] + !! OVERLAP: chair <-> table depth=[0.082, 0.753, 0.282] + !! OVERLAP: chair <-> floor depth=[0.428, -0.002, 0.491] + !! OVERLAP: chair <-> floor depth=[0.329, -0.002, 0.322] + !! OVERLAP: chair <-> table depth=[0.018, 0.753, 0.234] + !! OVERLAP: chair <-> floor depth=[0.419, -0.002, 0.495] + !! OVERLAP: table <-> floor depth=[1.064, -0.002, 0.282] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4448 (C1 Heatmap: 0.1798, C2 Repulsion: 1.5047), Relational Loss: 0.0423 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.412 0.960 0.420 -0.240 -0.003 -1.225 -0.06° +table 0.454 0.727 0.384 -0.079 0.015 -0.345 -1.17° +chair 0.404 0.929 0.432 -0.233 0.002 1.024 179.97° +chair 0.452 1.003 0.467 -1.015 -0.000 -0.446 89.41° +chair 0.472 0.966 0.449 -0.870 0.003 0.370 98.62° +chair 0.421 0.980 0.517 0.639 0.001 -0.540 -90.03° +chair 0.369 0.968 0.422 0.589 0.002 0.359 -112.23° +lamp 0.753 0.832 0.720 -0.007 1.807 -0.166 -0.00° +floor 2.866 -0.000 3.768 0.005 0.001 0.008 -0.02° +_scene_ 0.068 -0.003 0.030 -5.655 -0.003 -5.701 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.412, -0.000, 0.420] + !! OVERLAP: table <-> floor depth=[0.454, -0.000, 0.384] + !! OVERLAP: chair <-> floor depth=[0.404, -0.000, 0.432] + !! OVERLAP: chair <-> floor depth=[0.452, -0.000, 0.467] + !! OVERLAP: chair <-> floor depth=[0.472, -0.000, 0.449] + !! OVERLAP: chair <-> floor depth=[0.421, -0.000, 0.517] + !! OVERLAP: chair <-> floor depth=[0.369, -0.000, 0.422] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0172, Walkable Loss: 1.0319 (C1 Heatmap: 0.3916, C2 Repulsion: 3.5931), Relational Loss: 0.0123 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.820 0.766 0.303 -0.645 -0.042 0.947 90.20° +chair 0.505 0.955 0.518 0.258 -0.001 0.240 -179.94° +chair 0.492 0.968 0.575 0.248 0.001 -0.569 -89.81° +chair 0.398 0.896 0.456 -0.944 -0.001 -0.116 179.78° +chair 0.521 0.964 0.511 -0.950 0.000 -0.955 0.08° +table 1.303 1.478 0.287 -1.787 0.006 0.333 89.81° +table 0.877 1.478 0.376 -1.972 0.005 -0.832 89.84° +lamp 1.184 1.170 1.168 -0.167 1.698 -0.070 90.08° +cabinet 0.574 1.269 0.293 2.071 0.000 -1.620 -0.24° +cabinet 0.494 1.226 0.196 1.355 0.005 -2.023 -0.17° +cabinet 0.424 1.137 0.253 0.986 0.007 -1.473 0.42° +cabinet 0.668 1.225 0.261 0.316 0.000 -1.998 -0.01° +floor 4.836 0.003 4.138 -0.003 -0.001 -0.088 0.00° +_scene_ 0.066 0.000 0.019 -5.676 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.820, 0.003, 0.303] + !! OVERLAP: chair <-> floor depth=[0.505, 0.003, 0.518] + !! OVERLAP: chair <-> floor depth=[0.492, 0.003, 0.575] + !! OVERLAP: chair <-> floor depth=[0.398, 0.003, 0.456] + !! OVERLAP: chair <-> floor depth=[0.521, 0.003, 0.511] + !! OVERLAP: table <-> floor depth=[1.286, 0.003, 0.287] + !! OVERLAP: table <-> floor depth=[0.877, 0.003, 0.376] + !! OVERLAP: cabinet <-> floor depth=[0.574, 0.003, 0.293] + !! OVERLAP: cabinet <-> floor depth=[0.494, 0.003, 0.196] + !! OVERLAP: cabinet <-> floor depth=[0.424, 0.003, 0.253] + !! OVERLAP: cabinet <-> floor depth=[0.668, 0.003, 0.261] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5140 (C1 Heatmap: 0.1416, C2 Repulsion: 2.0033), Relational Loss: 0.0278 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.959 0.761 -0.075 -0.209 -0.031 0.151 -0.26° +chair 0.360 0.905 0.376 -0.130 -0.001 0.677 179.46° +chair 0.325 0.872 0.240 -0.747 0.001 0.778 146.05° +chair 0.359 0.891 0.390 -0.006 0.003 -0.548 0.04° +chair 0.329 0.929 0.406 -0.709 0.003 -0.507 52.22° +chair 0.429 0.909 0.432 0.572 0.004 0.748 -148.20° +chair 0.477 0.839 0.469 0.815 -0.000 -0.425 -59.61° +floor 3.483 -0.010 3.581 -0.007 -0.002 -0.026 0.06° +_scene_ 0.065 0.042 0.141 -5.155 -0.003 -5.337 -59.13° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.959, -0.010, -0.075] + !! OVERLAP: chair <-> floor depth=[0.360, -0.010, 0.376] + !! OVERLAP: chair <-> floor depth=[0.325, -0.010, 0.240] + !! OVERLAP: chair <-> floor depth=[0.359, -0.010, 0.390] + !! OVERLAP: chair <-> floor depth=[0.329, -0.010, 0.406] + !! OVERLAP: chair <-> floor depth=[0.429, -0.010, 0.432] + !! OVERLAP: chair <-> floor depth=[0.477, -0.010, 0.469] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4700 (C1 Heatmap: 0.1667, C2 Repulsion: 1.6832), Relational Loss: 0.0331 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.168 0.728 -0.042 0.700 -0.046 -0.119 -0.08° +chair 0.515 0.997 0.506 -0.323 0.001 -0.651 0.05° +chair 0.418 0.977 0.465 0.690 0.002 -0.651 0.06° +chair 0.502 0.960 0.568 -0.348 -0.000 0.629 179.97° +chair 0.464 0.994 0.512 0.702 0.001 0.599 179.72° +lamp 0.554 0.833 0.244 -0.262 1.868 0.007 0.01° +floor 3.054 -0.004 2.974 -0.004 0.001 -0.019 -0.03° +_scene_ 0.072 0.002 0.018 -5.666 -0.006 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.168, -0.004, -0.042] + !! OVERLAP: chair <-> floor depth=[0.515, -0.004, 0.506] + !! OVERLAP: chair <-> floor depth=[0.418, -0.004, 0.465] + !! OVERLAP: chair <-> floor depth=[0.502, -0.004, 0.568] + !! OVERLAP: chair <-> floor depth=[0.464, -0.004, 0.512] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0342, Walkable Loss: 1.1098 (C1 Heatmap: 0.2420, C2 Repulsion: 4.5810), Relational Loss: 0.0173 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.185 0.704 0.249 0.195 -0.001 0.191 90.12° +chair 0.440 0.901 0.473 -0.462 0.000 0.629 90.06° +chair 0.397 0.873 0.411 -0.570 0.001 -0.125 90.09° +chair 0.390 0.905 0.398 0.973 0.002 -0.435 -89.96° +chair 0.371 0.942 0.448 0.942 0.002 0.338 -89.96° +table 1.333 1.057 0.297 -1.095 -0.000 0.011 90.33° +lamp 0.862 1.159 0.884 0.227 1.730 0.369 -0.00° +floor 3.538 -0.000 4.462 0.041 0.001 -0.001 -0.03° +_scene_ 0.061 0.002 0.024 -5.676 -0.004 -5.721 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.025, 0.704, 0.013] + !! OVERLAP: table <-> chair depth=[0.031, 0.704, 0.202] + !! OVERLAP: table <-> floor depth=[1.185, -0.000, 0.249] + !! OVERLAP: chair <-> floor depth=[0.440, -0.000, 0.473] + !! OVERLAP: chair <-> table depth=[0.340, 0.873, 0.217] + !! OVERLAP: chair <-> floor depth=[0.397, -0.000, 0.411] + !! OVERLAP: chair <-> floor depth=[0.390, -0.000, 0.398] + !! OVERLAP: chair <-> floor depth=[0.371, -0.000, 0.448] + !! OVERLAP: table <-> floor depth=[1.299, -0.000, 0.297] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0406, Walkable Loss: 1.2960 (C1 Heatmap: 0.5708, C2 Repulsion: 4.1967), Relational Loss: 0.0492 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.630 0.442 0.226 0.646 0.003 -1.097 -0.07° +sofa 1.330 0.731 0.590 1.341 -0.009 -1.375 -0.16° +wardrobe 0.898 2.399 0.495 -2.167 0.001 0.916 89.86° +chair 0.445 0.884 0.453 -0.380 0.002 -1.486 -89.75° +chair 0.514 0.915 0.511 -1.129 -0.000 -0.938 89.63° +lamp 0.781 0.849 0.773 0.845 1.803 -1.122 -0.03° +chair 0.567 0.844 0.405 1.025 0.003 0.248 -161.93° +sofa 2.220 0.931 0.660 0.587 0.013 -2.673 0.09° +sofa 1.363 0.808 -0.384 1.198 0.066 -0.463 2.51° +table 0.661 1.100 0.467 2.257 0.001 1.052 179.94° +cabinet 0.675 1.309 0.153 -2.141 0.004 2.001 90.02° +table 0.444 1.275 0.288 -0.763 0.004 1.678 -179.88° +floor 5.207 -0.003 5.668 -0.014 0.001 -0.128 -0.03° +_scene_ 0.074 0.000 0.027 -5.672 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.285, 0.442, 0.129] + !! OVERLAP: table <-> floor depth=[0.630, -0.003, 0.226] + !! OVERLAP: sofa <-> floor depth=[1.330, -0.003, 0.590] + !! OVERLAP: wardrobe <-> floor depth=[0.898, -0.003, 0.495] + !! OVERLAP: chair <-> floor depth=[0.445, -0.003, 0.453] + !! OVERLAP: chair <-> floor depth=[0.514, -0.003, 0.511] + !! OVERLAP: chair <-> floor depth=[0.567, -0.003, 0.405] + !! OVERLAP: sofa <-> floor depth=[2.220, -0.003, 0.620] + !! OVERLAP: sofa <-> floor depth=[1.363, -0.003, -0.384] + !! OVERLAP: table <-> floor depth=[0.661, -0.003, 0.467] + !! OVERLAP: cabinet <-> floor depth=[0.675, -0.003, 0.153] + !! OVERLAP: table <-> floor depth=[0.444, -0.003, 0.288] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7964 (C1 Heatmap: 0.2562, C2 Repulsion: 2.9570), Relational Loss: 0.0330 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.814 0.802 0.262 0.086 0.009 -0.125 90.65° +chair 0.406 0.822 0.524 0.986 0.002 -0.963 -90.13° +chair 0.370 0.843 0.452 0.924 0.010 -0.225 -89.98° +chair 0.494 0.779 0.521 0.244 0.001 1.222 -179.98° +chair 0.418 0.835 0.393 -0.703 -0.004 -0.178 90.17° +chair 0.374 0.838 0.408 -0.711 0.008 -0.879 90.07° +chair 0.436 0.816 0.399 0.099 -0.002 -1.494 -0.03° +chair 0.514 0.822 0.547 -0.816 -0.001 0.537 90.04° +chair 0.427 0.805 0.452 0.979 0.002 0.378 -89.89° +lamp 0.602 0.853 0.605 0.074 1.713 -0.079 0.02° +floor 3.580 -0.000 4.468 0.009 0.002 0.011 -0.02° +_scene_ 0.080 0.003 0.059 -5.643 -0.002 -5.664 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.814, -0.000, 0.262] + !! OVERLAP: chair <-> floor depth=[0.406, -0.000, 0.524] + !! OVERLAP: chair <-> floor depth=[0.370, -0.000, 0.452] + !! OVERLAP: chair <-> floor depth=[0.494, -0.000, 0.521] + !! OVERLAP: chair <-> floor depth=[0.418, -0.000, 0.393] + !! OVERLAP: chair <-> floor depth=[0.374, -0.000, 0.408] + !! OVERLAP: chair <-> floor depth=[0.436, -0.000, 0.399] + !! OVERLAP: chair <-> floor depth=[0.514, -0.000, 0.547] + !! OVERLAP: chair <-> floor depth=[0.427, -0.000, 0.452] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5727 (C1 Heatmap: 0.1106, C2 Repulsion: 2.4213), Relational Loss: 0.0249 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.896 0.785 0.230 0.133 0.009 0.127 90.01° +chair 0.347 0.771 0.366 0.961 0.002 0.208 -89.98° +chair 0.351 0.877 0.403 0.805 0.005 -0.426 -89.96° +chair 0.400 0.772 0.356 -0.358 -0.000 0.180 90.14° +chair 0.339 0.741 0.312 -0.493 0.001 -0.401 90.11° +lamp 0.592 1.126 0.606 0.235 1.651 0.073 90.01° +floor 2.901 0.001 3.307 -0.010 0.001 0.013 0.05° +_scene_ 0.080 0.004 0.031 -5.665 -0.005 -5.690 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.158, 0.769, 0.230] + !! OVERLAP: table <-> floor depth=[0.896, 0.001, 0.230] + !! OVERLAP: chair <-> floor depth=[0.347, 0.001, 0.366] + !! OVERLAP: chair <-> floor depth=[0.351, 0.001, 0.403] + !! OVERLAP: chair <-> floor depth=[0.400, 0.001, 0.356] + !! OVERLAP: chair <-> floor depth=[0.339, 0.001, 0.312] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2595 (C1 Heatmap: 0.1321, C2 Repulsion: 0.7691), Relational Loss: 0.0330 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.556 0.759 -0.012 -1.103 0.034 0.680 -3.00° +chair 0.437 0.975 0.477 -0.358 0.001 1.110 -179.96° +chair 0.361 0.989 0.430 -0.455 0.001 0.028 -89.89° +chair 0.310 0.977 0.386 -1.732 0.007 0.576 89.96° +chair 0.439 0.974 0.488 -1.512 0.001 -0.247 -0.01° +lamp 0.633 1.142 0.564 -0.292 1.557 -0.441 -89.98° +cabinet 0.551 2.021 0.331 1.334 0.000 -1.500 0.13° +lamp 0.140 0.985 0.140 -1.291 1.394 1.026 0.02° +floor 3.644 0.001 3.694 -0.155 0.000 -0.039 -0.09° +_scene_ 0.069 0.000 0.020 -5.672 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.556, 0.001, -0.012] + !! OVERLAP: chair <-> floor depth=[0.437, 0.001, 0.477] + !! OVERLAP: chair <-> floor depth=[0.361, 0.001, 0.430] + !! OVERLAP: chair <-> floor depth=[0.310, 0.001, 0.386] + !! OVERLAP: chair <-> floor depth=[0.439, 0.001, 0.488] + !! OVERLAP: cabinet <-> floor depth=[0.551, 0.001, 0.331] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0143, Walkable Loss: 0.4525 (C1 Heatmap: 0.0898, C2 Repulsion: 1.9034), Relational Loss: 0.0299 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.049 0.640 -0.292 -0.376 -0.003 0.042 2.42° +chair 0.439 0.917 0.455 -0.109 0.000 0.528 179.99° +chair 0.357 0.859 0.384 -0.851 0.005 0.381 -179.80° +chair 0.389 0.939 0.384 -0.051 -0.001 -0.545 -0.12° +chair 0.334 0.953 0.333 -0.721 -0.000 -0.545 0.03° +lamp 0.412 0.738 0.464 -0.105 2.541 0.229 -0.14° +floor 3.695 0.021 1.551 -0.061 -0.003 -0.034 -0.02° +_scene_ 0.063 0.000 0.020 -5.670 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.049, 0.021, -0.292] + !! OVERLAP: chair <-> floor depth=[0.439, 0.021, 0.440] + !! OVERLAP: chair <-> floor depth=[0.357, 0.021, 0.384] + !! OVERLAP: chair <-> floor depth=[0.389, 0.021, 0.384] + !! OVERLAP: chair <-> floor depth=[0.334, 0.021, 0.333] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9277 (C1 Heatmap: 0.3042, C2 Repulsion: 3.4218), Relational Loss: 0.0448 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.682 0.698 0.257 -0.039 -0.026 0.086 1.45° +chair 0.472 0.783 0.465 0.511 -0.001 0.740 -179.89° +chair 0.427 0.685 0.439 -0.340 -0.000 0.866 166.63° +chair 0.406 0.708 0.449 -0.968 0.002 0.118 90.53° +chair 0.432 0.737 0.450 -0.343 -0.002 -0.895 6.34° +chair 0.409 0.795 0.447 0.570 -0.003 -0.894 -20.89° +chair 0.457 0.768 0.421 0.901 -0.001 -0.046 -83.55° +cabinet 1.774 2.099 0.210 -1.309 0.003 -0.783 89.91° +floor 4.998 -0.002 3.092 0.016 -0.001 -0.040 -0.01° +_scene_ 0.072 0.003 0.040 -5.623 0.001 -5.661 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.682, -0.002, 0.257] + !! OVERLAP: chair <-> floor depth=[0.472, -0.002, 0.465] + !! OVERLAP: chair <-> floor depth=[0.427, -0.002, 0.439] + !! OVERLAP: chair <-> floor depth=[0.406, -0.002, 0.449] + !! OVERLAP: chair <-> cabinet depth=[0.138, 0.737, 0.210] + !! OVERLAP: chair <-> floor depth=[0.432, -0.002, 0.450] + !! OVERLAP: chair <-> floor depth=[0.409, -0.002, 0.447] + !! OVERLAP: chair <-> floor depth=[0.457, -0.002, 0.421] + !! OVERLAP: cabinet <-> floor depth=[1.774, -0.002, 0.210] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6844 (C1 Heatmap: 0.2844, C2 Repulsion: 2.2843), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.037 0.797 0.497 0.708 0.005 -0.281 -90.15° +chair 0.486 0.720 0.431 -0.587 0.008 -0.090 82.51° +bookshelf 0.922 2.104 0.269 -0.726 0.003 1.219 -179.98° +lamp 0.972 1.291 0.997 0.221 1.360 -0.039 -0.03° +floor 2.670 0.000 2.753 -0.028 0.000 -0.013 -0.02° +_scene_ 0.065 0.001 0.019 -5.672 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.037, 0.000, 0.497] + !! OVERLAP: chair <-> floor depth=[0.486, 0.000, 0.431] + !! OVERLAP: bookshelf <-> floor depth=[0.922, 0.000, 0.269] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0117, Walkable Loss: 0.5371 (C1 Heatmap: 0.3613, C2 Repulsion: 1.2400), Relational Loss: 0.0218 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.961 2.286 0.111 0.420 0.002 1.553 179.96° +lamp 0.227 1.205 0.505 -0.175 0.396 -0.752 90.14° +desk 1.944 2.689 0.663 0.295 0.009 -0.225 -179.36° +lamp 0.484 0.179 0.503 0.008 2.380 -0.092 -0.04° +floor 2.927 0.003 3.316 0.014 0.001 -0.061 -0.00° +_scene_ 0.068 0.003 0.065 -5.666 -0.007 -5.681 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.961, 0.003, 0.099] + !! OVERLAP: lamp <-> desk depth=[0.227, 1.205, 0.058] + !! OVERLAP: lamp <-> floor depth=[0.227, 0.003, 0.505] + !! OVERLAP: desk <-> floor depth=[1.944, 0.003, 0.663] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1434, Walkable Loss: 0.6065 (C1 Heatmap: 0.4332, C2 Repulsion: 1.3000), Relational Loss: 0.0335 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.799 0.938 0.839 -0.005 1.928 -0.036 -0.02° +bookshelf 0.669 2.552 0.434 1.646 -0.003 1.018 -90.16° +bookshelf 0.537 2.496 0.422 1.721 -0.001 -1.119 -89.96° +bookshelf 0.735 2.362 0.378 1.567 -0.000 -0.124 -90.04° +desk 1.381 0.739 0.401 0.014 0.001 1.338 -179.89° +sofa 1.758 0.819 0.805 -0.423 0.001 -0.375 -0.04° +floor 3.776 -0.005 2.921 0.061 -0.001 0.005 -0.08° +_scene_ 0.060 0.000 0.019 -5.664 -0.005 -5.700 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.638, -0.005, 0.434] + !! OVERLAP: bookshelf <-> floor depth=[0.497, -0.005, 0.422] + !! OVERLAP: bookshelf <-> floor depth=[0.735, -0.005, 0.378] + !! OVERLAP: desk <-> floor depth=[1.381, -0.005, 0.328] + !! OVERLAP: sofa <-> floor depth=[1.758, -0.005, 0.805] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0240, Room Outer Loss: 0.0497, Walkable Loss: 0.9491 (C1 Heatmap: 0.2291, C2 Repulsion: 3.8288), Relational Loss: 0.0261 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.526 2.702 -0.124 0.789 -0.015 -0.009 -89.33° +bookshelf 1.476 2.559 0.126 0.767 -0.006 0.576 -90.07° +desk 1.399 0.863 0.319 -0.389 0.001 0.373 90.34° +chair 0.342 0.713 0.266 0.228 -0.006 0.210 -89.35° +lamp 0.401 0.759 0.415 -0.098 2.022 0.063 -0.01° +floor 2.958 -0.001 3.114 0.024 0.001 -0.079 -0.05° +_scene_ 0.076 0.002 0.033 -5.665 -0.004 -5.693 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.478, -0.001, -0.124] + !! OVERLAP: bookshelf <-> desk depth=[0.282, 0.863, 0.020] + !! OVERLAP: bookshelf <-> floor depth=[1.475, -0.001, 0.126] + !! OVERLAP: desk <-> chair depth=[0.254, 0.713, 0.129] + !! OVERLAP: desk <-> floor depth=[1.399, -0.001, 0.319] + !! OVERLAP: chair <-> floor depth=[0.342, -0.001, 0.266] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2251 (C1 Heatmap: 0.1913, C2 Repulsion: 0.3605), Relational Loss: 0.0114 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.199 0.787 0.417 -1.124 0.001 0.771 179.87° +chair 0.370 1.005 0.382 -0.849 0.012 -0.175 -48.17° +bookshelf 1.128 2.139 0.211 -1.093 -0.005 -1.215 0.17° +lamp 1.076 1.225 1.183 0.197 1.511 0.005 90.06° +chair 0.461 0.533 0.503 0.831 -0.002 -0.264 -90.45° +floor 3.799 -0.001 2.794 -0.004 0.001 -0.054 -0.02° +_scene_ 0.070 0.001 0.022 -5.671 -0.004 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.199, -0.001, 0.417] + !! OVERLAP: chair <-> floor depth=[0.370, -0.001, 0.382] + !! OVERLAP: bookshelf <-> floor depth=[1.128, -0.001, 0.211] + !! OVERLAP: chair <-> floor depth=[0.461, -0.001, 0.503] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0436, Room Outer Loss: 0.0000, Walkable Loss: 0.3852 (C1 Heatmap: 0.2320, C2 Repulsion: 0.9982), Relational Loss: 0.0183 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.112 0.820 0.788 0.031 0.001 -0.428 -90.13° +bookshelf 1.654 2.388 0.244 -0.229 0.000 -1.064 -0.02° +lamp 0.520 1.005 0.766 0.063 2.057 0.081 -0.02° +floor 2.405 0.009 3.012 -0.036 -0.002 -0.034 -0.12° +_scene_ 0.077 -0.013 0.113 -5.517 0.013 -5.532 -58.02° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.112, 0.009, 0.788] + !! OVERLAP: bookshelf <-> floor depth=[1.654, 0.009, 0.244] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5108 (C1 Heatmap: 0.1311, C2 Repulsion: 2.0299), Relational Loss: 0.0392 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.725 2.411 -0.043 -0.434 0.007 -0.083 89.89° +desk 1.098 1.649 0.082 0.346 -0.001 0.286 179.07° +chair 0.351 0.758 0.315 0.212 -0.004 -0.302 0.08° +floor 2.627 -0.001 3.117 -0.006 -0.000 -0.015 -0.04° +_scene_ 0.047 0.002 0.036 -5.616 -0.002 -5.680 -57.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.725, -0.001, -0.043] + !! OVERLAP: desk <-> floor depth=[1.098, -0.001, 0.082] + !! OVERLAP: chair <-> floor depth=[0.351, -0.001, 0.315] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0464, Walkable Loss: 0.7324 (C1 Heatmap: 0.3498, C2 Repulsion: 2.2627), Relational Loss: 0.0264 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.146 2.315 0.146 0.570 0.029 -1.198 -89.84° +chair 0.456 0.857 0.429 -0.832 -0.004 -1.578 4.18° +desk 0.969 0.692 0.213 -0.798 -0.015 -0.698 0.17° +sofa 1.473 0.983 0.233 -0.677 -0.010 0.219 90.66° +table 0.607 0.431 0.525 -0.585 -0.002 1.416 0.10° +floor 3.176 -0.002 4.851 0.008 -0.000 -0.038 0.00° +_scene_ 0.068 0.001 0.023 -5.668 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.099, -0.002, 0.146] + !! OVERLAP: chair <-> floor depth=[0.456, -0.002, 0.429] + !! OVERLAP: desk <-> floor depth=[0.969, -0.002, 0.213] + !! OVERLAP: sofa <-> floor depth=[1.473, -0.002, 0.233] + !! OVERLAP: table <-> floor depth=[0.607, -0.002, 0.525] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.0000, Walkable Loss: 0.8134 (C1 Heatmap: 0.5330, C2 Repulsion: 1.9352), Relational Loss: 0.0034 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.547 0.442 0.525 -0.649 -0.003 0.495 -0.06° +bookshelf 0.609 1.949 0.283 1.317 -0.001 0.794 -90.11° +lamp 0.392 0.620 0.399 -0.101 2.152 0.127 -0.04° +desk 1.811 0.840 0.615 -0.352 0.001 1.024 179.88° +sofa 2.013 0.821 0.905 -0.388 0.001 -1.125 -0.02° +floor 3.281 0.000 3.241 -0.009 0.001 0.016 -0.01° +_scene_ 0.059 -0.001 0.025 -5.658 -0.004 -5.703 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.547, 0.442, 0.041] + !! OVERLAP: chair <-> floor depth=[0.547, 0.000, 0.525] + !! OVERLAP: bookshelf <-> floor depth=[0.609, 0.000, 0.283] + !! OVERLAP: desk <-> floor depth=[1.811, 0.000, 0.615] + !! OVERLAP: sofa <-> floor depth=[2.013, 0.000, 0.905] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0047, Walkable Loss: 0.1639 (C1 Heatmap: 0.1729, C2 Repulsion: 0.1276), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.328 2.368 0.410 -1.138 0.005 0.272 89.86° +chair 0.701 0.848 0.788 0.337 -0.002 0.663 -166.82° +lamp 0.313 0.649 0.336 0.215 2.191 0.255 -0.04° +floor 3.609 -0.002 2.972 0.007 -0.000 -0.032 -0.00° +_scene_ 0.042 0.001 0.053 -5.582 -0.003 -5.605 -57.72° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.323, -0.002, 0.410] + !! OVERLAP: chair <-> floor depth=[0.701, -0.002, 0.788] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.0066, Room Outer Loss: 0.0150, Walkable Loss: 0.7933 (C1 Heatmap: 0.2881, C2 Repulsion: 2.8142), Relational Loss: 0.0052 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.728 2.353 0.347 -0.441 -0.043 0.596 90.21° +bookshelf 0.555 1.950 0.340 0.826 0.003 0.934 -179.87° +chair 0.429 0.709 0.377 -0.124 -0.001 -0.366 89.93° +lamp 0.648 0.373 0.609 -0.041 2.218 -0.050 -0.04° +desk 1.012 0.791 0.747 0.510 -0.011 -0.446 -0.30° +floor 2.605 -0.001 2.879 0.012 0.001 -0.019 -0.00° +_scene_ 0.056 0.003 0.018 -5.670 -0.004 -5.706 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.713, -0.001, 0.347] + !! OVERLAP: bookshelf <-> floor depth=[0.555, -0.001, 0.340] + !! OVERLAP: chair <-> desk depth=[0.086, 0.709, 0.377] + !! OVERLAP: chair <-> floor depth=[0.429, -0.001, 0.377] + !! OVERLAP: desk <-> floor depth=[1.012, -0.001, 0.747] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0101, Room Outer Loss: 0.0169, Walkable Loss: 0.4343 (C1 Heatmap: 0.1983, C2 Repulsion: 1.3781), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.999 1.100 1.029 0.172 1.649 -0.161 -0.01° +chair 0.490 0.933 0.519 -0.636 -0.001 0.348 89.91° +desk 0.970 0.712 0.524 0.403 -0.000 -0.337 -89.96° +bookshelf 1.205 2.651 0.445 -0.949 -0.015 -0.403 90.53° +floor 3.049 -0.003 2.956 -0.011 0.001 -0.010 -0.01° +_scene_ 0.042 0.006 0.027 -5.511 -0.004 -5.603 -58.02° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.490, -0.003, 0.519] + !! OVERLAP: desk <-> floor depth=[0.970, -0.003, 0.524] + !! OVERLAP: bookshelf <-> floor depth=[1.188, -0.003, 0.445] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.1342, Walkable Loss: 1.1601 (C1 Heatmap: 0.4115, C2 Repulsion: 4.1544), Relational Loss: 0.0266 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.585 2.520 -0.441 0.720 -0.013 0.603 -89.84° +bookshelf 2.147 2.224 -0.083 0.793 0.009 -0.259 -89.09° +desk 1.230 0.901 0.437 -0.446 -0.002 1.001 179.96° +chair 0.328 0.875 0.270 0.844 0.008 0.991 -90.89° +chair 0.581 0.837 0.727 -1.241 -0.000 -1.359 41.46° +chair 0.382 0.430 0.329 -1.543 -0.001 -0.200 89.83° +table 0.422 0.600 0.443 -0.363 0.010 -0.915 -0.14° +lamp 0.423 0.549 0.384 -0.141 2.156 0.326 -0.03° +floor 3.751 0.003 3.616 0.003 0.001 0.005 -0.01° +_scene_ 0.069 0.001 0.017 -5.674 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.451, 0.003, -0.441] + !! OVERLAP: bookshelf <-> floor depth=[2.147, 0.003, -0.083] + !! OVERLAP: desk <-> floor depth=[1.230, 0.003, 0.437] + !! OVERLAP: chair <-> floor depth=[0.328, 0.003, 0.270] + !! OVERLAP: chair <-> floor depth=[0.581, 0.003, 0.727] + !! OVERLAP: chair <-> floor depth=[0.382, 0.003, 0.329] + !! OVERLAP: table <-> floor depth=[0.422, 0.003, 0.443] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0529, Walkable Loss: 0.6473 (C1 Heatmap: 0.1897, C2 Repulsion: 2.4775), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.887 0.818 0.169 -0.261 0.003 0.661 179.89° +chair 0.346 0.923 0.224 -0.330 0.010 0.346 21.44° +bookshelf 0.950 2.189 0.222 0.940 -0.003 0.321 -89.96° +lamp 0.849 1.349 0.873 -0.158 1.440 -0.394 -0.21° +floor 2.719 -0.002 3.390 0.002 0.001 -0.002 -0.01° +_scene_ 0.024 0.008 0.012 -5.616 -0.005 -5.683 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.887, -0.002, 0.169] + !! OVERLAP: chair <-> floor depth=[0.346, -0.002, 0.224] + !! OVERLAP: bookshelf <-> floor depth=[0.897, -0.002, 0.222] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4021 (C1 Heatmap: 0.2393, C2 Repulsion: 1.0537), Relational Loss: 0.0013 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.129 0.782 0.411 -0.381 0.003 1.032 180.00° +bookshelf 0.451 1.795 0.239 1.323 0.001 0.795 -179.97° +chair 0.451 0.679 0.470 -0.422 -0.001 0.356 0.05° +bookshelf 1.646 1.979 0.302 -0.776 -0.004 -0.905 -0.05° +lamp 1.123 1.022 0.791 -0.175 2.087 0.045 0.04° +floor 3.302 -0.007 2.533 -0.077 -0.000 0.017 -0.10° +_scene_ 0.070 -0.001 0.020 -5.673 -0.003 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.129, -0.007, 0.411] + !! OVERLAP: bookshelf <-> floor depth=[0.451, -0.007, 0.239] + !! OVERLAP: chair <-> floor depth=[0.451, -0.007, 0.470] + !! OVERLAP: bookshelf <-> floor depth=[1.646, -0.007, 0.302] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0792, Walkable Loss: 0.7617 (C1 Heatmap: 0.3310, C2 Repulsion: 2.4844), Relational Loss: 0.0410 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.953 0.843 0.322 -0.372 0.003 -0.613 -90.50° +bookshelf 2.264 2.501 0.215 0.078 0.013 0.812 -179.92° +cabinet 1.740 1.323 0.058 -0.098 -0.011 -0.774 91.08° +lamp 0.516 0.584 0.532 -0.017 2.090 -0.300 -0.07° +chair 0.186 0.880 0.231 0.454 -0.016 -1.336 -15.07° +floor 2.205 0.000 3.800 0.028 -0.001 -0.060 -0.00° +_scene_ 0.066 -0.001 0.018 -5.676 -0.004 -5.719 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> cabinet depth=[0.953, 0.843, 0.030] + !! OVERLAP: desk <-> floor depth=[0.953, 0.000, 0.322] + !! OVERLAP: bookshelf <-> floor depth=[2.185, 0.000, 0.215] + !! OVERLAP: cabinet <-> floor depth=[1.740, 0.000, 0.058] + !! OVERLAP: chair <-> floor depth=[0.186, 0.000, 0.231] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.1490 (C1 Heatmap: 0.1276, C2 Repulsion: 0.2346), Relational Loss: 0.0363 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.410 0.850 0.426 -0.707 -0.004 -0.143 90.02° +bookshelf 1.469 2.207 0.069 -0.133 0.000 1.542 179.96° +desk 0.551 0.832 0.482 0.319 0.005 0.495 -91.04° +floor 2.803 0.001 3.450 0.073 0.000 -0.090 -0.03° +_scene_ 0.103 0.005 0.070 -5.644 -0.004 -5.685 -57.19° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.410, 0.001, 0.426] + !! OVERLAP: bookshelf <-> floor depth=[1.469, 0.001, 0.069] + !! OVERLAP: desk <-> floor depth=[0.551, 0.001, 0.482] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0038, Walkable Loss: 0.3252 (C1 Heatmap: 0.2348, C2 Repulsion: 0.6869), Relational Loss: 0.0255 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.149 0.744 0.619 -0.313 0.001 -0.603 -0.02° +lamp 0.507 0.802 0.112 -0.066 1.892 0.241 -0.06° +bookshelf 0.465 2.063 0.271 1.114 0.000 -1.105 -0.00° +chair 0.520 0.926 0.548 -0.228 -0.004 0.702 175.66° +bookshelf 0.812 1.943 0.336 1.200 0.000 1.311 -90.23° +bookshelf 0.666 2.072 0.283 1.350 0.010 0.289 -90.09° +floor 3.344 -0.005 3.032 0.007 -0.001 0.248 -0.06° +_scene_ 0.052 0.003 0.017 -5.678 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.149, -0.005, 0.619] + !! OVERLAP: bookshelf <-> floor depth=[0.465, -0.005, 0.271] + !! OVERLAP: chair <-> floor depth=[0.520, -0.005, 0.548] + !! OVERLAP: bookshelf <-> floor depth=[0.812, -0.005, 0.336] + !! OVERLAP: bookshelf <-> floor depth=[0.662, -0.005, 0.283] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0857, Walkable Loss: 0.3697 (C1 Heatmap: 0.1425, C2 Repulsion: 1.2783), Relational Loss: 0.0217 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.796 2.364 -0.112 0.523 0.006 0.272 -90.63° +desk 1.292 1.013 0.105 -0.680 0.022 -0.117 90.26° +chair 0.282 0.877 0.340 0.060 -0.002 -0.209 -90.10° +floor 2.662 0.001 3.354 0.008 -0.001 -0.039 -0.02° +_scene_ 0.062 0.031 0.070 -5.246 0.006 -5.436 -58.06° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.714, 0.001, -0.112] + !! OVERLAP: desk <-> chair depth=[0.047, 0.877, 0.105] + !! OVERLAP: desk <-> floor depth=[1.289, 0.001, 0.105] + !! OVERLAP: chair <-> floor depth=[0.282, 0.001, 0.340] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0073, Walkable Loss: 0.5259 (C1 Heatmap: 0.1716, C2 Repulsion: 1.9432), Relational Loss: 0.0164 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.430 2.321 -0.038 -0.598 -0.009 0.167 90.00° +bookshelf 1.554 2.181 -0.057 0.535 0.017 -0.144 -90.00° +desk 1.362 0.691 0.024 0.342 0.000 -0.950 -0.19° +chair 0.158 0.814 0.327 0.032 0.023 0.089 179.92° +floor 2.645 -0.002 3.156 0.016 0.001 -0.036 -0.03° +_scene_ 0.056 -0.000 0.018 -5.664 -0.005 -5.708 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.158, 0.814, -0.038] + !! OVERLAP: bookshelf <-> floor depth=[1.423, -0.002, -0.038] + !! OVERLAP: bookshelf <-> floor depth=[1.554, -0.002, -0.057] + !! OVERLAP: desk <-> floor depth=[1.362, -0.002, 0.024] + !! OVERLAP: chair <-> floor depth=[0.158, -0.002, 0.327] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0400, Walkable Loss: 0.4751 (C1 Heatmap: 0.1839, C2 Repulsion: 1.6398), Relational Loss: 0.0109 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.687 2.065 0.242 -1.072 0.005 0.251 89.96° +bookshelf 0.476 2.070 0.204 -1.263 -0.002 -0.536 90.41° +desk 1.413 0.702 0.505 0.216 0.001 -0.383 -89.94° +chair 0.370 0.856 0.409 -0.311 0.002 -0.135 80.70° +lamp 0.531 0.390 0.513 -0.153 2.550 -0.242 -0.07° +floor 2.924 -0.000 4.114 0.001 0.001 -0.079 0.03° +_scene_ 0.064 -0.001 0.021 -5.675 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.687, -0.000, 0.242] + !! OVERLAP: bookshelf <-> floor depth=[0.436, -0.000, 0.204] + !! OVERLAP: desk <-> chair depth=[0.364, 0.702, 0.209] + !! OVERLAP: desk <-> floor depth=[1.413, -0.000, 0.505] + !! OVERLAP: chair <-> floor depth=[0.370, -0.000, 0.409] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0929, Walkable Loss: 0.2986 (C1 Heatmap: 0.1699, C2 Repulsion: 0.8134), Relational Loss: 0.0135 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.756 2.158 0.458 -1.004 -0.004 0.855 -179.92° +bookshelf 0.503 2.032 0.249 -1.215 0.001 -0.306 89.66° +bookshelf 0.922 2.076 0.384 1.006 0.017 -0.167 -90.17° +chair 0.397 0.838 0.482 -0.780 0.003 -0.900 89.77° +lamp 0.575 0.345 0.582 0.226 2.500 0.081 -90.06° +chair 0.384 0.551 0.369 -0.022 0.002 -0.681 90.03° +floor 2.841 0.000 3.361 -0.000 0.001 -0.016 -0.02° +_scene_ 0.062 -0.000 0.017 -5.665 -0.006 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.756, 0.000, 0.458] + !! OVERLAP: bookshelf <-> floor depth=[0.457, 0.000, 0.249] + !! OVERLAP: bookshelf <-> floor depth=[0.875, 0.000, 0.384] + !! OVERLAP: chair <-> floor depth=[0.397, 0.000, 0.482] + !! OVERLAP: chair <-> floor depth=[0.384, 0.000, 0.369] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1319, Walkable Loss: 0.5832 (C1 Heatmap: 0.2705, C2 Repulsion: 1.8342), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.672 1.742 0.170 -0.938 0.004 -0.141 90.37° +desk 1.956 0.745 0.733 0.244 -0.001 -0.117 -89.92° +chair 0.332 0.816 0.255 -0.444 -0.004 0.163 89.89° +lamp 1.282 1.016 0.635 0.109 1.630 -0.129 0.01° +floor 2.364 0.000 2.875 -0.024 -0.001 -0.021 -0.03° +_scene_ 0.062 -0.000 0.017 -5.666 -0.001 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.132, 0.745, 0.170] + !! OVERLAP: bookshelf <-> floor depth=[0.604, 0.000, 0.170] + !! OVERLAP: desk <-> chair depth=[0.332, 0.745, 0.214] + !! OVERLAP: desk <-> floor depth=[1.892, 0.000, 0.733] + !! OVERLAP: chair <-> floor depth=[0.332, 0.000, 0.255] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0077, Room Outer Loss: 0.0000, Walkable Loss: 0.6689 (C1 Heatmap: 0.2704, C2 Repulsion: 2.2629), Relational Loss: 0.0417 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.433 0.758 0.487 0.467 -0.001 -0.112 -0.02° +desk 1.337 1.144 0.418 0.507 0.008 0.800 179.97° +chair 0.315 0.696 0.301 -0.529 -0.003 -0.140 0.11° +bookshelf 0.870 1.287 0.258 0.432 0.001 -1.182 0.01° +bookshelf 0.706 1.067 0.272 -0.988 0.000 -1.274 0.02° +desk 1.414 1.339 0.022 -0.308 -0.009 0.664 -179.96° +floor 2.975 0.002 3.235 -0.029 0.001 -0.037 0.05° +_scene_ 0.067 0.000 0.021 -5.673 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.433, 0.002, 0.487] + !! OVERLAP: desk <-> desk depth=[0.561, 1.144, 0.022] + !! OVERLAP: desk <-> floor depth=[1.337, 0.002, 0.418] + !! OVERLAP: chair <-> floor depth=[0.315, 0.002, 0.301] + !! OVERLAP: bookshelf <-> floor depth=[0.870, 0.002, 0.258] + !! OVERLAP: bookshelf <-> floor depth=[0.706, 0.002, 0.272] + !! OVERLAP: desk <-> floor depth=[1.414, 0.002, 0.022] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0416, Walkable Loss: 0.4786 (C1 Heatmap: 0.3455, C2 Repulsion: 1.0109), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.428 1.013 0.457 -0.040 0.002 0.437 -151.88° +desk 1.799 0.797 0.768 -0.029 0.004 -0.727 -0.23° +lamp 0.413 0.622 0.394 -0.163 1.991 0.023 -0.01° +bookshelf 1.690 2.381 0.164 -0.161 0.003 1.487 -179.92° +floor 2.701 -0.000 3.112 -0.005 0.001 -0.028 -0.01° +_scene_ 0.061 -0.001 0.035 -5.654 -0.003 -5.691 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.428, -0.000, 0.457] + !! OVERLAP: desk <-> floor depth=[1.799, -0.000, 0.768] + !! OVERLAP: bookshelf <-> floor depth=[1.690, -0.000, 0.122] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4591 (C1 Heatmap: 0.2774, C2 Repulsion: 1.1861), Relational Loss: 0.0242 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.624 0.240 0.613 -0.049 2.476 0.059 -0.05° +bookshelf 1.474 1.972 0.188 -0.037 0.002 -1.122 0.07° +desk 1.557 0.713 0.759 -0.205 0.003 0.511 -179.38° +chair 0.306 0.946 0.372 0.414 -0.006 -0.167 -26.86° +floor 2.688 -0.003 2.889 -0.016 0.001 -0.015 -0.04° +_scene_ 0.040 0.007 0.017 -5.603 -0.005 -5.678 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.474, -0.003, 0.188] + !! OVERLAP: desk <-> floor depth=[1.557, -0.003, 0.759] + !! OVERLAP: chair <-> floor depth=[0.306, -0.003, 0.372] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 0.4299 (C1 Heatmap: 0.3608, C2 Repulsion: 0.7064), Relational Loss: 0.0211 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.584 0.324 0.574 -0.111 2.331 0.039 -0.01° +chair 0.407 0.890 0.161 0.911 -0.009 -0.493 -124.55° +desk 1.416 0.772 0.466 0.043 0.003 -0.896 -0.02° +bookshelf 2.530 1.822 0.295 0.061 0.006 1.224 -179.98° +floor 2.628 0.004 2.821 0.043 0.001 0.012 0.01° +_scene_ 0.085 0.002 0.037 -5.660 -0.004 -5.702 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.407, 0.004, 0.161] + !! OVERLAP: desk <-> floor depth=[1.416, 0.004, 0.466] + !! OVERLAP: bookshelf <-> floor depth=[2.530, 0.004, 0.295] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0579, Walkable Loss: 0.4706 (C1 Heatmap: 0.2317, C2 Repulsion: 1.4263), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.659 0.863 0.701 -0.421 0.004 0.116 90.02° +chair 0.430 0.749 0.436 0.405 -0.001 -0.105 -90.01° +bookshelf 0.676 2.096 0.166 1.075 -0.026 0.275 -90.30° +lamp 0.468 0.282 0.495 -0.127 2.264 -0.068 0.11° +floor 2.709 -0.001 3.353 0.000 0.000 -0.040 -0.01° +_scene_ 0.053 0.002 0.019 -5.646 -0.005 -5.701 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.219, 0.749, 0.348] + !! OVERLAP: desk <-> floor depth=[1.659, -0.001, 0.701] + !! OVERLAP: chair <-> floor depth=[0.430, -0.001, 0.436] + !! OVERLAP: bookshelf <-> floor depth=[0.618, -0.001, 0.166] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3125 (C1 Heatmap: 0.3131, C2 Repulsion: 0.3099), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.267 0.900 0.609 0.296 -0.001 -1.003 -0.02° +chair 0.561 0.996 0.680 0.388 0.001 0.591 -179.81° +lamp 0.637 0.626 0.703 -0.010 2.019 -0.224 -0.05° +floor 2.813 0.012 3.556 0.033 -0.002 -0.099 -0.25° +_scene_ 0.064 0.141 0.225 -4.750 0.191 -4.706 -63.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.267, 0.012, 0.609] + !! OVERLAP: chair <-> floor depth=[0.561, 0.012, 0.680] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2929, Walkable Loss: 0.7623 (C1 Heatmap: 0.2114, C2 Repulsion: 2.9658), Relational Loss: 0.0251 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.095 2.746 -0.404 0.605 0.017 0.218 -90.32° +bookshelf 2.608 2.791 -0.450 0.340 -0.017 0.151 -90.41° +desk 1.404 0.654 -0.139 -0.714 0.003 0.379 88.54° +chair 0.372 0.995 0.371 0.026 0.004 -0.114 -89.70° +lamp 0.688 0.590 0.409 -0.110 2.102 0.040 -0.10° +floor 3.033 -0.002 2.967 -0.014 0.001 -0.029 -0.02° +_scene_ 0.070 -0.000 0.031 -5.667 -0.004 -5.704 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.944, -0.002, -0.404] + !! OVERLAP: bookshelf <-> floor depth=[2.466, -0.002, -0.450] + !! OVERLAP: desk <-> floor depth=[1.404, -0.002, -0.139] + !! OVERLAP: chair <-> floor depth=[0.372, -0.002, 0.371] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1224, Walkable Loss: 0.2623 (C1 Heatmap: 0.1959, C2 Repulsion: 0.5280), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.559 2.308 0.356 0.807 0.014 0.288 -90.62° +lamp 0.960 0.959 1.078 -0.198 1.629 0.029 -0.00° +table 1.151 0.708 0.419 -0.439 -0.001 -0.398 0.05° +floor 2.929 -0.000 3.324 0.000 -0.000 -0.042 -0.03° +_scene_ 0.098 0.011 0.140 -5.458 -0.006 -5.616 -57.19° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> lamp depth=[0.254, 0.019, 0.356] + !! OVERLAP: bookshelf <-> floor depth=[1.437, -0.000, 0.356] + !! OVERLAP: table <-> floor depth=[1.151, -0.000, 0.419] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0229, Walkable Loss: 0.8510 (C1 Heatmap: 0.1433, C2 Repulsion: 3.6822), Relational Loss: 0.0421 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.066 0.816 0.392 0.816 -0.001 0.002 -90.08° +chair 0.192 0.919 0.347 -0.021 0.002 0.168 90.01° +bookshelf 2.543 2.420 -0.830 -0.313 0.058 0.168 90.08° +bookshelf 1.731 2.209 -0.490 -0.759 -0.110 0.013 89.60° +bookshelf 2.352 2.344 -1.050 -0.492 0.042 0.471 91.43° +lamp 1.000 0.876 0.251 0.250 1.994 0.307 -89.45° +floor 3.259 -0.000 3.335 -0.016 -0.000 0.009 -0.03° +_scene_ 0.075 0.001 0.056 -5.637 -0.003 -5.645 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.066, -0.000, 0.392] + !! OVERLAP: chair <-> floor depth=[0.192, -0.000, 0.347] + !! OVERLAP: bookshelf <-> floor depth=[2.543, -0.000, -0.830] + !! OVERLAP: bookshelf <-> floor depth=[1.731, -0.000, -0.490] + !! OVERLAP: bookshelf <-> floor depth=[2.329, -0.000, -1.050] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3492 (C1 Heatmap: 0.2497, C2 Repulsion: 0.7473), Relational Loss: 0.0021 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.097 0.773 0.455 -0.204 0.005 1.226 179.91° +bookshelf 0.321 1.791 0.304 1.267 0.002 0.559 -90.03° +chair 0.436 0.775 0.453 -0.355 -0.001 0.408 0.09° +bookshelf 1.747 1.967 0.309 -0.512 -0.001 -1.055 0.06° +lamp 0.935 1.162 0.929 -0.036 1.843 -0.033 -0.00° +floor 2.876 -0.002 2.925 0.001 0.001 0.002 -0.01° +_scene_ 0.059 0.003 0.028 -5.674 -0.005 -5.705 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.097, -0.002, 0.455] + !! OVERLAP: bookshelf <-> floor depth=[0.321, -0.002, 0.304] + !! OVERLAP: chair <-> floor depth=[0.436, -0.002, 0.453] + !! OVERLAP: bookshelf <-> floor depth=[1.747, -0.002, 0.309] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0348, Room Outer Loss: 0.0739, Walkable Loss: 0.3584 (C1 Heatmap: 0.1521, C2 Repulsion: 1.1835), Relational Loss: 0.0012 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.488 0.911 0.647 0.662 -0.001 0.049 89.63° +desk 0.786 0.755 0.511 0.248 0.004 0.099 -90.13° +bookshelf 1.087 2.369 0.204 -0.864 -0.016 0.536 90.41° +lamp 0.951 1.250 1.036 0.091 1.518 0.138 -0.04° +floor 2.595 -0.002 2.912 -0.036 -0.003 -0.081 -0.09° +_scene_ 0.064 0.000 0.037 -5.640 -0.002 -5.680 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.223, 0.755, 0.511] + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.647] + !! OVERLAP: desk <-> floor depth=[0.786, -0.002, 0.511] + !! OVERLAP: bookshelf <-> lamp depth=[0.065, 0.275, 0.204] + !! OVERLAP: bookshelf <-> floor depth=[1.013, -0.002, 0.204] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4687 (C1 Heatmap: 0.2172, C2 Repulsion: 1.4749), Relational Loss: 0.0025 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.184 0.835 0.488 -0.409 -0.002 -0.078 -90.04° +chair 0.431 0.969 0.513 -0.921 -0.001 -0.024 0.24° +bookshelf 1.489 2.223 0.265 0.735 0.012 -0.141 -90.05° +lamp 0.350 0.824 0.372 0.230 1.694 0.029 -0.06° +floor 3.015 -0.000 2.666 0.025 0.000 -0.015 -0.03° +_scene_ 0.065 0.003 0.025 -5.653 -0.004 -5.688 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.296, 0.835, 0.446] + !! OVERLAP: desk <-> bookshelf depth=[0.193, 0.835, 0.265] + !! OVERLAP: desk <-> floor depth=[1.184, -0.000, 0.488] + !! OVERLAP: chair <-> floor depth=[0.431, -0.000, 0.513] + !! OVERLAP: bookshelf <-> floor depth=[1.489, -0.000, 0.265] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.1568 (C1 Heatmap: 0.0595, C2 Repulsion: 0.5462), Relational Loss: 0.0128 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.271 1.345 0.073 -0.204 0.019 -0.742 -9.62° +chair 0.182 0.745 0.294 -0.499 -0.006 -0.172 -179.95° +lamp -0.185 0.544 0.459 -0.012 1.901 -0.187 -89.00° +floor 2.095 0.012 2.711 -0.130 -0.003 -0.170 -0.45° +_scene_ -0.072 0.256 -0.099 -3.382 1.235 -3.197 -69.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.271, 0.012, 0.073] + !! OVERLAP: chair <-> floor depth=[0.182, 0.012, 0.294] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0724, Walkable Loss: 0.2631 (C1 Heatmap: 0.1102, C2 Repulsion: 0.8746), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.948 0.716 0.445 -0.115 -0.001 -0.601 0.07° +bookshelf 0.824 2.237 0.355 -0.861 -0.001 -0.269 89.65° +lamp 0.536 0.574 0.558 0.004 2.344 -0.099 -0.03° +floor 2.385 0.000 3.007 -0.008 -0.000 -0.071 -0.06° +_scene_ 0.041 0.170 0.044 -4.481 -0.007 -4.667 -60.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.140, 0.716, 0.068] + !! OVERLAP: desk <-> floor depth=[0.948, 0.000, 0.445] + !! OVERLAP: bookshelf <-> floor depth=[0.752, 0.000, 0.355] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2718 (C1 Heatmap: 0.1723, C2 Repulsion: 0.6702), Relational Loss: 0.0281 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.755 1.509 0.408 -0.303 -0.000 -1.084 0.04° +chair 0.519 0.832 0.342 -0.629 0.010 -0.185 -179.72° +lamp 0.457 0.314 0.451 -0.046 2.338 0.090 -0.06° +floor 2.425 -0.001 3.223 -0.047 -0.002 0.005 -0.04° +_scene_ 0.092 -0.004 0.074 -5.589 0.012 -5.614 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.755, -0.001, 0.408] + !! OVERLAP: chair <-> floor depth=[0.519, -0.001, 0.342] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8633 (C1 Heatmap: 0.4102, C2 Repulsion: 2.6757), Relational Loss: 0.0211 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.220 2.345 0.211 -0.173 0.002 1.314 180.00° +desk 1.414 0.689 0.466 0.719 -0.012 -0.017 -0.34° +chair 0.385 1.002 0.374 0.846 0.000 0.750 -179.94° +chair 0.528 1.049 0.515 -0.753 -0.001 -1.339 68.02° +chair 0.481 0.974 0.534 1.102 0.001 -1.345 0.08° +table 0.455 0.552 0.487 0.143 0.003 -1.297 -0.02° +lamp 0.582 0.702 0.574 0.096 1.910 -0.315 -0.01° +floor 3.212 0.000 3.249 0.047 0.001 -0.012 -0.02° +_scene_ 0.068 0.000 0.022 -5.671 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.220, 0.000, 0.211] + !! OVERLAP: desk <-> floor depth=[1.414, 0.000, 0.466] + !! OVERLAP: chair <-> floor depth=[0.385, 0.000, 0.374] + !! OVERLAP: chair <-> floor depth=[0.528, 0.000, 0.515] + !! OVERLAP: chair <-> floor depth=[0.481, 0.000, 0.534] + !! OVERLAP: table <-> floor depth=[0.455, 0.000, 0.487] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0598, Walkable Loss: 0.5147 (C1 Heatmap: 0.2963, C2 Repulsion: 1.3881), Relational Loss: 0.0178 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.584 0.785 0.610 0.115 0.003 -0.530 89.99° +bookshelf 0.758 2.607 -0.224 -0.762 0.021 -0.831 0.98° +bookshelf 0.223 2.326 0.220 1.069 0.001 -0.619 -89.81° +bookshelf 1.693 2.088 0.337 0.234 0.001 1.362 -179.97° +floor 2.385 0.004 3.577 -0.072 0.002 -0.220 -0.03° +_scene_ 0.069 0.213 0.279 -2.677 0.011 -2.902 -80.10° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.584, 0.004, 0.610] + !! OVERLAP: bookshelf <-> floor depth=[0.758, 0.004, -0.224] + !! OVERLAP: bookshelf <-> floor depth=[0.163, 0.004, 0.220] + !! OVERLAP: bookshelf <-> floor depth=[1.693, 0.004, 0.337] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4182 (C1 Heatmap: 0.2611, C2 Repulsion: 1.0464), Relational Loss: 0.0557 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.402 0.687 -0.384 0.678 -0.082 0.091 0.42° +chair 0.403 0.918 0.420 0.520 0.002 -0.567 89.97° +wardrobe 1.405 2.073 0.264 -1.236 0.003 0.983 179.99° +wardrobe 0.699 2.313 0.632 -1.682 -0.012 -0.448 89.76° +wardrobe 0.834 2.081 0.364 1.544 -0.000 -0.665 -90.12° +wardrobe 0.748 2.008 0.202 1.619 0.008 0.466 -90.10° +lamp 0.509 0.157 0.521 0.119 2.746 -0.124 -0.07° +floor 4.138 -0.002 3.322 -0.053 0.000 -0.051 -0.07° +_scene_ 0.046 0.000 0.020 -5.670 -0.006 -5.704 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.402, -0.002, -0.384] + !! OVERLAP: chair <-> floor depth=[0.403, -0.002, 0.420] + !! OVERLAP: wardrobe <-> floor depth=[1.405, -0.002, 0.264] + !! OVERLAP: wardrobe <-> floor depth=[0.699, -0.002, 0.632] + !! OVERLAP: wardrobe <-> floor depth=[0.834, -0.002, 0.364] + !! OVERLAP: wardrobe <-> floor depth=[0.748, -0.002, 0.202] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.1252 (C1 Heatmap: 0.0964, C2 Repulsion: 0.2408), Relational Loss: 0.0234 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.501 0.805 0.523 -0.200 -0.001 1.014 -179.88° +chair 0.655 0.842 0.679 -0.864 0.001 0.016 0.02° +lamp 0.439 0.712 0.432 1.211 2.114 -0.031 179.57° +lamp 0.343 0.684 0.362 -0.152 1.797 -0.077 -0.01° +floor 3.314 0.003 3.813 0.285 0.001 -0.417 -0.01° +_scene_ 0.064 0.002 0.026 -5.654 -0.004 -5.690 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.501, 0.003, 0.523] + !! OVERLAP: chair <-> floor depth=[0.655, 0.003, 0.679] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.0062, Room Outer Loss: 0.0137, Walkable Loss: 0.7553 (C1 Heatmap: 0.1020, C2 Repulsion: 3.3685), Relational Loss: 0.0045 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.466 2.506 -0.496 -0.315 0.017 0.027 -90.82° +bookshelf 1.120 2.330 -0.619 -0.083 0.012 0.345 -90.56° +bookshelf 1.456 2.520 0.118 0.171 -0.016 0.180 -90.56° +bookshelf 1.307 2.347 -0.633 0.097 -0.052 0.203 -88.38° +desk 0.689 0.780 0.087 -0.714 0.016 -0.019 89.28° +floor 1.971 0.008 3.508 -0.100 0.014 0.007 -0.15° +_scene_ 0.213 0.339 1.745 -3.234 -0.029 -3.119 -83.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.466, 0.008, -0.496] + !! OVERLAP: bookshelf <-> floor depth=[1.120, 0.008, -0.619] + !! OVERLAP: bookshelf <-> floor depth=[1.442, 0.008, 0.118] + !! OVERLAP: bookshelf <-> floor depth=[1.307, 0.008, -0.633] + !! OVERLAP: desk <-> floor depth=[0.689, 0.008, 0.087] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3582 (C1 Heatmap: 0.1943, C2 Repulsion: 1.0134), Relational Loss: 0.0080 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.234 0.695 0.512 0.225 -0.005 -1.149 -89.82° +chair 0.462 0.934 0.532 -0.443 -0.000 -0.974 -152.43° +bookshelf 0.867 2.018 0.476 0.731 0.000 0.741 -90.17° +lamp 1.181 1.237 1.161 -0.146 1.537 0.058 0.06° +floor 2.387 0.002 3.809 0.005 0.002 0.010 -0.00° +_scene_ 0.064 0.001 0.017 -5.657 -0.004 -5.702 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.179, 0.695, 0.347] + !! OVERLAP: desk <-> floor depth=[1.234, 0.002, 0.512] + !! OVERLAP: chair <-> floor depth=[0.462, 0.002, 0.532] + !! OVERLAP: bookshelf <-> lamp depth=[0.148, 0.091, 0.136] + !! OVERLAP: bookshelf <-> floor depth=[0.867, 0.002, 0.476] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2924 (C1 Heatmap: 0.2259, C2 Repulsion: 0.5585), Relational Loss: 0.0196 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.402 0.715 0.563 -0.299 0.008 -0.455 0.08° +bookshelf 0.835 2.417 0.342 -1.078 0.000 1.256 -179.89° +bookshelf 0.744 2.282 0.296 0.812 -0.000 1.239 -179.98° +bookshelf 0.496 2.302 0.239 -0.140 0.002 1.337 -179.98° +lamp 0.881 0.160 0.831 -0.395 2.523 -0.096 -0.05° +floor 3.656 0.000 2.927 -0.096 0.001 0.044 -0.06° +_scene_ 0.019 -0.006 -0.001 -5.637 -0.001 -5.675 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.402, 0.000, 0.563] + !! OVERLAP: bookshelf <-> floor depth=[0.835, 0.000, 0.342] + !! OVERLAP: bookshelf <-> floor depth=[0.744, 0.000, 0.296] + !! OVERLAP: bookshelf <-> floor depth=[0.496, 0.000, 0.239] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.1201, Walkable Loss: 1.3944 (C1 Heatmap: 0.3816, C2 Repulsion: 5.4456), Relational Loss: 0.0360 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.919 2.078 -0.537 -1.017 -0.024 0.193 90.34° +bookshelf 1.564 2.055 -0.044 -0.564 -0.006 0.869 -179.93° +bookshelf 1.251 2.206 -0.257 -1.335 -0.022 0.334 90.37° +bookshelf 1.256 2.005 -0.092 -1.288 0.073 0.114 89.51° +bookshelf 1.601 2.050 0.296 0.643 -0.001 -0.948 0.05° +bookshelf 1.708 2.034 0.162 0.459 -0.005 -1.159 0.09° +desk 1.540 2.658 -0.098 0.156 -0.040 0.164 -179.56° +lamp 0.675 0.442 0.657 0.037 2.230 -0.014 -0.02° +floor 3.713 0.004 3.013 -0.021 0.000 0.010 -0.06° +_scene_ 0.148 0.324 0.979 -2.812 1.010 -1.925 -82.93° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.919, 0.004, -0.537] + !! OVERLAP: bookshelf <-> floor depth=[1.564, 0.004, -0.044] + !! OVERLAP: bookshelf <-> floor depth=[1.169, 0.004, -0.257] + !! OVERLAP: bookshelf <-> floor depth=[1.218, 0.004, -0.092] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.471, 2.034, 0.019] + !! OVERLAP: bookshelf <-> floor depth=[1.601, 0.004, 0.296] + !! OVERLAP: bookshelf <-> floor depth=[1.708, 0.004, 0.162] + !! OVERLAP: desk <-> floor depth=[1.540, 0.004, -0.098] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0130, Room Outer Loss: 0.0688, Walkable Loss: 0.4401 (C1 Heatmap: 0.2036, C2 Repulsion: 1.3861), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.174 2.289 0.305 0.898 -0.008 0.394 -90.21° +desk 1.201 1.015 0.516 -0.426 0.002 -0.249 90.07° +chair 0.498 0.804 0.542 0.751 0.001 -0.351 -90.08° +lamp 0.443 0.603 0.416 0.108 1.995 0.067 -0.03° +floor 2.848 0.000 3.406 -0.008 -0.000 -0.026 0.00° +_scene_ 0.066 -0.001 0.044 -5.647 -0.004 -5.687 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.105, 0.000, 0.305] + !! OVERLAP: desk <-> floor depth=[1.201, 0.000, 0.516] + !! OVERLAP: chair <-> floor depth=[0.498, 0.000, 0.542] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0387, Walkable Loss: 1.0323 (C1 Heatmap: 0.5127, C2 Repulsion: 3.1107), Relational Loss: 0.0174 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.923 2.550 -0.119 -0.013 0.034 0.924 -179.51° +bookshelf 2.928 2.549 -0.156 -0.031 0.011 0.780 178.94° +desk 1.673 0.747 0.098 0.319 0.012 0.522 -179.88° +chair 0.390 0.741 0.412 -0.102 -0.002 -0.825 -0.04° +floor 2.936 -0.005 3.444 0.002 0.000 -0.028 -0.02° +_scene_ 0.072 0.003 0.028 -5.672 -0.007 -5.696 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.914, -0.005, -0.119] + !! OVERLAP: bookshelf <-> floor depth=[2.899, -0.005, -0.156] + !! OVERLAP: desk <-> floor depth=[1.673, -0.005, 0.098] + !! OVERLAP: chair <-> floor depth=[0.390, -0.005, 0.412] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0799, Walkable Loss: 0.4309 (C1 Heatmap: 0.2653, C2 Repulsion: 1.0934), Relational Loss: 0.0189 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.421 0.830 0.690 0.240 -0.008 -0.982 0.34° +bookshelf 0.535 1.950 0.149 0.988 -0.009 1.370 -179.91° +bookshelf 0.598 2.065 0.236 0.153 0.006 1.127 179.90° +chair 0.438 0.717 0.512 -0.447 0.000 -0.043 0.12° +bookshelf 0.523 2.076 0.373 -1.466 0.002 -1.157 90.01° +bookshelf 0.574 2.043 0.230 -0.738 0.007 1.234 -179.94° +lamp 0.603 0.121 0.594 0.134 2.434 0.012 -0.02° +floor 3.216 -0.001 3.002 -0.039 0.001 -0.025 -0.03° +_scene_ 0.063 0.055 0.161 -5.505 -0.010 -5.560 -59.61° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.421, -0.001, 0.690] + !! OVERLAP: bookshelf <-> floor depth=[0.535, -0.001, 0.149] + !! OVERLAP: bookshelf <-> floor depth=[0.598, -0.001, 0.236] + !! OVERLAP: chair <-> floor depth=[0.438, -0.001, 0.512] + !! OVERLAP: bookshelf <-> floor depth=[0.443, -0.001, 0.373] + !! OVERLAP: bookshelf <-> floor depth=[0.574, -0.001, 0.230] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5688 (C1 Heatmap: 0.2025, C2 Repulsion: 2.0344), Relational Loss: 0.0125 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.377 0.755 0.641 0.404 -0.003 -0.172 -90.22° +chair 0.480 0.880 0.503 -0.219 -0.002 -0.147 90.03° +bookshelf 0.731 1.785 0.293 0.878 0.002 0.154 -89.90° +lamp 0.617 0.439 0.630 -0.167 2.266 -0.116 -0.08° +floor 2.593 -0.001 2.556 -0.040 0.001 -0.028 -0.03° +_scene_ 0.070 -0.001 0.033 -5.639 -0.003 -5.691 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.305, 0.755, 0.503] + !! OVERLAP: desk <-> bookshelf depth=[0.580, 0.755, 0.140] + !! OVERLAP: desk <-> floor depth=[1.377, -0.001, 0.641] + !! OVERLAP: chair <-> floor depth=[0.480, -0.001, 0.503] + !! OVERLAP: bookshelf <-> floor depth=[0.731, -0.001, 0.293] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4125 (C1 Heatmap: 0.2691, C2 Repulsion: 0.9862), Relational Loss: 0.0012 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.227 0.796 0.461 0.341 -0.001 0.641 179.94° +chair 0.426 0.935 0.405 -0.134 0.001 -0.203 9.48° +bookshelf 1.942 2.440 0.296 0.086 0.000 -1.252 0.02° +lamp 1.082 0.887 1.059 -0.066 1.940 0.152 0.01° +floor 2.730 -0.002 2.838 0.005 0.001 -0.023 0.00° +_scene_ 0.030 0.001 0.017 -5.645 -0.005 -5.693 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.227, -0.002, 0.461] + !! OVERLAP: chair <-> floor depth=[0.426, -0.002, 0.405] + !! OVERLAP: bookshelf <-> floor depth=[1.942, -0.002, 0.296] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0340, Room Outer Loss: 0.0160, Walkable Loss: 1.0528 (C1 Heatmap: 0.5910, C2 Repulsion: 2.8998), Relational Loss: 0.0061 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.073 0.790 0.669 -0.115 0.000 -0.336 0.02° +chair 0.320 0.884 0.211 -0.058 -0.002 0.369 -150.67° +bookshelf 2.616 2.467 0.273 -0.023 0.001 1.693 179.98° +bookshelf 2.526 2.505 0.340 0.058 -0.001 1.411 -179.89° +lamp 1.011 0.782 0.978 0.066 1.988 -0.117 0.00° +floor 2.851 0.001 3.566 -0.030 0.001 0.030 -0.01° +_scene_ 0.071 0.001 0.044 -5.671 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.073, 0.001, 0.669] + !! OVERLAP: chair <-> floor depth=[0.320, 0.001, 0.211] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.491, 2.467, 0.025] + !! OVERLAP: bookshelf <-> floor depth=[2.616, 0.001, 0.257] + !! OVERLAP: bookshelf <-> floor depth=[2.526, 0.001, 0.340] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3150 (C1 Heatmap: 0.1445, C2 Repulsion: 0.9970), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.091 1.193 0.617 0.430 0.012 0.027 -90.11° +chair 0.574 0.790 0.596 1.076 0.001 -0.165 89.76° +lamp 0.540 0.291 0.540 -0.122 2.291 0.179 -0.02° +floor 2.823 -0.002 3.146 -0.009 -0.000 -0.030 0.00° +_scene_ 0.059 0.006 0.039 -5.646 -0.003 -5.658 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.186, 0.790, 0.414] + !! OVERLAP: desk <-> floor depth=[1.091, -0.002, 0.617] + !! OVERLAP: chair <-> floor depth=[0.574, -0.002, 0.596] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5599 (C1 Heatmap: 0.1198, C2 Repulsion: 2.3202), Relational Loss: 0.0268 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.890 2.092 0.132 -0.118 -0.063 -0.271 91.64° +desk 1.443 0.662 -0.141 -0.361 0.020 -0.835 -1.27° +chair 0.602 0.803 0.575 -0.728 0.001 -0.252 89.89° +lamp 0.585 0.252 0.625 -0.033 2.451 -0.008 -0.03° +floor 2.269 0.003 3.187 -0.005 0.001 0.053 -0.01° +_scene_ 0.064 0.001 0.022 -5.668 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> chair depth=[0.135, 0.803, 0.132] + !! OVERLAP: wardrobe <-> floor depth=[0.890, 0.003, 0.132] + !! OVERLAP: desk <-> floor depth=[1.443, 0.003, -0.141] + !! OVERLAP: chair <-> floor depth=[0.602, 0.003, 0.575] +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7921 (C1 Heatmap: 0.3748, C2 Repulsion: 2.4611), Relational Loss: 0.0418 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.349 2.601 -0.003 0.705 0.007 -1.113 0.30° +bookshelf 1.948 2.416 0.130 -0.748 -0.003 -1.554 0.05° +desk 1.153 0.797 0.323 0.203 0.007 0.197 179.89° +chair 0.313 1.015 0.449 0.281 0.005 -0.506 0.21° +table 0.931 0.919 0.245 1.747 0.001 -0.064 -90.22° +chair 0.659 0.934 0.751 -1.352 0.000 1.214 167.28° +lamp 0.389 0.938 0.410 -0.200 2.037 0.202 -0.07° +floor 4.638 -0.003 3.367 0.005 -0.000 -0.003 -0.02° +_scene_ 0.069 0.001 0.022 -5.669 -0.004 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.349, -0.003, -0.003] + !! OVERLAP: bookshelf <-> floor depth=[1.948, -0.003, 0.130] + !! OVERLAP: desk <-> floor depth=[1.153, -0.003, 0.323] + !! OVERLAP: chair <-> floor depth=[0.313, -0.003, 0.449] + !! OVERLAP: table <-> floor depth=[0.931, -0.003, 0.245] + !! OVERLAP: chair <-> floor depth=[0.659, -0.003, 0.751] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0156, Walkable Loss: 0.5394 (C1 Heatmap: 0.4424, C2 Repulsion: 0.9275), Relational Loss: 0.0225 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.527 0.740 0.536 0.019 2.061 -0.002 -0.03° +desk 1.288 0.751 0.505 -0.296 0.004 -1.305 0.01° +bookshelf 2.577 1.589 0.279 0.569 -0.003 1.397 179.82° +chair 0.492 0.944 0.544 -1.085 -0.006 -0.164 131.35° +chair 0.456 0.969 0.607 1.322 -0.002 -0.753 -89.39° +table 0.442 0.705 0.459 1.455 0.000 0.262 -179.95° +floor 3.721 -0.001 3.083 0.031 0.001 -0.000 -0.03° +_scene_ 0.078 0.004 0.026 -5.671 -0.003 -5.708 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.288, -0.001, 0.489] + !! OVERLAP: bookshelf <-> floor depth=[2.577, -0.001, 0.279] + !! OVERLAP: chair <-> floor depth=[0.492, -0.001, 0.544] + !! OVERLAP: chair <-> floor depth=[0.456, -0.001, 0.607] + !! OVERLAP: table <-> floor depth=[0.442, -0.001, 0.459] +============================================================ + diff --git a/current_works/work_43/2050/echoscene/Bedroom-11202_echoscene.glb b/current_works/work_43/2050/echoscene/Bedroom-11202_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..3ddce117aaacd84acfef48901f5e6b28b2489e0c --- /dev/null +++ b/current_works/work_43/2050/echoscene/Bedroom-11202_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fced6ce98efa85e60b50698efcd31b1f4e0db507f5b7a8ecb04070a3a6c94bd +size 1834496 diff --git a/current_works/work_43/2050/echoscene/Bedroom-12864_echoscene.glb b/current_works/work_43/2050/echoscene/Bedroom-12864_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..4b89889216ba195bcebbc3f75f0fb21fa06eec5f --- /dev/null +++ b/current_works/work_43/2050/echoscene/Bedroom-12864_echoscene.glb @@ -0,0 +1,3 @@ +version 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