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b/current_works/work_27_2/2050/._relational_accuracy_report.txt differ diff --git a/current_works/work_27_2/2050/._work27_2_evaluation_summary.txt b/current_works/work_27_2/2050/._work27_2_evaluation_summary.txt new file mode 100644 index 0000000000000000000000000000000000000000..02ea2ee7e1b738312b71185dbfe841d481834af9 Binary files /dev/null and b/current_works/work_27_2/2050/._work27_2_evaluation_summary.txt differ diff --git a/current_works/work_27_2/2050/debug_bbox.txt b/current_works/work_27_2/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..59a69af27414b7e5a1472761e423ed07b425cc45 --- /dev/null +++ b/current_works/work_27_2/2050/debug_bbox.txt @@ -0,0 +1,11104 @@ + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 2.1175 (C1 Heatmap: 0.6582, C2 Repulsion: 7.9548), Relational Loss: 0.0160 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.766 0.885 0.756 -1.891 0.004 2.269 90.09° +chair 0.951 0.789 0.791 -0.476 -0.003 4.105 179.86° +table 1.122 0.443 0.967 0.007 -0.003 2.519 90.01° +table 0.388 0.739 0.284 -2.019 -0.004 3.965 89.82° +table 0.510 0.551 0.455 -1.826 0.001 0.932 90.04° +table 0.384 0.499 0.387 -1.776 0.005 3.269 90.07° +table 1.418 0.750 -0.039 -1.490 -0.033 -2.278 -0.88° +chair 0.450 1.020 0.476 -1.937 -0.002 -3.119 -0.24° +chair 0.360 1.130 0.452 -0.898 -0.005 -3.029 -0.08° +chair 0.408 1.135 0.472 -0.137 0.000 -2.297 -179.88° +chair 0.475 1.147 0.584 -2.187 -0.004 -1.584 -179.94° +chair 0.399 1.145 0.424 -0.864 -0.003 -1.499 179.78° +table 1.553 0.761 0.538 -1.202 0.001 -0.737 0.15° +table 0.448 0.509 0.375 -2.077 0.000 -0.135 90.09° +table 0.797 0.976 0.410 -1.126 0.010 -4.025 -89.60° +chair 0.589 0.482 0.529 -0.552 -0.002 0.933 4.31° +lamp 0.935 1.043 0.911 -0.555 1.696 2.259 0.03° +lamp 0.575 0.599 0.455 -0.643 2.168 0.157 90.11° +lamp 0.489 0.163 0.466 1.034 2.483 -0.094 -0.09° +lamp 0.474 0.710 0.475 -1.610 2.155 -2.026 -0.02° +lamp 0.880 0.788 0.472 0.275 2.189 -4.045 90.03° +floor 5.092 0.003 9.964 -0.320 0.000 0.141 -0.01° +_scene_ 0.072 0.000 0.026 -5.661 -0.005 -5.706 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.766, 0.003, 0.756] + !! OVERLAP: chair <-> floor depth=[0.951, 0.003, 0.791] + !! OVERLAP: table <-> floor depth=[1.122, 0.003, 0.967] + !! OVERLAP: table <-> floor depth=[0.388, 0.003, 0.284] + !! OVERLAP: table <-> floor depth=[0.510, 0.003, 0.455] + !! OVERLAP: table <-> floor depth=[0.384, 0.003, 0.387] + !! OVERLAP: table <-> floor depth=[1.418, 0.003, -0.039] + !! OVERLAP: chair <-> floor depth=[0.450, 0.003, 0.476] + !! OVERLAP: chair <-> floor depth=[0.360, 0.003, 0.452] + !! OVERLAP: chair <-> floor depth=[0.408, 0.003, 0.472] + !! OVERLAP: chair <-> floor depth=[0.475, 0.003, 0.584] + !! OVERLAP: chair <-> floor depth=[0.399, 0.003, 0.424] + !! OVERLAP: table <-> floor depth=[1.553, 0.003, 0.538] + !! OVERLAP: table <-> floor depth=[0.448, 0.003, 0.375] + !! OVERLAP: table <-> floor depth=[0.797, 0.003, 0.410] + !! OVERLAP: chair <-> floor depth=[0.589, 0.003, 0.529] +============================================================ + + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0224, Room Outer Loss: 0.5314, Walkable Loss: 3.1086 (Center Penalty: 0.9407, C1 Heatmap: 1.1482, C2 Repulsion: 6.2469), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.124 1.049 0.475 -2.378 -0.000 -1.321 -0.01° +nightstand 0.569 0.578 0.388 0.274 -0.001 -1.335 0.08° +chair 0.478 0.446 0.515 -2.138 -0.001 -0.745 -89.92° +bed 2.028 1.454 2.178 -0.999 -0.002 -0.348 -0.02° +cabinet 0.840 1.032 0.424 -2.148 0.002 1.210 -179.98° +lamp 0.713 0.868 0.699 -1.153 1.942 0.057 -0.02° +wardrobe 3.162 2.359 0.598 0.792 -0.001 0.218 -90.11° +floor 5.895 0.001 2.944 -0.661 -0.002 0.196 -0.00° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.197, 1.049, 0.353] + !! OVERLAP: table <-> floor depth=[1.124, 0.001, 0.193] + !! OVERLAP: nightstand <-> bed depth=[0.026, 0.578, 0.295] + !! OVERLAP: nightstand <-> floor depth=[0.569, 0.001, 0.135] + !! OVERLAP: chair <-> bed depth=[0.114, 0.446, 0.515] + !! OVERLAP: chair <-> floor depth=[0.478, 0.001, 0.515] + !! OVERLAP: bed <-> wardrobe depth=[0.804, 1.454, 0.598] + !! OVERLAP: bed <-> floor depth=[2.028, 0.001, 2.018] + !! OVERLAP: cabinet <-> floor depth=[0.840, 0.001, 0.424] + !! OVERLAP: wardrobe <-> floor depth=[3.074, 0.001, 0.598] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0832, Room Outer Loss: 0.6530, Walkable Loss: 3.8694 (Center Penalty: 1.3165, C1 Heatmap: 1.3115, C2 Repulsion: 7.5183), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.099 1.384 2.003 0.624 -0.002 0.491 -90.00° +wardrobe 2.043 2.415 0.554 0.526 -0.001 -1.617 0.08° +wardrobe 2.390 2.331 0.572 0.236 0.000 -1.172 0.01° +nightstand 0.503 0.637 0.490 1.560 0.001 1.691 -90.13° +nightstand 0.761 0.605 0.397 1.453 0.001 -1.114 -89.99° +tv_stand 2.410 0.461 0.553 -1.255 0.000 0.503 89.97° +floor 3.651 -0.000 4.631 -0.098 0.000 0.032 -0.01° +_scene_ 0.075 -0.001 0.024 -5.669 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.365, 0.637, 0.047] + !! OVERLAP: bed <-> tv_stand depth=[0.375, 0.461, 0.553] + !! OVERLAP: bed <-> floor depth=[2.099, -0.000, 2.003] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.927, 2.331, 0.117] + !! OVERLAP: wardrobe <-> floor depth=[2.043, -0.000, 0.554] + !! OVERLAP: wardrobe <-> nightstand depth=[0.358, 0.605, 0.397] + !! OVERLAP: wardrobe <-> floor depth=[2.390, -0.000, 0.572] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.000, 0.490] + !! OVERLAP: nightstand <-> floor depth=[0.655, -0.000, 0.397] + !! OVERLAP: tv_stand <-> floor depth=[1.874, -0.000, 0.553] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0017, Room Outer Loss: 0.0280, Walkable Loss: 3.6737 (Center Penalty: 2.8227, C1 Heatmap: 0.6697, C2 Repulsion: 1.5764), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.263 1.051 2.261 0.277 -0.001 0.132 -90.00° +nightstand 0.492 0.579 0.416 1.287 0.001 1.447 -89.96° +nightstand 0.480 0.484 0.394 1.276 0.000 -1.212 -90.06° +lamp 0.582 0.843 0.525 -0.006 2.094 0.092 0.00° +floor 2.997 -0.002 3.317 -0.004 0.001 -0.012 -0.02° +_scene_ 0.069 0.002 0.020 -5.664 -0.004 -5.706 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.368, 0.579, 0.023] + !! OVERLAP: bed <-> floor depth=[2.263, -0.002, 2.261] + !! OVERLAP: nightstand <-> floor depth=[0.454, -0.002, 0.407] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.002, 0.394] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.1130, Room Outer Loss: 0.1638, Walkable Loss: 3.2432 (Center Penalty: 1.9287, C1 Heatmap: 0.8161, C2 Repulsion: 3.3079), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.799 0.961 2.277 -0.646 0.001 -0.778 0.05° +chair 0.762 0.866 0.826 -1.367 0.002 1.724 139.40° +nightstand 0.705 0.753 0.477 -1.446 -0.000 -1.281 0.04° +table 0.745 0.684 0.642 -1.112 -0.002 1.833 89.86° +wardrobe 1.206 2.214 0.523 1.166 0.004 -0.522 -90.09° +lamp 0.587 0.367 0.463 -0.203 2.563 0.171 -0.04° +floor 3.558 -0.001 4.656 -0.051 -0.000 -0.020 -0.01° +_scene_ 0.070 0.001 0.022 -5.671 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.452, 0.753, 0.477] + !! OVERLAP: bed <-> floor depth=[1.799, -0.001, 2.277] + !! OVERLAP: chair <-> table depth=[0.498, 0.684, 0.626] + !! OVERLAP: chair <-> floor depth=[0.762, -0.001, 0.826] + !! OVERLAP: nightstand <-> floor depth=[0.705, -0.001, 0.477] + !! OVERLAP: table <-> floor depth=[0.745, -0.001, 0.642] + !! OVERLAP: wardrobe <-> floor depth=[1.165, -0.001, 0.523] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4024, Walkable Loss: 3.8821 (Center Penalty: 2.3936, C1 Heatmap: 0.7633, C2 Repulsion: 4.3896), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.944 2.234 2.041 -0.525 -0.000 0.265 89.89° +cabinet 1.152 0.932 0.433 -0.871 0.002 -1.799 0.02° +table 1.168 1.602 0.622 1.315 -0.001 1.315 -89.99° +lamp 0.167 0.775 0.193 0.382 0.851 1.659 0.00° +lamp 0.757 0.766 0.706 0.039 1.845 0.235 0.05° +nightstand 0.433 0.630 0.396 -1.331 0.001 1.425 90.01° +nightstand 0.596 0.699 0.438 -1.173 0.001 -1.121 89.98° +floor 3.090 0.001 4.537 -0.030 -0.000 0.029 -0.03° +_scene_ 0.069 0.000 0.023 -5.672 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.382, 0.630, 0.059] + !! OVERLAP: bed <-> floor depth=[1.944, 0.001, 2.041] + !! OVERLAP: cabinet <-> floor depth=[1.152, 0.001, 0.433] + !! OVERLAP: table <-> floor depth=[0.785, 0.001, 0.622] + !! OVERLAP: nightstand <-> floor depth=[0.433, 0.001, 0.396] + !! OVERLAP: nightstand <-> floor depth=[0.596, 0.001, 0.438] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.0720, Room Outer Loss: 0.2258, Walkable Loss: 3.9752 (Center Penalty: 2.0622, C1 Heatmap: 0.9080, C2 Repulsion: 5.9330), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.859 0.918 2.104 -0.043 0.002 -0.114 0.02° +nightstand 0.599 0.543 0.523 -1.159 0.002 -0.873 -0.04° +nightstand 0.480 0.547 0.439 0.934 0.002 -0.545 0.22° +wardrobe 1.873 2.257 0.707 -1.542 -0.001 -0.252 89.96° +desk 1.382 1.109 0.681 1.556 0.000 0.109 -90.07° +floor 4.324 0.001 2.681 -0.018 -0.000 0.011 -0.07° +_scene_ 0.055 0.003 0.015 -5.671 -0.004 -5.718 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.112, 0.543, 0.523] + !! OVERLAP: bed <-> nightstand depth=[0.193, 0.547, 0.439] + !! OVERLAP: bed <-> wardrobe depth=[0.366, 0.918, 0.707] + !! OVERLAP: bed <-> desk depth=[0.022, 0.918, 0.681] + !! OVERLAP: bed <-> floor depth=[1.859, 0.001, 2.104] + !! OVERLAP: nightstand <-> floor depth=[0.599, 0.001, 0.523] + !! OVERLAP: nightstand <-> floor depth=[0.480, 0.001, 0.439] + !! OVERLAP: wardrobe <-> floor depth=[1.574, 0.001, 0.707] + !! OVERLAP: desk <-> floor depth=[1.279, 0.001, 0.681] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1613, Walkable Loss: 3.4777 (Center Penalty: 2.6457, C1 Heatmap: 0.8335, C2 Repulsion: 0.8260), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.891 0.948 2.459 0.177 0.001 -0.410 -90.09° +wardrobe 2.201 2.534 0.669 0.419 0.001 1.693 -179.90° +lamp 0.654 0.660 0.671 -0.023 1.940 -0.265 -0.01° +floor 2.686 -0.002 4.014 0.006 0.000 -0.057 0.01° +_scene_ 0.060 0.001 0.019 -5.672 -0.003 -5.705 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.891, -0.002, 2.459] + !! OVERLAP: wardrobe <-> floor depth=[2.030, -0.002, 0.591] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4011, Walkable Loss: 3.2394 (Center Penalty: 2.1360, C1 Heatmap: 0.8161, C2 Repulsion: 2.2527), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.844 0.849 2.063 -0.758 0.000 0.300 90.00° +wardrobe 1.872 2.302 0.661 -0.852 -0.001 -1.314 0.03° +nightstand 0.574 0.615 0.463 -1.555 0.001 1.558 89.99° +tv_stand 1.490 0.486 0.347 1.578 -0.000 0.426 -90.09° +lamp 0.734 0.754 0.761 -0.039 1.931 0.187 -0.01° +floor 3.685 0.000 4.236 -0.019 0.001 0.096 -0.06° +_scene_ 0.068 -0.001 0.024 -5.667 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.413, 0.615, 0.006] + !! OVERLAP: bed <-> floor depth=[1.844, 0.000, 2.063] + !! OVERLAP: wardrobe <-> floor depth=[1.872, 0.000, 0.661] + !! OVERLAP: nightstand <-> floor depth=[0.574, 0.000, 0.463] + !! OVERLAP: tv_stand <-> floor depth=[0.991, 0.000, 0.347] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.4584, Room Outer Loss: 0.7412, Walkable Loss: 4.6773 (Center Penalty: 2.7430, C1 Heatmap: 1.0544, C2 Repulsion: 5.4540), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.436 0.483 0.396 -1.275 -0.000 -1.506 0.05° +bookshelf 2.895 2.242 0.590 -0.714 0.011 -0.324 89.94° +table 0.826 1.262 0.354 -1.139 0.008 1.104 89.93° +bed 2.036 0.833 2.271 -0.288 0.005 0.137 89.91° +lamp 0.469 0.507 0.487 0.115 2.545 -0.422 -0.06° +chair 0.575 0.847 0.525 0.998 0.001 -0.660 -90.12° +floor 3.009 -0.002 3.445 -0.011 0.000 -0.022 -0.01° +_scene_ 0.067 0.001 0.019 -5.671 -0.004 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.436, -0.002, 0.396] + !! OVERLAP: bookshelf <-> bed depth=[2.036, 0.833, 0.590] + !! OVERLAP: bookshelf <-> chair depth=[0.022, 0.847, 0.221] + !! OVERLAP: bookshelf <-> floor depth=[2.249, -0.002, 0.590] + !! OVERLAP: table <-> bed depth=[0.580, 0.833, 0.346] + !! OVERLAP: table <-> floor depth=[0.790, -0.002, 0.354] + !! OVERLAP: bed <-> chair depth=[0.019, 0.833, 0.525] + !! OVERLAP: bed <-> floor depth=[2.036, -0.002, 2.271] + !! OVERLAP: chair <-> floor depth=[0.575, -0.002, 0.525] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0451, Room Outer Loss: 0.0000, Walkable Loss: 3.8757 (Center Penalty: 2.9188, C1 Heatmap: 0.7020, C2 Repulsion: 1.9764), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.179 1.465 2.233 -0.212 0.000 -0.015 89.92° +table 0.477 0.460 0.461 -1.194 0.003 1.045 89.99° +table 0.510 0.584 0.492 -1.137 -0.002 -1.336 0.04° +lamp 0.739 0.787 0.885 -0.057 2.109 0.020 0.03° +floor 2.875 -0.004 3.373 0.000 0.000 0.007 -0.01° +_scene_ 0.111 -0.000 0.156 -5.538 -0.001 -5.602 -57.50° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.346, 0.460, 0.287] + !! OVERLAP: bed <-> table depth=[0.419, 0.584, 0.042] + !! OVERLAP: bed <-> floor depth=[2.179, -0.004, 2.233] + !! OVERLAP: table <-> floor depth=[0.477, -0.004, 0.461] + !! OVERLAP: table <-> floor depth=[0.510, -0.004, 0.492] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0059, Room Outer Loss: 0.5742, Walkable Loss: 3.0606 (Center Penalty: 1.7037, C1 Heatmap: 0.9604, C2 Repulsion: 2.9428), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.119 0.677 1.897 -0.596 0.000 0.589 89.99° +nightstand 0.498 0.761 0.432 -1.456 -0.001 -0.529 90.04° +nightstand 0.478 0.694 0.476 -1.440 0.004 2.068 90.05° +wardrobe 2.303 2.550 0.605 -0.418 0.000 -1.967 0.03° +tv_stand 1.824 0.392 0.424 1.325 -0.002 0.772 -90.20° +lamp 0.843 0.881 0.783 -0.071 1.786 0.541 0.00° +floor 3.427 -0.001 4.970 0.082 -0.000 0.225 -0.07° +_scene_ 0.065 -0.000 0.019 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.449, 0.677, 0.046] + !! OVERLAP: bed <-> tv_stand depth=[0.051, 0.392, 0.424] + !! OVERLAP: bed <-> floor depth=[2.095, -0.001, 1.897] + !! OVERLAP: nightstand <-> floor depth=[0.425, -0.001, 0.432] + !! OVERLAP: nightstand <-> floor depth=[0.430, -0.001, 0.476] + !! OVERLAP: wardrobe <-> floor depth=[2.303, -0.001, 0.596] + !! OVERLAP: tv_stand <-> floor depth=[1.383, -0.001, 0.424] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0258, Room Outer Loss: 0.0956, Walkable Loss: 3.0013 (Center Penalty: 2.1267, C1 Heatmap: 0.6553, C2 Repulsion: 1.7516), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.922 1.061 2.309 -0.388 0.000 -0.374 -0.00° +nightstand 0.557 0.585 0.512 -1.599 0.001 -1.263 0.00° +nightstand 0.496 0.594 0.416 0.939 0.001 -1.384 0.04° +lamp 0.672 0.600 0.656 -0.438 2.475 0.010 -0.01° +floor 4.202 -0.002 2.965 -0.105 0.001 -0.042 -0.01° +_scene_ 0.068 0.001 0.019 -5.666 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.029, 0.585, 0.512] + !! OVERLAP: bed <-> floor depth=[1.922, -0.002, 2.305] + !! OVERLAP: nightstand <-> floor depth=[0.557, -0.002, 0.512] + !! OVERLAP: nightstand <-> floor depth=[0.496, -0.002, 0.349] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0784, Room Outer Loss: 0.2830, Walkable Loss: 3.2920 (Center Penalty: 2.5289, C1 Heatmap: 0.5839, C2 Repulsion: 1.4805), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.755 0.831 1.819 -0.436 0.001 -0.223 89.94° +nightstand 0.675 0.527 0.703 -1.388 0.003 -0.069 90.02° +desk 1.109 1.203 0.593 1.480 0.001 -0.200 -90.03° +lamp 0.363 0.374 0.380 -0.201 2.239 -0.131 90.22° +floor 3.470 0.000 3.001 -0.017 0.001 -0.022 -0.02° +_scene_ 0.073 0.000 0.023 -5.671 -0.005 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.263, 0.527, 0.703] + !! OVERLAP: bed <-> floor depth=[1.755, 0.000, 1.819] + !! OVERLAP: nightstand <-> floor depth=[0.675, 0.000, 0.703] + !! OVERLAP: desk <-> floor depth=[0.792, 0.000, 0.593] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0848, Room Outer Loss: 0.2259, Walkable Loss: 3.6372 (Center Penalty: 1.9815, C1 Heatmap: 0.8768, C2 Repulsion: 4.7718), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.789 1.267 2.374 0.659 -0.000 -0.476 -90.05° +nightstand 0.467 0.772 0.386 1.736 0.002 0.562 -90.04° +chair 1.302 0.576 0.665 0.037 -0.000 -1.148 -90.05° +wardrobe 1.079 2.304 0.521 1.161 -0.000 1.264 -179.93° +tv_stand 1.605 0.510 0.452 -1.117 -0.001 -1.080 0.19° +lamp 0.552 0.309 0.521 0.043 2.133 1.160 0.02° +lamp 0.605 0.102 0.625 0.206 2.479 -0.522 -0.03° +floor 3.683 -0.000 3.705 -0.004 -0.000 0.015 -0.01° +_scene_ 0.067 -0.001 0.021 -5.674 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.051, 0.772, 0.342] + !! OVERLAP: bed <-> chair depth=[0.923, 0.576, 0.665] + !! OVERLAP: bed <-> floor depth=[1.789, -0.000, 2.374] + !! OVERLAP: nightstand <-> floor depth=[0.335, -0.000, 0.386] + !! OVERLAP: chair <-> tv_stand depth=[0.299, 0.510, 0.452] + !! OVERLAP: chair <-> floor depth=[1.302, -0.000, 0.665] + !! OVERLAP: wardrobe <-> floor depth=[1.079, -0.000, 0.521] + !! OVERLAP: tv_stand <-> floor depth=[1.531, -0.000, 0.452] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0712, Room Outer Loss: 0.1285, Walkable Loss: 4.0744 (Center Penalty: 2.6453, C1 Heatmap: 1.0458, C2 Repulsion: 2.9622), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.636 1.742 2.537 -0.185 0.003 -0.422 0.03° +nightstand 0.636 0.565 0.408 -1.197 0.001 -1.481 -0.02° +nightstand 0.406 0.537 0.367 1.138 0.003 -1.440 -0.27° +wardrobe 2.291 2.249 0.673 -0.144 0.001 1.341 -179.96° +lamp 0.834 1.269 0.842 0.010 1.518 -0.136 0.01° +floor 3.231 -0.000 3.350 -0.008 0.000 -0.015 -0.02° +_scene_ 0.073 -0.001 0.025 -5.668 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.624, 0.565, 0.408] + !! OVERLAP: bed <-> nightstand depth=[0.198, 0.537, 0.367] + !! OVERLAP: bed <-> floor depth=[2.636, -0.000, 2.536] + !! OVERLAP: nightstand <-> floor depth=[0.636, -0.000, 0.408] + !! OVERLAP: nightstand <-> floor depth=[0.406, -0.000, 0.367] + !! OVERLAP: wardrobe <-> floor depth=[2.291, -0.000, 0.655] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.1964, Room Outer Loss: 0.7774, Walkable Loss: 4.6364 (Center Penalty: 2.9478, C1 Heatmap: 1.0309, C2 Repulsion: 4.3194), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.867 1.131 2.381 -0.714 0.002 -0.363 89.90° +nightstand 0.539 0.571 0.420 -1.568 0.002 1.022 89.98° +nightstand 0.615 0.503 0.487 -1.524 0.004 -1.099 89.86° +tv_stand 1.884 0.363 0.363 1.582 -0.002 -0.120 -90.03° +lamp 1.022 0.723 1.011 -0.045 1.804 -0.028 0.00° +chair 1.549 0.848 1.217 -0.196 -0.000 0.368 90.01° +floor 3.756 -0.002 3.496 -0.005 0.000 0.002 -0.02° +_scene_ 0.070 0.001 0.023 -5.673 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.349, 0.571, 0.015] + !! OVERLAP: bed <-> nightstand depth=[0.431, 0.503, 0.487] + !! OVERLAP: bed <-> chair depth=[1.191, 0.848, 1.067] + !! OVERLAP: bed <-> floor depth=[1.867, -0.002, 2.381] + !! OVERLAP: nightstand <-> floor depth=[0.539, -0.002, 0.420] + !! OVERLAP: nightstand <-> floor depth=[0.615, -0.002, 0.487] + !! OVERLAP: tv_stand <-> floor depth=[1.234, -0.002, 0.363] + !! OVERLAP: chair <-> floor depth=[1.549, -0.002, 1.217] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0532, Walkable Loss: 2.8714 (Center Penalty: 1.6231, C1 Heatmap: 0.7787, C2 Repulsion: 3.1272), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.897 1.030 2.066 0.470 0.001 -0.309 -90.02° +wardrobe 2.084 2.380 0.501 0.369 0.001 1.999 -180.00° +nightstand 0.566 0.559 0.480 1.073 -0.001 0.916 -90.14° +nightstand 0.624 0.611 0.479 1.006 0.000 -1.682 -89.95° +lamp 0.723 0.724 0.324 0.764 1.885 0.753 0.33° +lamp 0.373 0.835 0.379 0.899 1.637 -1.209 0.05° +floor 2.926 -0.000 4.437 0.014 0.000 0.029 -0.03° +_scene_ 0.082 -0.001 0.021 -5.674 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.566, 0.559, 0.048] + !! OVERLAP: bed <-> floor depth=[1.897, -0.000, 2.066] + !! OVERLAP: wardrobe <-> floor depth=[2.084, -0.000, 0.499] + !! OVERLAP: nightstand <-> floor depth=[0.566, -0.000, 0.480] + !! OVERLAP: nightstand <-> floor depth=[0.624, -0.000, 0.479] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0917, Walkable Loss: 2.6560 (Center Penalty: 1.5663, C1 Heatmap: 0.9470, C2 Repulsion: 1.6604), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.064 1.019 2.220 -0.456 0.000 0.668 -180.00° +tv_stand 2.317 0.621 0.491 -0.632 -0.001 -1.270 0.02° +wardrobe 1.373 2.351 0.618 1.436 -0.001 0.730 -90.05° +lamp 0.668 0.778 0.581 -0.485 1.851 0.539 179.91° +floor 4.345 -0.002 3.768 -0.056 -0.000 -0.000 -0.04° +_scene_ 0.070 0.001 0.021 -5.671 -0.005 -5.712 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.064, -0.002, 2.220] + !! OVERLAP: tv_stand <-> floor depth=[2.317, -0.002, 0.491] + !! OVERLAP: wardrobe <-> floor depth=[1.367, -0.002, 0.618] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0063, Room Outer Loss: 0.8799, Walkable Loss: 3.6743 (Center Penalty: 2.4078, C1 Heatmap: 0.8995, C2 Repulsion: 2.7345), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.582 2.267 0.624 1.334 -0.001 0.073 -90.08° +bed 1.806 1.071 2.284 -0.452 0.004 0.036 89.90° +nightstand 0.529 0.486 0.383 -1.436 0.002 -1.367 90.05° +nightstand 0.552 0.462 0.460 -1.407 0.001 1.077 90.02° +lamp 0.492 0.898 0.492 -0.424 1.954 -0.250 -0.05° +floor 3.459 -0.002 3.718 -0.037 0.000 0.026 -0.03° +_scene_ 0.068 0.000 0.017 -5.673 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.408, 1.071, 0.624] + !! OVERLAP: wardrobe <-> floor depth=[1.650, -0.002, 0.624] + !! OVERLAP: bed <-> nightstand depth=[0.224, 0.462, 0.331] + !! OVERLAP: bed <-> floor depth=[1.806, -0.002, 2.284] + !! OVERLAP: nightstand <-> floor depth=[0.529, -0.002, 0.383] + !! OVERLAP: nightstand <-> floor depth=[0.552, -0.002, 0.460] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0762, Room Outer Loss: 0.0000, Walkable Loss: 2.6108 (Center Penalty: 1.3277, C1 Heatmap: 0.9086, C2 Repulsion: 2.7809), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.801 0.640 1.006 1.024 0.001 -0.181 -0.02° +bed 2.133 1.150 2.293 -0.880 -0.001 0.209 89.88° +nightstand 0.667 0.728 0.503 -1.623 0.001 -1.330 90.00° +nightstand 0.579 0.586 0.431 -1.689 0.002 1.624 90.01° +floor 3.835 -0.003 4.294 -0.045 -0.000 -0.019 -0.02° +_scene_ 0.077 -0.000 0.030 -5.668 -0.006 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> bed depth=[0.063, 0.640, 1.006] + !! OVERLAP: sofa <-> floor depth=[1.750, -0.003, 1.006] + !! OVERLAP: bed <-> floor depth=[2.133, -0.003, 2.293] + !! OVERLAP: nightstand <-> floor depth=[0.667, -0.003, 0.503] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.003, 0.431] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0212, Room Outer Loss: 0.0157, Walkable Loss: 3.4144 (Center Penalty: 2.5358, C1 Heatmap: 0.6280, C2 Repulsion: 1.8810), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.118 0.897 2.124 -0.414 0.002 0.090 90.00° +nightstand 0.544 0.683 0.428 -1.166 0.001 -1.111 90.00° +nightstand 0.572 0.675 0.423 -1.248 0.001 1.466 89.99° +lamp 0.752 0.871 0.523 -0.053 1.841 0.254 -0.04° +floor 3.014 -0.002 4.356 0.099 -0.000 -0.009 -0.04° +_scene_ 0.069 -0.000 0.019 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.544, 0.683, 0.075] + !! OVERLAP: bed <-> floor depth=[2.053, -0.002, 2.124] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.002, 0.428] + !! OVERLAP: nightstand <-> floor depth=[0.447, -0.002, 0.423] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.0664 (Center Penalty: 1.9464, C1 Heatmap: 0.9508, C2 Repulsion: 1.7968), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.883 0.849 2.325 -0.334 -0.000 0.663 89.91° +nightstand 0.641 0.527 0.512 -1.252 0.002 1.968 90.00° +lamp 0.953 0.889 0.182 0.217 1.963 0.525 -0.01° +wardrobe 2.842 2.558 0.700 0.334 -0.001 -1.251 0.07° +floor 3.451 -0.004 4.581 0.124 -0.000 0.241 -0.06° +_scene_ 0.071 0.002 0.018 -5.674 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.343, 0.527, 0.114] + !! OVERLAP: bed <-> floor depth=[1.883, -0.004, 2.325] + !! OVERLAP: nightstand <-> floor depth=[0.641, -0.004, 0.512] + !! OVERLAP: wardrobe <-> floor depth=[2.842, -0.004, 0.700] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3092, Walkable Loss: 3.5021 (Center Penalty: 2.1398, C1 Heatmap: 1.1630, C2 Repulsion: 2.1594), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.594 0.548 0.590 0.337 2.382 -0.208 -0.01° +bed 2.238 1.152 2.233 0.710 0.002 -0.387 -89.99° +bookshelf 3.683 2.594 0.496 -0.206 0.010 1.433 179.91° +wardrobe 1.573 1.949 0.546 -1.319 0.001 -0.722 89.97° +floor 3.771 -0.001 4.464 -0.028 0.000 0.026 -0.03° +_scene_ 0.069 -0.000 0.022 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.238, -0.001, 2.233] + !! OVERLAP: bookshelf <-> floor depth=[3.549, -0.001, 0.496] + !! OVERLAP: wardrobe <-> floor depth=[1.381, -0.001, 0.546] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3937, Walkable Loss: 4.0367 (Center Penalty: 2.7865, C1 Heatmap: 0.7201, C2 Repulsion: 3.3706), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.356 2.377 0.590 1.682 -0.000 -0.432 -90.13° +bed 1.717 0.832 2.108 -0.069 0.002 -0.304 0.03° +table 1.120 1.327 0.468 -1.578 -0.000 -1.217 0.02° +chair 0.515 0.490 0.532 -1.344 0.000 -0.428 179.94° +lamp 0.623 0.613 0.619 -0.197 2.037 -0.034 0.02° +floor 4.239 0.001 2.985 -0.059 -0.001 -0.013 -0.05° +_scene_ 0.065 0.000 0.019 -5.667 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.056, 0.001, 0.590] + !! OVERLAP: bed <-> floor depth=[1.717, 0.001, 2.108] + !! OVERLAP: table <-> floor depth=[1.120, 0.001, 0.468] + !! OVERLAP: chair <-> floor depth=[0.515, 0.001, 0.532] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.2373 (Center Penalty: 2.6344, C1 Heatmap: 0.6031, C2 Repulsion: 0.6018), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.137 0.969 1.200 -0.029 1.964 -0.103 -0.03° +bed 1.781 1.279 2.262 0.237 0.000 0.447 -89.98° +table 0.702 0.660 0.458 1.186 0.001 -1.294 -90.04° +floor 3.163 -0.003 4.188 -0.007 -0.000 0.009 -0.02° +_scene_ 0.055 0.005 0.012 -5.655 -0.004 -5.723 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.781, -0.003, 2.262] + !! OVERLAP: table <-> floor depth=[0.702, -0.003, 0.458] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0096, Room Outer Loss: 0.2788, Walkable Loss: 3.7066 (Center Penalty: 2.3820, C1 Heatmap: 0.7861, C2 Repulsion: 3.4788), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.887 1.084 2.241 -0.279 -0.000 -0.376 0.01° +nightstand 0.469 0.546 0.374 1.048 -0.000 -1.310 0.01° +nightstand 0.574 0.509 0.467 -1.490 -0.000 -1.269 0.00° +wardrobe 1.751 2.244 0.570 1.370 -0.000 -0.320 -90.09° +lamp 1.099 1.005 0.917 -0.424 1.841 -0.122 0.04° +floor 4.098 -0.000 2.964 0.002 -0.001 -0.003 -0.05° +_scene_ 0.072 0.001 0.026 -5.671 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.019, 0.509, 0.462] + !! OVERLAP: bed <-> wardrobe depth=[0.170, 1.084, 0.570] + !! OVERLAP: bed <-> floor depth=[1.887, -0.000, 2.229] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.000, 0.362] + !! OVERLAP: nightstand <-> floor depth=[0.574, -0.000, 0.450] + !! OVERLAP: wardrobe <-> floor depth=[1.556, -0.000, 0.570] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.2500, Room Outer Loss: 0.0000, Walkable Loss: 3.6581 (Center Penalty: 2.9770, C1 Heatmap: 0.6014, C2 Repulsion: 1.0000), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.451 0.512 0.431 -0.018 0.003 0.660 89.40° +bed 1.815 1.051 2.356 0.468 -0.004 -0.148 -90.17° +lamp 1.062 0.928 0.805 0.191 1.765 0.351 179.93° +floor 2.822 -0.004 3.091 -0.006 0.001 -0.020 -0.03° +_scene_ 0.081 0.001 0.016 -5.667 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.451, 0.512, 0.431] + !! OVERLAP: nightstand <-> floor depth=[0.451, -0.004, 0.431] + !! OVERLAP: bed <-> floor depth=[1.815, -0.004, 2.356] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.1578, Walkable Loss: 3.1282 (Center Penalty: 1.5765, C1 Heatmap: 0.7394, C2 Repulsion: 4.8014), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.465 1.090 2.191 -0.469 0.000 -0.380 89.89° +wardrobe 1.526 2.130 0.549 -0.768 0.002 1.587 -179.99° +nightstand 0.558 0.564 0.406 -1.337 0.004 0.977 89.95° +table 1.030 1.106 0.457 1.269 -0.001 -0.764 -89.96° +chair 0.771 0.507 0.394 0.931 -0.002 -0.743 90.04° +floor 3.259 -0.003 3.488 -0.005 0.001 0.021 -0.00° +_scene_ 0.068 0.001 0.016 -5.674 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.465, -0.003, 2.191] + !! OVERLAP: wardrobe <-> floor depth=[1.526, -0.003, 0.452] + !! OVERLAP: nightstand <-> floor depth=[0.558, -0.003, 0.406] + !! OVERLAP: table <-> chair depth=[0.563, 0.507, 0.394] + !! OVERLAP: table <-> floor depth=[0.871, -0.003, 0.457] + !! OVERLAP: chair <-> floor depth=[0.771, -0.003, 0.394] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0115, Room Outer Loss: 0.6869, Walkable Loss: 3.7183 (Center Penalty: 2.3554, C1 Heatmap: 0.9664, C2 Repulsion: 2.9491), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.564 2.463 0.676 1.359 -0.001 0.129 -90.30° +nightstand 0.673 0.691 0.465 -1.406 0.004 -1.413 0.02° +nightstand 0.593 0.764 0.417 1.246 -0.002 -1.373 0.08° +bed 2.191 0.660 2.053 -0.500 0.002 -0.307 0.06° +lamp 0.310 1.136 0.206 -0.206 1.609 -0.172 0.03° +floor 3.979 -0.001 3.335 -0.014 0.001 0.026 -0.03° +_scene_ 0.065 0.001 0.021 -5.670 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.520, 0.660, 0.676] + !! OVERLAP: wardrobe <-> floor depth=[1.899, -0.001, 0.676] + !! OVERLAP: nightstand <-> bed depth=[0.525, 0.660, 0.153] + !! OVERLAP: nightstand <-> floor depth=[0.673, -0.001, 0.461] + !! OVERLAP: nightstand <-> floor depth=[0.593, -0.001, 0.417] + !! OVERLAP: bed <-> floor depth=[2.191, -0.001, 2.053] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 0.4674, Walkable Loss: 4.2277 (Center Penalty: 2.4290, C1 Heatmap: 0.8702, C2 Repulsion: 5.5129), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.712 1.018 2.256 0.410 -0.000 -0.498 0.00° +nightstand 0.478 0.762 0.447 1.655 -0.001 -1.237 0.07° +cabinet 1.018 1.537 0.425 0.013 0.001 1.263 -179.94° +wardrobe 1.638 2.310 0.622 -1.319 0.001 -0.766 89.90° +nightstand 0.556 0.766 0.375 -0.849 0.003 -1.398 0.01° +chair 0.614 0.753 0.555 1.401 0.006 0.924 -151.66° +lamp 0.891 0.966 0.564 0.189 1.825 0.186 0.03° +floor 3.454 -0.002 3.318 -0.014 0.001 -0.016 0.00° +_scene_ 0.067 -0.000 0.020 -5.677 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.712, -0.002, 2.256] + !! OVERLAP: nightstand <-> floor depth=[0.297, -0.002, 0.447] + !! OVERLAP: cabinet <-> floor depth=[1.018, -0.002, 0.425] + !! OVERLAP: wardrobe <-> floor depth=[1.241, -0.002, 0.622] + !! OVERLAP: nightstand <-> floor depth=[0.556, -0.002, 0.375] + !! OVERLAP: chair <-> floor depth=[0.614, -0.002, 0.555] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0242, Room Outer Loss: 0.3944, Walkable Loss: 3.4305 (Center Penalty: 2.5479, C1 Heatmap: 0.6523, C2 Repulsion: 1.8036), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.098 0.943 2.246 -0.380 0.001 -0.229 89.88° +nightstand 0.443 0.474 0.439 -1.312 0.003 0.849 90.05° +nightstand 0.543 0.564 0.392 -1.392 0.002 -1.463 90.02° +lamp 0.849 0.932 0.840 0.021 2.037 -0.282 0.03° +floor 3.075 -0.001 3.102 0.000 0.002 -0.013 -0.01° +_scene_ 0.068 0.000 0.025 -5.667 0.003 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.339, 0.474, 0.264] + !! OVERLAP: bed <-> nightstand depth=[0.308, 0.564, 0.085] + !! OVERLAP: bed <-> floor depth=[2.098, -0.001, 2.246] + !! OVERLAP: nightstand <-> floor depth=[0.443, -0.001, 0.439] + !! OVERLAP: nightstand <-> floor depth=[0.417, -0.001, 0.297] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0312, Room Outer Loss: 0.6643, Walkable Loss: 4.1159 (Center Penalty: 2.5522, C1 Heatmap: 1.0088, C2 Repulsion: 3.7834), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.696 0.433 0.704 0.393 2.398 0.005 -0.04° +wardrobe 2.348 2.499 0.638 -1.403 -0.001 -0.327 89.75° +bed 2.259 1.099 2.489 0.280 0.000 -0.288 -0.02° +nightstand 0.562 0.646 0.510 1.532 0.001 -1.366 -0.03° +nightstand 0.636 0.598 0.397 -0.811 0.001 -1.530 0.06° +floor 3.850 -0.002 3.643 -0.021 0.000 -0.026 -0.01° +_scene_ 0.069 -0.000 0.023 -5.670 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.621, 1.099, 0.638] + !! OVERLAP: wardrobe <-> floor depth=[1.717, -0.002, 0.638] + !! OVERLAP: bed <-> nightstand depth=[0.159, 0.646, 0.422] + !! OVERLAP: bed <-> nightstand depth=[0.357, 0.598, 0.200] + !! OVERLAP: bed <-> floor depth=[2.259, -0.002, 2.489] + !! OVERLAP: nightstand <-> floor depth=[0.562, -0.002, 0.510] + !! OVERLAP: nightstand <-> floor depth=[0.636, -0.002, 0.397] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.9690 (Center Penalty: 2.2920, C1 Heatmap: 0.7207, C2 Repulsion: 0.5023), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.285 0.988 2.105 0.481 -0.000 0.604 -90.03° +wardrobe 1.406 2.063 0.626 0.567 -0.001 -1.788 0.07° +lamp 0.496 0.163 0.471 -0.058 2.407 0.103 -0.07° +floor 3.323 -0.003 4.268 -0.033 0.000 -0.006 -0.00° +_scene_ 0.085 -0.002 0.099 -5.605 -0.005 -5.658 -57.48° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.285, -0.003, 2.105] + !! OVERLAP: wardrobe <-> floor depth=[1.406, -0.003, 0.626] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2990 (Center Penalty: 1.6441, C1 Heatmap: 0.5703, C2 Repulsion: 0.9932), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.858 1.174 2.329 -0.433 0.001 0.563 89.90° +lamp 0.785 0.987 0.501 0.017 1.806 1.046 -0.03° +nightstand 0.449 0.593 0.367 -0.951 0.000 -0.706 90.09° +floor 2.792 -0.001 3.263 -0.009 -0.001 -0.003 -0.01° +_scene_ 0.068 0.001 0.021 -5.667 -0.005 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.449, 0.593, 0.079] + !! OVERLAP: bed <-> floor depth=[1.858, -0.001, 2.230] + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.001, 0.367] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.2551, Walkable Loss: 3.3835 (Center Penalty: 2.0433, C1 Heatmap: 0.7816, C2 Repulsion: 3.5747), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.812 1.102 2.234 0.615 -0.000 -0.595 -90.02° +wardrobe 1.689 2.377 0.652 0.577 -0.004 1.579 -179.89° +table 0.419 0.566 0.430 1.329 0.000 0.722 -90.10° +cabinet 0.929 1.724 0.457 -1.268 0.000 -1.670 89.98° +lamp 0.747 0.984 0.744 0.020 1.676 -0.326 -0.01° +table 0.463 0.588 0.434 1.371 0.001 -1.661 -89.96° +floor 3.169 -0.001 3.864 -0.004 0.001 -0.004 -0.03° +_scene_ 0.068 0.000 0.016 -5.670 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.401, 0.566, 0.015] + !! OVERLAP: bed <-> table depth=[0.382, 0.588, 0.268] + !! OVERLAP: bed <-> floor depth=[1.812, -0.001, 2.234] + !! OVERLAP: wardrobe <-> floor depth=[1.689, -0.001, 0.652] + !! OVERLAP: table <-> floor depth=[0.419, -0.001, 0.430] + !! OVERLAP: cabinet <-> floor depth=[0.784, -0.001, 0.457] + !! OVERLAP: table <-> floor depth=[0.441, -0.001, 0.434] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.0776 (Center Penalty: 2.1616, C1 Heatmap: 0.9047, C2 Repulsion: 0.9614), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.868 0.717 2.017 -0.267 0.004 0.513 89.98° +lamp 0.917 0.944 0.087 0.276 1.893 0.494 179.92° +wardrobe 3.281 2.484 0.696 0.088 -0.008 -1.396 -0.06° +floor 3.149 -0.002 4.024 -0.004 0.001 0.017 -0.05° +_scene_ 0.043 0.009 0.004 -5.662 -0.004 -5.724 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.868, -0.002, 2.017] + !! OVERLAP: wardrobe <-> floor depth=[3.123, -0.002, 0.696] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0025, Room Outer Loss: 0.7338, Walkable Loss: 4.5408 (Center Penalty: 1.6419, C1 Heatmap: 1.2066, C2 Repulsion: 9.6684), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.164 0.730 0.461 1.483 0.000 -1.083 -89.96° +lamp 0.417 0.597 0.421 0.000 2.098 0.655 -0.04° +lamp 0.989 0.951 0.972 1.168 1.698 1.787 -89.92° +lamp 1.211 1.090 0.863 1.238 1.443 -1.160 0.07° +chair 0.421 0.868 0.481 0.569 0.002 -1.237 89.97° +bed 1.989 0.765 2.098 0.578 -0.002 0.756 -90.11° +wardrobe 2.233 2.262 0.611 0.561 -0.002 -1.832 0.03° +tv_stand 2.052 0.685 0.454 -1.424 0.001 1.001 89.98° +nightstand 0.467 0.515 0.414 1.541 -0.001 1.691 -90.28° +floor 3.621 -0.002 4.839 0.182 -0.000 -0.031 -0.07° +_scene_ 0.068 0.002 0.025 -5.669 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.092, -0.002, 0.461] + !! OVERLAP: lamp <-> wardrobe depth=[1.045, 0.231, 0.064] + !! OVERLAP: chair <-> floor depth=[0.421, -0.002, 0.481] + !! OVERLAP: bed <-> tv_stand depth=[0.018, 0.685, 0.454] + !! OVERLAP: bed <-> nightstand depth=[0.266, 0.515, 0.321] + !! OVERLAP: bed <-> floor depth=[1.989, -0.002, 2.098] + !! OVERLAP: wardrobe <-> floor depth=[2.233, -0.002, 0.611] + !! OVERLAP: tv_stand <-> floor depth=[1.230, -0.002, 0.454] + !! OVERLAP: nightstand <-> floor depth=[0.467, -0.002, 0.414] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7898 (Center Penalty: 2.0873, C1 Heatmap: 0.5983, C2 Repulsion: 1.1193), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.553 2.706 0.365 -0.186 0.000 -1.237 0.03° +lamp 0.903 0.664 0.904 0.233 1.899 0.431 -0.05° +bed 1.603 1.165 2.092 -0.589 0.002 0.317 -179.96° +chair 0.572 0.693 0.604 1.392 -0.000 0.790 -43.19° +floor 4.105 -0.002 3.257 -0.013 0.000 -0.007 -0.01° +_scene_ 0.067 0.004 0.032 -5.626 -0.003 -5.683 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.553, -0.002, 0.365] + !! OVERLAP: bed <-> floor depth=[1.603, -0.002, 2.092] + !! OVERLAP: chair <-> floor depth=[0.572, -0.002, 0.604] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0029, Room Outer Loss: 0.3423, Walkable Loss: 3.6850 (Center Penalty: 2.1681, C1 Heatmap: 0.9678, C2 Repulsion: 3.7137), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.146 0.869 2.293 0.498 0.001 0.477 179.95° +wardrobe 1.815 2.222 0.703 -1.659 0.000 0.767 89.96° +nightstand 0.348 0.385 0.350 1.797 0.004 1.444 179.95° +nightstand 0.371 0.426 0.310 -0.784 0.001 1.435 179.87° +tv_stand 1.842 0.515 0.369 0.521 0.015 -1.275 -0.17° +lamp 0.453 0.111 0.465 0.512 2.448 -0.002 -0.06° +floor 4.419 -0.001 3.185 0.013 0.000 0.017 -0.03° +_scene_ 0.069 0.000 0.022 -5.672 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.146, -0.001, 2.278] + !! OVERLAP: wardrobe <-> floor depth=[1.445, -0.001, 0.703] + !! OVERLAP: nightstand <-> floor depth=[0.348, -0.001, 0.340] + !! OVERLAP: nightstand <-> floor depth=[0.371, -0.001, 0.310] + !! OVERLAP: tv_stand <-> floor depth=[1.842, -0.001, 0.369] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4504 (Center Penalty: 1.6433, C1 Heatmap: 0.5828, C2 Repulsion: 1.7044), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.741 1.088 2.279 -0.415 -0.000 0.133 89.91° +nightstand 0.453 0.643 0.397 -1.066 0.000 1.619 89.98° +nightstand 0.626 0.583 0.382 -1.213 0.002 -1.043 90.00° +floor 3.338 0.000 4.671 -0.011 0.000 -0.008 -0.04° +_scene_ 0.062 0.010 0.013 -5.664 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.385, 0.583, 0.155] + !! OVERLAP: bed <-> floor depth=[1.741, 0.000, 2.279] + !! OVERLAP: nightstand <-> floor depth=[0.453, 0.000, 0.397] + !! OVERLAP: nightstand <-> floor depth=[0.626, 0.000, 0.382] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0393, Room Outer Loss: 0.0102, Walkable Loss: 3.7264 (Center Penalty: 2.7925, C1 Heatmap: 0.6908, C2 Repulsion: 1.9062), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.307 1.143 2.292 -0.334 0.001 0.089 89.88° +table 0.455 0.506 0.426 -1.188 0.000 1.434 90.01° +table 0.481 0.490 0.376 -1.196 0.002 -1.006 90.00° +lamp 0.512 1.002 0.673 -0.137 1.769 0.066 -0.01° +floor 2.853 -0.003 3.491 -0.009 0.002 0.006 -0.02° +_scene_ 0.058 0.035 0.093 -5.494 -0.009 -5.497 -58.19° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.455, 0.506, 0.014] + !! OVERLAP: bed <-> table depth=[0.481, 0.490, 0.240] + !! OVERLAP: bed <-> floor depth=[2.255, -0.003, 2.292] + !! OVERLAP: table <-> floor depth=[0.455, -0.003, 0.426] + !! OVERLAP: table <-> floor depth=[0.480, -0.003, 0.376] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0198, Room Outer Loss: 0.0139, Walkable Loss: 3.5141 (Center Penalty: 2.7586, C1 Heatmap: 0.5636, C2 Repulsion: 1.5232), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.824 1.526 2.186 0.377 -0.001 0.022 -90.06° +nightstand 0.463 0.513 0.396 1.269 -0.001 1.032 -90.13° +nightstand 0.416 0.607 0.393 1.260 0.001 -1.469 -89.99° +lamp 0.912 0.520 0.843 -0.039 2.284 -0.187 0.01° +floor 2.880 -0.001 3.513 -0.001 0.000 0.006 -0.02° +_scene_ 0.068 0.001 0.023 -5.662 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.252, 0.513, 0.281] + !! OVERLAP: bed <-> floor depth=[1.824, -0.001, 2.186] + !! OVERLAP: nightstand <-> floor depth=[0.401, -0.001, 0.396] + !! OVERLAP: nightstand <-> floor depth=[0.387, -0.001, 0.393] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0199, Room Outer Loss: 0.5777, Walkable Loss: 3.3982 (Center Penalty: 2.1164, C1 Heatmap: 0.7439, C2 Repulsion: 3.4336), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.593 2.153 0.636 1.541 -0.002 0.722 -89.92° +bed 1.963 1.276 1.938 -0.475 -0.000 0.575 -179.98° +nightstand 0.596 0.537 0.397 0.880 -0.001 1.316 -179.89° +nightstand 0.399 0.504 0.338 -1.461 -0.000 1.382 179.89° +lamp 0.806 0.820 0.781 -0.330 1.928 -0.077 0.01° +floor 3.892 -0.001 3.028 -0.052 -0.000 -0.021 -0.03° +_scene_ 0.062 -0.000 0.017 -5.672 -0.005 -5.718 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.150, -0.001, 0.636] + !! OVERLAP: bed <-> nightstand depth=[0.195, 0.504, 0.330] + !! OVERLAP: bed <-> floor depth=[1.963, -0.001, 1.886] + !! OVERLAP: nightstand <-> floor depth=[0.596, -0.001, 0.375] + !! OVERLAP: nightstand <-> floor depth=[0.399, -0.001, 0.279] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7460 (Center Penalty: 1.6682, C1 Heatmap: 0.8751, C2 Repulsion: 1.8887), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.952 0.864 2.156 -0.444 0.002 -0.226 89.92° +wardrobe 2.442 2.473 0.610 -0.323 0.000 1.423 179.98° +nightstand 0.524 0.574 0.380 -1.256 0.003 -1.515 90.04° +floor 3.220 -0.003 4.098 -0.019 0.000 -0.035 -0.01° +_scene_ 0.072 0.002 0.024 -5.666 -0.004 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.952, -0.003, 2.156] + !! OVERLAP: wardrobe <-> floor depth=[2.442, -0.003, 0.610] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.003, 0.380] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0482, Room Outer Loss: 0.0517, Walkable Loss: 4.0111 (Center Penalty: 2.3146, C1 Heatmap: 1.0671, C2 Repulsion: 4.2144), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.369 0.965 0.393 0.094 1.761 0.326 -0.02° +bed 2.474 1.060 2.314 0.452 -0.001 0.541 -90.00° +nightstand 0.555 0.530 0.612 1.427 0.002 -1.235 -89.97° +nightstand 0.547 0.596 0.545 1.426 0.001 1.736 -90.03° +wardrobe 2.220 2.481 0.705 0.506 -0.001 -1.555 -0.00° +shelf 0.974 1.842 0.489 -1.227 0.000 1.868 89.92° +floor 3.469 -0.001 4.471 0.001 0.000 0.019 -0.02° +_scene_ 0.069 0.000 0.019 -5.671 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.537, 0.596, 0.235] + !! OVERLAP: bed <-> shelf depth=[0.045, 1.060, 0.075] + !! OVERLAP: bed <-> floor depth=[2.474, -0.001, 2.314] + !! OVERLAP: nightstand <-> wardrobe depth=[0.466, 0.530, 0.339] + !! OVERLAP: nightstand <-> floor depth=[0.555, -0.001, 0.612] + !! OVERLAP: nightstand <-> floor depth=[0.547, -0.001, 0.545] + !! OVERLAP: wardrobe <-> floor depth=[2.220, -0.001, 0.705] + !! OVERLAP: shelf <-> floor depth=[0.974, -0.001, 0.489] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4058, Walkable Loss: 3.0552 (Center Penalty: 1.9405, C1 Heatmap: 0.8412, C2 Repulsion: 2.2084), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.578 1.054 0.822 0.537 1.268 -0.104 0.00° +bed 1.972 1.461 2.273 0.317 0.003 -0.469 0.03° +wardrobe 1.439 1.846 1.171 -1.182 -0.001 -0.452 89.93° +floor 3.164 -0.002 3.549 0.070 0.000 -0.016 -0.03° +_scene_ 0.052 0.003 0.032 -5.603 -0.003 -5.678 -57.47° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.206, 1.461, 1.171] + !! OVERLAP: bed <-> floor depth=[1.972, -0.002, 2.273] + !! OVERLAP: wardrobe <-> floor depth=[1.049, -0.002, 1.171] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0381, Room Outer Loss: 0.0812, Walkable Loss: 2.2219 (Center Penalty: 1.1918, C1 Heatmap: 0.6723, C2 Repulsion: 2.4610), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.021 1.153 2.317 0.923 -0.001 -0.753 -0.03° +nightstand 0.595 0.742 0.474 1.807 0.001 -1.639 -0.01° +nightstand 0.573 0.671 0.438 -0.138 0.002 -1.700 0.02° +wardrobe 0.877 1.832 0.478 -1.285 0.001 -0.933 89.88° +lamp 0.444 0.209 0.449 0.870 2.478 -0.465 -0.01° +lamp 0.436 0.553 0.416 -1.128 2.282 0.987 -0.03° +floor 4.295 -0.002 4.046 -0.014 -0.001 0.006 -0.06° +_scene_ 0.068 0.000 0.022 -5.675 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.424, 0.742, 0.474] + !! OVERLAP: bed <-> nightstand depth=[0.235, 0.671, 0.431] + !! OVERLAP: bed <-> floor depth=[2.021, -0.002, 2.317] + !! OVERLAP: nightstand <-> floor depth=[0.595, -0.002, 0.474] + !! OVERLAP: nightstand <-> floor depth=[0.573, -0.002, 0.438] + !! OVERLAP: wardrobe <-> floor depth=[0.877, -0.002, 0.478] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0330, Room Outer Loss: 0.0000, Walkable Loss: 3.8636 (Center Penalty: 2.8825, C1 Heatmap: 0.7456, C2 Repulsion: 1.9232), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.306 1.044 2.346 -0.036 -0.001 -0.220 0.05° +nightstand 0.606 0.614 0.643 1.284 0.001 -1.353 0.00° +nightstand 0.619 0.563 0.579 -1.347 0.001 -1.366 -0.04° +lamp 0.348 0.510 0.321 0.054 2.203 0.042 -0.10° +floor 3.290 0.001 3.391 -0.003 0.001 -0.011 -0.01° +_scene_ 0.070 -0.000 0.023 -5.671 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.136, 0.614, 0.361] + !! OVERLAP: bed <-> nightstand depth=[0.152, 0.563, 0.317] + !! OVERLAP: bed <-> floor depth=[2.306, 0.001, 2.346] + !! OVERLAP: nightstand <-> floor depth=[0.606, 0.001, 0.643] + !! OVERLAP: nightstand <-> floor depth=[0.611, 0.001, 0.579] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.1158, Room Outer Loss: 0.6278, Walkable Loss: 3.4362 (Center Penalty: 1.5432, C1 Heatmap: 1.0010, C2 Repulsion: 5.4608), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.023 1.141 2.172 -0.524 0.000 -0.494 0.03° +desk 1.577 0.728 0.716 -1.032 0.001 0.616 179.94° +nightstand 0.329 0.467 0.324 0.994 -0.001 0.098 0.04° +wardrobe 1.480 2.082 0.579 1.416 -0.000 0.308 -89.96° +wardrobe 1.259 2.239 0.629 1.460 -0.002 -1.096 -90.01° +floor 3.855 -0.003 3.094 -0.068 -0.001 0.018 -0.06° +_scene_ 0.063 0.000 0.021 -5.671 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.292, 0.728, 0.334] + !! OVERLAP: bed <-> floor depth=[2.023, -0.003, 2.120] + !! OVERLAP: desk <-> floor depth=[1.577, -0.003, 0.716] + !! OVERLAP: nightstand <-> wardrobe depth=[0.329, 0.467, 0.241] + !! OVERLAP: nightstand <-> floor depth=[0.329, -0.003, 0.324] + !! OVERLAP: wardrobe <-> floor depth=[1.184, -0.003, 0.579] + !! OVERLAP: wardrobe <-> floor depth=[1.029, -0.003, 0.629] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.0261 (Center Penalty: 2.4634, C1 Heatmap: 0.8343, C2 Repulsion: 4.4763), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.922 1.474 2.010 0.513 -0.000 0.404 -89.96° +table 0.503 0.530 0.513 1.267 -0.000 -0.977 -89.87° +table 0.534 0.541 0.538 1.287 0.001 1.569 -89.92° +wardrobe 1.688 1.870 0.600 0.628 0.001 -1.624 -0.01° +lamp 0.636 0.139 0.606 0.169 2.472 0.063 0.03° +chair 0.884 0.770 0.924 -1.143 0.004 0.043 50.11° +floor 3.095 -0.003 4.375 0.017 0.001 -0.025 -0.03° +_scene_ 0.070 0.003 0.023 -5.666 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.454, 0.541, 0.109] + !! OVERLAP: bed <-> floor depth=[1.922, -0.003, 2.010] + !! OVERLAP: table <-> floor depth=[0.503, -0.003, 0.513] + !! OVERLAP: table <-> floor depth=[0.534, -0.003, 0.538] + !! OVERLAP: wardrobe <-> floor depth=[1.688, -0.003, 0.600] + !! OVERLAP: chair <-> floor depth=[0.829, -0.003, 0.924] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0397, Room Outer Loss: 0.0247, Walkable Loss: 3.9679 (Center Penalty: 2.8145, C1 Heatmap: 0.8106, C2 Repulsion: 2.5248), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.465 1.168 2.174 -0.293 -0.000 0.082 89.87° +cabinet 1.214 0.790 0.412 0.631 0.001 -1.877 0.04° +nightstand 0.601 0.727 0.495 -1.290 0.001 1.400 90.01° +nightstand 0.605 0.623 0.471 -1.192 0.003 -0.975 89.74° +lamp 0.542 0.326 0.551 0.022 2.279 -0.132 -0.04° +floor 3.223 -0.001 4.182 0.015 0.001 -0.070 0.00° +_scene_ 0.069 0.003 0.020 -5.665 -0.004 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.536, 0.727, 0.018] + !! OVERLAP: bed <-> nightstand depth=[0.605, 0.623, 0.265] + !! OVERLAP: bed <-> floor depth=[2.465, -0.001, 2.174] + !! OVERLAP: cabinet <-> floor depth=[1.214, -0.001, 0.412] + !! OVERLAP: nightstand <-> floor depth=[0.601, -0.001, 0.495] + !! OVERLAP: nightstand <-> floor depth=[0.605, -0.001, 0.471] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.2184, Walkable Loss: 3.3363 (Center Penalty: 2.1725, C1 Heatmap: 0.7750, C2 Repulsion: 2.7186), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.727 0.957 2.320 -0.657 0.000 -0.323 -0.03° +nightstand 0.575 0.484 0.286 0.818 0.002 -1.290 0.00° +nightstand 0.614 0.522 0.489 -1.823 0.001 -1.281 0.00° +wardrobe 1.894 2.571 0.600 1.454 0.000 -0.425 -90.02° +lamp 0.450 0.303 0.470 -0.225 2.210 0.013 0.00° +floor 4.756 -0.003 3.227 -0.140 0.001 -0.003 -0.01° +_scene_ 0.069 0.000 0.016 -5.670 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.004, 0.522, 0.446] + !! OVERLAP: bed <-> floor depth=[1.727, -0.003, 2.320] + !! OVERLAP: nightstand <-> floor depth=[0.575, -0.003, 0.286] + !! OVERLAP: nightstand <-> floor depth=[0.614, -0.003, 0.489] + !! OVERLAP: wardrobe <-> floor depth=[1.730, -0.003, 0.600] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0082, Room Outer Loss: 0.4039, Walkable Loss: 3.9946 (Center Penalty: 2.0689, C1 Heatmap: 1.0368, C2 Repulsion: 5.4813), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.954 1.236 2.076 -0.182 -0.000 0.826 -179.97° +nightstand 0.545 0.508 0.383 -1.320 0.001 1.500 179.91° +nightstand 0.515 0.464 0.388 1.242 0.004 1.607 179.92° +tv_stand 1.920 0.693 0.418 -1.186 0.000 -1.644 -0.05° +tv_stand 1.979 0.715 0.478 -0.466 0.002 -1.195 -0.04° +wardrobe 1.685 2.454 0.503 1.651 -0.001 0.864 -90.06° +lamp 0.560 0.599 0.551 -0.526 1.923 0.051 -0.04° +floor 4.270 -0.000 3.659 -0.193 0.000 0.015 -0.04° +_scene_ 0.068 0.000 0.022 -5.675 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.111, 0.508, 0.383] + !! OVERLAP: bed <-> floor depth=[1.954, -0.000, 2.056] + !! OVERLAP: nightstand <-> floor depth=[0.545, -0.000, 0.383] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.000, 0.388] + !! OVERLAP: tv_stand <-> floor depth=[1.920, -0.000, 0.379] + !! OVERLAP: tv_stand <-> floor depth=[1.979, -0.000, 0.478] + !! OVERLAP: wardrobe <-> floor depth=[1.133, -0.000, 0.503] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0583, Room Outer Loss: 0.0000, Walkable Loss: 3.5658 (Center Penalty: 1.9449, C1 Heatmap: 0.8963, C2 Repulsion: 4.5195), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.988 1.152 2.326 0.437 0.002 0.245 -90.05° +nightstand 0.508 0.472 0.439 1.033 0.002 -1.308 0.07° +wardrobe 2.154 2.267 0.575 0.233 0.003 -0.966 0.00° +table 0.679 0.871 0.308 -1.378 0.006 0.443 90.01° +nightstand 0.416 0.512 0.364 0.166 0.001 1.402 0.00° +lamp 0.871 0.703 0.856 -0.105 1.805 -1.247 -0.03° +lamp 0.808 0.843 0.826 0.187 2.029 1.163 -0.02° +floor 3.319 -0.001 3.629 -0.015 0.001 -0.042 -0.01° +_scene_ 0.064 -0.000 0.019 -5.663 -0.003 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.868, 1.152, 0.239] + !! OVERLAP: bed <-> nightstand depth=[0.416, 0.512, 0.188] + !! OVERLAP: bed <-> floor depth=[1.988, -0.001, 2.326] + !! OVERLAP: nightstand <-> wardrobe depth=[0.508, 0.472, 0.165] + !! OVERLAP: nightstand <-> floor depth=[0.508, -0.001, 0.439] + !! OVERLAP: wardrobe <-> floor depth=[2.154, -0.001, 0.575] + !! OVERLAP: table <-> floor depth=[0.635, -0.001, 0.308] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.001, 0.364] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0145, Room Outer Loss: 0.0000, Walkable Loss: 3.7618 (Center Penalty: 2.4698, C1 Heatmap: 0.7658, C2 Repulsion: 3.3964), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.905 1.134 2.066 -0.429 0.002 -0.229 89.91° +nightstand 0.405 0.502 0.354 -1.255 0.001 1.011 90.07° +wardrobe 1.909 2.311 0.551 -0.414 0.000 1.666 -179.96° +nightstand 0.587 0.472 0.443 -1.200 0.002 -1.354 90.02° +lamp 0.745 0.720 0.577 -0.004 2.027 -0.349 0.02° +floor 2.812 -0.002 4.091 0.007 -0.001 -0.037 0.01° +_scene_ 0.070 0.001 0.023 -5.675 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.474, 0.472, 0.130] + !! OVERLAP: bed <-> floor depth=[1.905, -0.002, 2.066] + !! OVERLAP: nightstand <-> floor depth=[0.347, -0.002, 0.354] + !! OVERLAP: wardrobe <-> floor depth=[1.909, -0.002, 0.551] + !! OVERLAP: nightstand <-> floor depth=[0.493, -0.002, 0.443] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0815, Room Outer Loss: 0.1397, Walkable Loss: 3.5742 (Center Penalty: 2.5879, C1 Heatmap: 0.7689, C2 Repulsion: 1.8558), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.037 2.179 2.230 0.111 0.000 0.482 179.85° +nightstand 0.627 0.599 0.383 -0.843 0.006 1.477 179.92° +lamp 0.769 1.194 0.774 -0.066 1.548 0.045 0.04° +wardrobe 1.693 2.098 0.646 0.044 0.000 -1.352 0.08° +floor 2.507 0.001 3.285 -0.004 -0.000 0.009 -0.04° +_scene_ 0.068 0.001 0.012 -5.679 -0.006 -5.716 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.378, 0.599, 0.311] + !! OVERLAP: bed <-> lamp depth=[0.769, 0.139, 0.774] + !! OVERLAP: bed <-> floor depth=[2.037, 0.001, 2.230] + !! OVERLAP: nightstand <-> floor depth=[0.627, 0.001, 0.365] + !! OVERLAP: wardrobe <-> floor depth=[1.693, 0.001, 0.605] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0673, Room Outer Loss: 0.1052, Walkable Loss: 3.3900 (Center Penalty: 2.1483, C1 Heatmap: 0.7656, C2 Repulsion: 3.1459), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.788 2.507 0.694 -0.895 0.001 1.472 -179.97° +bed 1.767 1.172 2.212 -0.413 0.001 -0.584 89.90° +table 0.490 0.533 0.512 -1.235 0.000 1.053 0.05° +table 0.558 0.549 0.449 -1.143 -0.001 -1.664 0.26° +lamp 0.714 0.908 0.711 0.074 2.159 -0.386 -0.04° +floor 3.147 -0.001 4.206 -0.004 0.001 -0.008 0.00° +_scene_ 0.070 -0.000 0.020 -5.672 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> table depth=[0.490, 0.533, 0.184] + !! OVERLAP: wardrobe <-> floor depth=[1.576, -0.001, 0.694] + !! OVERLAP: bed <-> table depth=[0.432, 0.549, 0.250] + !! OVERLAP: bed <-> floor depth=[1.767, -0.001, 2.212] + !! OVERLAP: table <-> floor depth=[0.490, -0.001, 0.512] + !! OVERLAP: table <-> floor depth=[0.558, -0.001, 0.449] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 1.1302, Walkable Loss: 4.0056 (Center Penalty: 2.2736, C1 Heatmap: 1.1006, C2 Repulsion: 4.2578), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.787 0.877 1.953 0.613 0.001 -0.502 -90.00° +nightstand 0.505 0.730 0.349 1.267 0.001 0.685 -90.08° +wardrobe 3.266 2.491 0.508 -0.155 0.003 1.311 -179.86° +tv_stand 2.184 0.491 0.546 -1.083 0.002 -0.080 90.01° +lamp 0.606 0.647 0.387 0.046 1.982 -0.298 -0.03° +floor 3.035 -0.000 3.102 0.001 0.001 0.013 -0.02° +_scene_ 0.073 -0.001 0.019 -5.673 -0.005 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.290, 0.491, 0.546] + !! OVERLAP: bed <-> floor depth=[1.787, -0.000, 1.953] + !! OVERLAP: nightstand <-> floor depth=[0.505, -0.000, 0.349] + !! OVERLAP: wardrobe <-> floor depth=[2.994, -0.000, 0.506] + !! OVERLAP: tv_stand <-> floor depth=[1.525, -0.000, 0.546] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0180, Room Outer Loss: 0.3005, Walkable Loss: 3.7620 (Center Penalty: 1.5962, C1 Heatmap: 1.0732, C2 Repulsion: 6.5363), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.184 2.435 0.646 -1.396 -0.001 0.179 89.86° +bed 1.710 1.101 2.231 0.196 0.003 0.532 179.95° +nightstand 0.860 0.500 0.449 1.512 0.002 1.371 179.94° +nightstand 0.657 0.532 0.488 -1.535 0.000 1.483 179.96° +cabinet 1.282 1.166 0.407 0.480 0.007 -1.469 -0.00° +cabinet 1.127 1.099 0.389 -0.615 0.001 -1.644 0.02° +shelf 0.439 1.533 0.375 1.878 0.001 -0.996 -137.64° +floor 4.431 -0.002 3.559 -0.002 0.000 -0.022 -0.03° +_scene_ 0.072 0.001 0.027 -5.666 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.355, 1.101, 0.646] + !! OVERLAP: wardrobe <-> floor depth=[1.913, -0.002, 0.646] + !! OVERLAP: bed <-> floor depth=[1.710, -0.002, 2.231] + !! OVERLAP: nightstand <-> floor depth=[0.860, -0.002, 0.449] + !! OVERLAP: nightstand <-> floor depth=[0.657, -0.002, 0.488] + !! OVERLAP: cabinet <-> cabinet depth=[0.109, 1.099, 0.222] + !! OVERLAP: cabinet <-> floor depth=[1.282, -0.002, 0.407] + !! OVERLAP: cabinet <-> floor depth=[1.127, -0.002, 0.351] + !! OVERLAP: shelf <-> floor depth=[0.439, -0.002, 0.375] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0044, Walkable Loss: 2.6552 (Center Penalty: 1.7095, C1 Heatmap: 0.7280, C2 Repulsion: 1.8161), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.064 1.196 2.195 0.394 0.000 0.215 -89.96° +wardrobe 1.604 2.253 0.517 0.549 0.000 -1.523 0.04° +nightstand 0.440 0.532 0.453 1.187 -0.001 1.417 -89.96° +floor 2.921 -0.002 3.749 -0.005 0.001 -0.013 -0.01° +_scene_ 0.066 0.002 0.019 -5.670 -0.005 -5.712 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.440, 0.532, 0.122] + !! OVERLAP: bed <-> floor depth=[2.064, -0.002, 2.195] + !! OVERLAP: wardrobe <-> floor depth=[1.604, -0.002, 0.517] + !! OVERLAP: nightstand <-> floor depth=[0.440, -0.002, 0.453] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0040, Room Outer Loss: 0.0622, Walkable Loss: 3.5770 (Center Penalty: 2.0541, C1 Heatmap: 0.9347, C2 Repulsion: 3.8760), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 3.219 2.472 0.618 0.037 -0.002 -1.504 0.01° +lamp 0.836 0.768 0.808 -0.080 2.150 0.223 -0.01° +bed 1.842 0.941 2.084 -0.265 0.001 0.832 179.91° +nightstand 0.430 0.571 0.399 1.187 0.001 1.264 179.97° +nightstand 0.486 0.499 0.450 -1.315 0.001 1.593 179.91° +lamp 0.114 0.887 0.062 1.379 1.067 1.446 -0.01° +floor 3.175 -0.001 4.029 -0.000 -0.000 0.008 -0.02° +_scene_ 0.068 0.001 0.020 -5.674 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[3.160, -0.001, 0.618] + !! OVERLAP: bed <-> nightstand depth=[0.114, 0.499, 0.450] + !! OVERLAP: bed <-> floor depth=[1.842, -0.001, 2.084] + !! OVERLAP: nightstand <-> floor depth=[0.430, -0.001, 0.399] + !! OVERLAP: nightstand <-> floor depth=[0.486, -0.001, 0.450] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0024, Walkable Loss: 3.6090 (Center Penalty: 2.4625, C1 Heatmap: 0.8035, C2 Repulsion: 2.5184), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.981 1.053 2.280 -0.350 0.004 0.476 89.94° +wardrobe 1.616 1.954 0.612 -0.307 -0.001 -1.704 -0.01° +nightstand 0.499 0.474 0.354 -1.392 0.003 -1.016 90.01° +nightstand 0.491 0.470 0.403 -1.426 0.001 1.804 90.00° +lamp 0.532 0.180 0.535 -0.050 2.410 0.215 0.00° +floor 3.280 -0.002 4.344 0.006 -0.000 0.003 -0.02° +_scene_ 0.072 0.001 0.021 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.161, 0.470, 0.013] + !! OVERLAP: bed <-> floor depth=[1.981, -0.002, 2.280] + !! OVERLAP: wardrobe <-> floor depth=[1.616, -0.002, 0.612] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.002, 0.354] + !! OVERLAP: nightstand <-> floor depth=[0.454, -0.002, 0.403] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0385, Room Outer Loss: 0.0995, Walkable Loss: 2.3592 (Center Penalty: 1.4274, C1 Heatmap: 0.5513, C2 Repulsion: 2.4536), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.790 1.969 1.854 0.625 0.001 0.270 -90.13° +nightstand 0.596 0.605 0.515 1.448 -0.000 -0.574 -90.13° +nightstand 0.532 0.637 0.497 1.522 0.000 1.480 -90.07° +cabinet 0.418 0.539 0.357 1.428 -0.001 -1.556 -0.05° +cabinet 0.451 0.591 0.321 -0.981 0.011 -1.565 42.52° +floor 3.452 -0.002 4.072 -0.011 -0.000 -0.042 0.01° +_scene_ 0.059 0.013 0.030 -5.674 -0.005 -5.698 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.369, 0.605, 0.341] + !! OVERLAP: bed <-> floor depth=[1.790, -0.002, 1.854] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.002, 0.515] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.002, 0.497] + !! OVERLAP: cabinet <-> floor depth=[0.418, -0.002, 0.357] + !! OVERLAP: cabinet <-> floor depth=[0.451, -0.002, 0.321] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0312, Room Outer Loss: 0.3945, Walkable Loss: 4.1261 (Center Penalty: 2.3212, C1 Heatmap: 1.0250, C2 Repulsion: 4.9248), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.123 1.089 2.383 0.363 0.001 -0.402 0.00° +nightstand 0.405 0.534 0.416 -0.531 0.001 -1.508 -0.05° +nightstand 0.456 0.525 0.393 1.439 -0.001 -1.459 0.09° +wardrobe 1.962 2.484 0.647 -1.051 0.001 -0.570 89.95° +tv_stand 1.804 1.857 0.396 0.295 0.000 1.407 -179.99° +lamp 0.680 0.724 0.434 0.385 2.095 -0.174 -0.06° +floor 3.381 -0.001 3.291 -0.006 0.000 -0.002 0.00° +_scene_ 0.069 -0.000 0.020 -5.676 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.370, 0.534, 0.293] + !! OVERLAP: bed <-> nightstand depth=[0.214, 0.525, 0.331] + !! OVERLAP: bed <-> wardrobe depth=[0.628, 1.089, 0.647] + !! OVERLAP: bed <-> floor depth=[2.123, -0.001, 2.383] + !! OVERLAP: nightstand <-> floor depth=[0.405, -0.001, 0.347] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.001, 0.385] + !! OVERLAP: wardrobe <-> floor depth=[1.626, -0.001, 0.647] + !! OVERLAP: tv_stand <-> floor depth=[1.804, -0.001, 0.396] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0070, Room Outer Loss: 0.0000, Walkable Loss: 3.3091 (Center Penalty: 2.4948, C1 Heatmap: 0.5898, C2 Repulsion: 1.7124), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.866 1.299 2.265 -0.377 0.001 -0.186 89.78° +nightstand 0.467 0.522 0.398 -1.231 0.002 1.180 90.01° +nightstand 0.376 0.464 0.413 -1.226 0.001 -1.247 90.04° +lamp 0.585 0.382 0.584 0.084 2.236 -0.338 -0.00° +floor 3.402 -0.004 4.039 -0.007 0.001 -0.072 -0.03° +_scene_ 0.069 0.001 0.021 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.272, 0.464, 0.278] + !! OVERLAP: bed <-> floor depth=[1.866, -0.004, 2.265] + !! OVERLAP: nightstand <-> floor depth=[0.467, -0.004, 0.398] + !! OVERLAP: nightstand <-> floor depth=[0.376, -0.004, 0.413] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2679 (Center Penalty: 1.5221, C1 Heatmap: 0.7268, C2 Repulsion: 0.8219), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.556 2.220 0.645 0.019 -0.000 1.177 -179.90° +bed 2.396 0.998 1.966 -0.105 0.002 -0.745 89.89° +lamp 0.619 0.405 0.591 0.211 2.123 -1.026 0.00° +floor 2.611 -0.002 4.359 -0.007 0.000 -0.034 0.01° +_scene_ 0.065 0.003 0.025 -5.660 -0.005 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.556, -0.002, 0.645] + !! OVERLAP: bed <-> floor depth=[2.396, -0.002, 1.966] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.1172, Room Outer Loss: 1.1337, Walkable Loss: 4.1133 (Center Penalty: 2.4849, C1 Heatmap: 1.0207, C2 Repulsion: 4.0594), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.452 0.517 0.445 1.410 0.000 -1.272 0.02° +desk 1.587 1.533 0.645 -0.193 0.000 -1.209 0.02° +wardrobe 2.710 2.356 0.621 -1.389 -0.002 -0.199 89.94° +lamp 0.645 0.489 0.654 0.093 2.215 -0.069 -0.02° +bed 1.768 0.898 2.146 0.682 0.011 -0.213 -0.02° +floor 3.428 -0.007 3.090 -0.031 -0.001 0.007 0.02° +_scene_ 0.067 -0.000 0.016 -5.676 -0.006 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.382, 0.517, 0.236] + !! OVERLAP: nightstand <-> floor depth=[0.452, -0.007, 0.445] + !! OVERLAP: desk <-> bed depth=[0.802, 0.898, 0.399] + !! OVERLAP: desk <-> floor depth=[1.587, -0.007, 0.645] + !! OVERLAP: wardrobe <-> bed depth=[0.168, 0.898, 0.621] + !! OVERLAP: wardrobe <-> floor depth=[1.711, -0.007, 0.621] + !! OVERLAP: bed <-> floor depth=[1.768, -0.007, 2.146] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.1221, Walkable Loss: 3.4115 (Center Penalty: 2.3449, C1 Heatmap: 0.6962, C2 Repulsion: 2.5480), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.889 1.136 2.119 0.615 -0.004 0.226 -90.06° +wardrobe 1.195 2.462 0.653 -0.923 0.001 0.342 89.92° +nightstand 0.492 0.571 0.526 1.504 0.000 -1.155 -90.03° +nightstand 0.544 0.562 0.482 1.626 0.000 1.325 -89.95° +lamp 1.048 0.978 1.057 0.166 1.777 0.371 -0.05° +floor 3.539 -0.002 3.896 0.031 -0.001 0.093 -0.04° +_scene_ 0.071 0.000 0.023 -5.670 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.004, 1.136, 0.653] + !! OVERLAP: bed <-> nightstand depth=[0.205, 0.562, 0.201] + !! OVERLAP: bed <-> floor depth=[1.889, -0.002, 2.119] + !! OVERLAP: wardrobe <-> floor depth=[1.195, -0.002, 0.653] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.002, 0.526] + !! OVERLAP: nightstand <-> floor depth=[0.446, -0.002, 0.482] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1985, Walkable Loss: 2.2114 (Center Penalty: 1.2862, C1 Heatmap: 0.6887, C2 Repulsion: 1.8715), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.433 2.180 0.638 0.201 -0.000 -1.787 -0.02° +bed 1.747 1.421 2.046 0.635 0.004 0.636 -89.88° +nightstand 0.437 0.597 0.412 1.490 0.001 -0.941 -89.97° +nightstand 0.479 0.631 0.408 1.569 0.000 1.952 -90.17° +floor 3.473 -0.003 4.957 -0.071 -0.000 0.069 -0.02° +_scene_ 0.075 0.000 0.024 -5.664 -0.006 -5.705 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.433, -0.003, 0.638] + !! OVERLAP: bed <-> floor depth=[1.747, -0.003, 2.046] + !! OVERLAP: nightstand <-> floor depth=[0.394, -0.003, 0.412] + !! OVERLAP: nightstand <-> floor depth=[0.336, -0.003, 0.408] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5066, Walkable Loss: 3.7214 (Center Penalty: 2.4949, C1 Heatmap: 0.7062, C2 Repulsion: 3.3078), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.863 0.619 0.854 -0.128 2.137 -0.080 -0.03° +wardrobe 1.606 2.466 0.582 1.452 -0.002 0.446 -90.02° +bed 1.933 0.814 1.974 -0.230 0.001 0.422 179.93° +nightstand 0.450 0.481 0.406 -1.512 0.002 1.211 179.86° +nightstand 0.383 0.459 0.322 0.960 0.002 1.295 179.96° +floor 3.882 -0.002 2.904 -0.096 -0.001 0.004 -0.00° +_scene_ 0.068 0.001 0.019 -5.674 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.087, 0.814, 0.582] + !! OVERLAP: wardrobe <-> floor depth=[1.196, -0.002, 0.582] + !! OVERLAP: bed <-> floor depth=[1.933, -0.002, 1.974] + !! OVERLAP: nightstand <-> floor depth=[0.450, -0.002, 0.406] + !! OVERLAP: nightstand <-> floor depth=[0.383, -0.002, 0.322] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0457, Room Outer Loss: 0.7941, Walkable Loss: 4.0810 (Center Penalty: 2.7823, C1 Heatmap: 0.8784, C2 Repulsion: 2.9798), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.877 0.493 0.455 1.202 -0.000 0.006 -90.09° +bed 2.222 1.127 2.394 -0.324 0.000 0.163 89.93° +nightstand 0.456 0.615 0.450 -1.261 -0.001 1.202 90.09° +nightstand 0.543 0.539 0.464 -1.146 0.006 -0.786 89.95° +lamp 0.798 0.556 0.239 0.061 2.143 -0.188 -0.02° +floor 2.999 -0.000 3.233 -0.004 0.001 -0.005 -0.02° +_scene_ 0.065 0.002 0.024 -5.673 -0.005 -5.719 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> bed depth=[0.524, 0.493, 0.455] + !! OVERLAP: tv_stand <-> floor depth=[1.232, -0.000, 0.455] + !! OVERLAP: bed <-> nightstand depth=[0.402, 0.615, 0.383] + !! OVERLAP: bed <-> nightstand depth=[0.543, 0.539, 0.464] + !! OVERLAP: bed <-> floor depth=[2.222, -0.000, 2.394] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.000, 0.450] + !! OVERLAP: nightstand <-> floor depth=[0.543, -0.000, 0.464] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0187, Room Outer Loss: 0.1496, Walkable Loss: 3.2891 (Center Penalty: 2.4987, C1 Heatmap: 0.6050, C2 Repulsion: 1.5322), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.726 0.948 2.040 -0.493 -0.000 -0.128 89.78° +nightstand 0.535 0.488 0.455 -1.344 0.001 -1.064 89.89° +desk 1.216 1.505 0.623 1.505 0.000 -1.035 -90.16° +lamp 0.720 0.301 0.743 0.006 2.304 -0.251 -0.10° +floor 3.917 0.001 2.562 -0.008 -0.001 -0.020 0.01° +_scene_ 0.069 -0.000 0.020 -5.669 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.279, 0.488, 0.312] + !! OVERLAP: bed <-> floor depth=[1.726, 0.001, 2.040] + !! OVERLAP: nightstand <-> floor depth=[0.535, 0.001, 0.455] + !! OVERLAP: desk <-> floor depth=[1.054, 0.001, 0.578] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.6935, Walkable Loss: 3.6385 (Center Penalty: 2.0040, C1 Heatmap: 0.9783, C2 Repulsion: 4.2594), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.796 1.346 2.044 -0.730 0.002 -0.472 89.83° +wardrobe 2.133 2.251 0.609 -0.614 0.001 1.675 -179.97° +nightstand 0.472 0.721 0.379 -1.365 0.002 -1.699 89.79° +nightstand 0.534 0.657 0.418 -1.382 0.001 0.639 89.99° +tv_stand 2.063 0.617 0.448 1.454 -0.000 -0.085 -90.07° +lamp 0.712 0.626 0.240 -0.115 2.046 -0.488 -0.05° +floor 3.640 -0.002 4.185 -0.003 -0.000 -0.010 0.00° +_scene_ 0.069 0.000 0.019 -5.673 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.513, 0.657, 0.120] + !! OVERLAP: bed <-> floor depth=[1.796, -0.002, 2.044] + !! OVERLAP: wardrobe <-> floor depth=[2.133, -0.002, 0.609] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.002, 0.379] + !! OVERLAP: nightstand <-> floor depth=[0.534, -0.002, 0.418] + !! OVERLAP: tv_stand <-> floor depth=[1.394, -0.002, 0.448] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4168 (Center Penalty: 1.3891, C1 Heatmap: 0.7562, C2 Repulsion: 2.1143), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.894 1.077 2.082 0.947 0.001 0.457 179.97° +cabinet 1.134 1.092 0.456 -1.264 0.001 -1.246 0.00° +wardrobe 1.324 2.326 0.603 -0.894 0.002 1.402 179.97° +chair 0.578 0.722 0.558 -1.404 -0.006 0.387 -37.86° +lamp 0.298 0.583 0.298 0.852 2.235 0.075 -0.07° +floor 4.439 -0.001 3.487 -0.051 0.000 0.032 -0.03° +_scene_ 0.073 0.000 0.021 -5.672 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.894, -0.001, 2.082] + !! OVERLAP: cabinet <-> floor depth=[1.134, -0.001, 0.456] + !! OVERLAP: wardrobe <-> floor depth=[1.324, -0.001, 0.603] + !! OVERLAP: chair <-> floor depth=[0.578, -0.001, 0.558] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0112, Room Outer Loss: 1.0699, Walkable Loss: 2.7569 (Center Penalty: 1.0696, C1 Heatmap: 0.9518, C2 Repulsion: 4.6291), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.614 1.016 1.960 -0.833 0.001 0.688 89.95° +wardrobe 1.160 2.091 0.622 -1.289 0.000 -1.262 89.88° +wardrobe 1.343 2.027 0.604 -0.384 -0.000 -1.344 0.03° +tv_stand 2.573 0.640 0.601 1.363 0.002 0.668 -89.96° +nightstand 0.555 0.505 0.465 -1.603 0.001 -0.117 90.02° +floor 3.543 -0.001 4.441 -0.018 0.000 0.130 -0.00° +_scene_ 0.074 -0.000 0.027 -5.669 -0.005 -5.707 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.315, 0.505, 0.408] + !! OVERLAP: bed <-> floor depth=[1.614, -0.001, 1.960] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.346, 2.027, 0.531] + !! OVERLAP: wardrobe <-> floor depth=[1.081, -0.001, 0.622] + !! OVERLAP: wardrobe <-> floor depth=[1.343, -0.001, 0.604] + !! OVERLAP: tv_stand <-> floor depth=[1.677, -0.001, 0.601] + !! OVERLAP: nightstand <-> floor depth=[0.465, -0.001, 0.465] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0967, Room Outer Loss: 0.1367, Walkable Loss: 2.7996 (Center Penalty: 1.6469, C1 Heatmap: 0.7503, C2 Repulsion: 2.7621), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.140 0.969 2.310 -0.293 0.001 -0.457 89.91° +nightstand 0.478 0.569 0.385 -1.172 0.003 0.457 90.02° +wardrobe 1.055 1.959 0.538 -0.080 0.003 1.584 -179.96° +nightstand 0.439 0.501 0.428 -1.112 0.002 -1.361 90.03° +floor 2.799 -0.002 3.697 -0.006 0.000 -0.036 0.00° +_scene_ 0.070 0.001 0.019 -5.670 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.430, 0.569, 0.385] + !! OVERLAP: bed <-> nightstand depth=[0.439, 0.501, 0.428] + !! OVERLAP: bed <-> floor depth=[2.140, -0.002, 2.310] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.002, 0.385] + !! OVERLAP: wardrobe <-> floor depth=[1.055, -0.002, 0.498] + !! OVERLAP: nightstand <-> floor depth=[0.439, -0.002, 0.428] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0493, Room Outer Loss: 0.3619, Walkable Loss: 5.1560 (Center Penalty: 2.4442, C1 Heatmap: 1.3569, C2 Repulsion: 8.1315), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.907 0.805 0.273 1.390 0.001 -0.443 -90.12° +lamp 0.859 0.824 0.889 -0.013 2.098 0.096 0.03° +bed 2.203 1.378 2.384 -0.504 0.000 -0.332 89.82° +nightstand 0.452 0.527 0.422 -1.426 0.007 -1.239 90.08° +nightstand 0.452 0.491 0.373 -1.364 0.002 1.119 89.97° +table 0.748 1.234 0.381 -1.185 0.002 1.483 89.97° +wardrobe 2.355 2.324 0.567 -0.411 -0.002 -2.130 0.03° +desk 2.119 0.718 1.295 0.634 0.000 1.018 -89.76° +floor 3.420 0.000 4.980 -0.007 -0.001 -0.035 -0.02° +_scene_ 0.073 0.000 0.022 -5.668 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.767, 0.000, 0.273] + !! OVERLAP: bed <-> nightstand depth=[0.405, 0.527, 0.422] + !! OVERLAP: bed <-> desk depth=[1.023, 0.718, 0.490] + !! OVERLAP: bed <-> floor depth=[2.203, 0.000, 2.384] + !! OVERLAP: nightstand <-> floor depth=[0.452, 0.000, 0.422] + !! OVERLAP: nightstand <-> table depth=[0.421, 0.491, 0.014] + !! OVERLAP: nightstand <-> floor depth=[0.452, 0.000, 0.373] + !! OVERLAP: table <-> floor depth=[0.748, 0.000, 0.381] + !! OVERLAP: wardrobe <-> floor depth=[2.355, 0.000, 0.567] + !! OVERLAP: desk <-> floor depth=[2.119, 0.000, 1.295] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.0168, Walkable Loss: 3.1493 (Center Penalty: 2.4751, C1 Heatmap: 0.6074, C2 Repulsion: 0.9415), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.945 1.359 2.355 0.543 0.001 -0.357 -90.02° +nightstand 0.428 0.489 0.380 1.322 0.000 0.855 -89.92° +lamp 0.993 0.769 0.623 -0.028 2.039 -0.018 0.11° +floor 3.165 -0.002 3.096 -0.032 0.001 -0.019 0.00° +_scene_ 0.073 -0.000 0.019 -5.673 -0.005 -5.719 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.408, 0.489, 0.155] + !! OVERLAP: bed <-> floor depth=[1.945, -0.002, 2.355] + !! OVERLAP: nightstand <-> floor depth=[0.428, -0.002, 0.380] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.9005, Walkable Loss: 4.5327 (Center Penalty: 2.8986, C1 Heatmap: 1.0787, C2 Repulsion: 3.8562), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.909 1.429 2.131 -0.323 0.000 -0.136 89.79° +wardrobe 2.265 2.276 0.484 -0.260 -0.001 1.443 -179.97° +nightstand 0.554 0.559 0.523 -1.150 0.001 -1.289 89.97° +tv_stand 2.472 0.949 0.500 1.032 -0.002 0.058 -89.99° +lamp 0.527 0.483 0.523 0.103 2.055 0.038 -0.02° +floor 2.852 -0.001 3.430 -0.002 0.000 -0.004 -0.04° +_scene_ 0.071 0.000 0.021 -5.669 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.405, 0.559, 0.173] + !! OVERLAP: bed <-> tv_stand depth=[0.836, 0.949, 0.500] + !! OVERLAP: bed <-> floor depth=[1.909, -0.001, 2.131] + !! OVERLAP: wardrobe <-> floor depth=[2.265, -0.001, 0.484] + !! OVERLAP: nightstand <-> floor depth=[0.554, -0.001, 0.523] + !! OVERLAP: tv_stand <-> floor depth=[1.628, -0.001, 0.500] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0387, Room Outer Loss: 0.5270, Walkable Loss: 4.2112 (Center Penalty: 1.8897, C1 Heatmap: 1.1468, C2 Repulsion: 7.0204), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.471 1.226 2.451 -0.197 0.001 0.768 89.93° +table 0.707 0.526 0.707 -1.313 0.001 1.713 0.02° +table 0.586 0.559 0.538 -1.327 0.000 -0.588 90.03° +wardrobe 1.150 2.094 0.554 -0.888 -0.001 -1.312 0.05° +wardrobe 0.828 2.043 0.392 -0.066 -0.001 -1.638 0.03° +lamp 0.476 0.141 0.443 -0.023 2.643 0.535 -0.03° +lamp 1.291 1.065 1.283 -0.826 1.481 1.648 0.06° +floor 2.729 0.009 4.603 -0.042 -0.003 0.210 0.02° +_scene_ 0.073 -0.003 0.021 -5.673 -0.007 -5.715 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.473, 0.526, 0.634] + !! OVERLAP: bed <-> table depth=[0.399, 0.559, 0.139] + !! OVERLAP: bed <-> floor depth=[2.444, 0.009, 2.451] + !! OVERLAP: table <-> floor depth=[0.447, 0.009, 0.707] + !! OVERLAP: table <-> floor depth=[0.372, 0.009, 0.538] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.167, 2.043, 0.147] + !! OVERLAP: wardrobe <-> floor depth=[1.093, 0.009, 0.554] + !! OVERLAP: wardrobe <-> floor depth=[0.828, 0.009, 0.392] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.2278, Room Outer Loss: 0.4695, Walkable Loss: 4.0367 (Center Penalty: 2.1844, C1 Heatmap: 1.1264, C2 Repulsion: 4.7556), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.925 1.189 2.521 0.264 0.000 0.289 -90.00° +nightstand 0.483 0.583 0.439 1.545 0.003 1.833 -89.93° +nightstand 0.425 0.669 0.397 1.385 0.000 0.079 -90.20° +wardrobe 1.653 2.178 0.559 0.035 0.001 -1.629 -0.01° +wardrobe 1.664 2.209 0.586 -0.149 0.001 -1.191 0.09° +lamp 0.890 0.917 0.895 0.194 1.783 0.656 0.02° +floor 2.994 -0.002 4.162 -0.011 0.000 -0.011 -0.01° +_scene_ 0.071 0.000 0.023 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.425, 0.669, 0.397] + !! OVERLAP: bed <-> wardrobe depth=[1.664, 1.189, 0.073] + !! OVERLAP: bed <-> floor depth=[2.685, -0.002, 2.521] + !! OVERLAP: nightstand <-> floor depth=[0.183, -0.002, 0.439] + !! OVERLAP: nightstand <-> floor depth=[0.314, -0.002, 0.397] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.475, 2.178, 0.134] + !! OVERLAP: wardrobe <-> floor depth=[1.653, -0.002, 0.559] + !! OVERLAP: wardrobe <-> floor depth=[1.664, -0.002, 0.586] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0072, Room Outer Loss: 0.1981, Walkable Loss: 2.6497 (Center Penalty: 1.3536, C1 Heatmap: 0.8395, C2 Repulsion: 3.1230), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.859 1.427 2.058 0.998 0.001 -0.060 -90.09° +wardrobe 1.517 2.147 0.575 -0.758 -0.001 -1.263 0.02° +desk 1.653 0.718 0.784 -1.407 -0.000 0.988 89.97° +chair 0.478 0.605 0.523 -0.763 -0.002 0.521 -89.82° +floor 3.879 -0.002 3.269 -0.013 -0.001 -0.045 0.01° +_scene_ 0.064 0.001 0.026 -5.668 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.858, -0.002, 2.058] + !! OVERLAP: wardrobe <-> floor depth=[1.517, -0.002, 0.575] + !! OVERLAP: desk <-> chair depth=[0.422, 0.605, 0.186] + !! OVERLAP: desk <-> floor depth=[1.372, -0.002, 0.784] + !! OVERLAP: chair <-> floor depth=[0.478, -0.002, 0.523] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0887, Room Outer Loss: 0.0104, Walkable Loss: 3.8607 (Center Penalty: 2.5967, C1 Heatmap: 0.8300, C2 Repulsion: 3.0000), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.174 1.165 2.236 0.244 -0.000 -0.186 -90.00° +table 0.521 0.452 0.405 1.206 -0.001 0.668 -90.15° +wardrobe 1.880 2.342 0.464 0.477 0.003 1.161 -179.96° +lamp 0.763 0.939 0.744 -0.046 1.736 -0.410 -0.01° +floor 2.985 -0.002 3.251 0.026 -0.001 -0.018 -0.02° +_scene_ 0.058 0.001 0.015 -5.670 -0.004 -5.714 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.386, 0.452, 0.405] + !! OVERLAP: bed <-> wardrobe depth=[1.794, 1.165, 0.003] + !! OVERLAP: bed <-> floor depth=[2.174, -0.002, 2.236] + !! OVERLAP: table <-> floor depth=[0.521, -0.002, 0.405] + !! OVERLAP: wardrobe <-> floor depth=[1.880, -0.002, 0.464] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0253, Room Outer Loss: 0.2668, Walkable Loss: 3.4450 (Center Penalty: 2.4375, C1 Heatmap: 0.8334, C2 Repulsion: 1.7042), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.116 1.074 2.301 0.619 0.003 -0.137 179.91° +wardrobe 1.477 2.191 0.612 -1.311 -0.001 -0.194 89.95° +desk 1.333 0.814 0.652 1.022 -0.000 1.216 179.92° +lamp 0.732 0.188 0.745 0.019 2.307 0.088 -0.03° +floor 3.664 -0.001 3.124 -0.031 0.000 -0.020 -0.00° +_scene_ 0.060 0.000 0.019 -5.676 -0.005 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.322, 0.814, 0.123] + !! OVERLAP: bed <-> floor depth=[2.116, -0.001, 2.301] + !! OVERLAP: wardrobe <-> floor depth=[1.290, -0.001, 0.612] + !! OVERLAP: desk <-> floor depth=[1.333, -0.001, 0.652] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0080, Room Outer Loss: 0.8622, Walkable Loss: 5.4333 (Center Penalty: 2.3069, C1 Heatmap: 1.1008, C2 Repulsion: 11.2293), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.020 1.467 2.197 -0.489 0.001 0.162 89.85° +nightstand 0.541 0.569 0.488 -1.319 0.009 1.969 89.99° +nightstand 0.552 0.573 0.534 -1.296 0.002 -0.896 90.01° +tv_stand 1.561 0.431 0.395 1.426 -0.000 0.387 -89.95° +wardrobe 1.361 2.349 0.582 -0.945 0.000 -1.873 0.06° +wardrobe 1.061 2.337 0.618 0.118 -0.001 -1.574 -0.04° +lamp 0.084 0.964 0.064 -1.511 1.110 -0.940 0.06° +lamp 0.213 0.790 0.188 -1.389 1.126 1.531 0.06° +lamp 0.747 0.841 0.724 0.057 2.010 0.372 -0.00° +chair 0.684 0.716 0.642 -0.188 0.010 2.043 153.69° +table 0.672 0.517 0.747 0.675 0.003 2.058 90.07° +floor 3.140 -0.002 5.004 -0.089 0.001 0.120 -0.02° +_scene_ 0.071 -0.000 0.023 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.479, 0.573, 0.308] + !! OVERLAP: bed <-> lamp depth=[0.030, 0.106, 0.029] + !! OVERLAP: bed <-> floor depth=[2.020, -0.002, 2.197] + !! OVERLAP: nightstand <-> floor depth=[0.541, -0.002, 0.488] + !! OVERLAP: nightstand <-> floor depth=[0.552, -0.002, 0.534] + !! OVERLAP: tv_stand <-> floor depth=[0.835, -0.002, 0.395] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.149, 2.337, 0.301] + !! OVERLAP: wardrobe <-> floor depth=[1.361, -0.002, 0.582] + !! OVERLAP: wardrobe <-> floor depth=[1.061, -0.002, 0.618] + !! OVERLAP: chair <-> floor depth=[0.684, -0.002, 0.642] + !! OVERLAP: table <-> floor depth=[0.672, -0.002, 0.747] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4502, Walkable Loss: 3.2803 (Center Penalty: 2.4201, C1 Heatmap: 0.8265, C2 Repulsion: 0.9948), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.180 0.751 2.149 -0.469 0.000 -0.226 89.93° +lamp 0.679 0.768 0.709 -0.125 1.880 -0.174 90.05° +wardrobe 1.936 2.502 0.733 1.077 -0.001 0.016 -90.02° +floor 3.136 -0.001 3.276 -0.070 0.004 0.027 -0.03° +_scene_ 0.032 0.004 0.009 -5.553 -0.006 -5.636 -57.48° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.512, 0.751, 0.733] + !! OVERLAP: bed <-> floor depth=[2.180, -0.001, 2.149] + !! OVERLAP: wardrobe <-> floor depth=[1.389, -0.001, 0.733] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1947, Walkable Loss: 2.9635 (Center Penalty: 1.7933, C1 Heatmap: 0.7570, C2 Repulsion: 2.8230), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.449 0.572 0.415 -1.001 0.002 -1.216 0.03° +bed 2.005 1.099 2.359 0.235 0.000 -0.238 -0.01° +nightstand 0.413 0.634 0.406 1.951 0.002 -0.733 -90.08° +wardrobe 1.280 2.500 0.523 -1.745 0.000 -0.305 89.75° +floor 4.353 -0.001 2.773 0.016 -0.000 -0.018 -0.03° +_scene_ 0.069 0.001 0.026 -5.672 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.001, 0.396] + !! OVERLAP: bed <-> floor depth=[2.005, -0.001, 2.346] + !! OVERLAP: nightstand <-> floor depth=[0.413, -0.001, 0.406] + !! OVERLAP: wardrobe <-> floor depth=[1.055, -0.001, 0.523] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0342, Room Outer Loss: 0.1515, Walkable Loss: 4.3704 (Center Penalty: 2.3281, C1 Heatmap: 1.0358, C2 Repulsion: 6.0682), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.094 1.396 2.105 -0.716 -0.000 -0.077 89.90° +nightstand 0.551 0.482 0.423 -1.489 0.001 -1.337 90.05° +wardrobe 1.719 2.490 0.533 -0.861 0.000 1.565 -179.96° +wardrobe 1.703 2.481 0.553 1.125 -0.001 -1.018 -90.12° +chair 0.762 0.743 0.903 1.382 -0.002 -0.065 -90.20° +lamp 0.754 0.865 0.758 -0.092 2.110 -0.105 0.01° +nightstand 0.527 0.434 0.414 -1.610 0.001 0.896 90.00° +floor 3.810 -0.000 3.561 -0.038 0.000 0.008 -0.00° +_scene_ 0.063 0.000 0.017 -5.680 -0.005 -5.718 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.550, 0.482, 0.004] + !! OVERLAP: bed <-> wardrobe depth=[0.058, 1.396, 0.387] + !! OVERLAP: bed <-> nightstand depth=[0.416, 0.434, 0.287] + !! OVERLAP: bed <-> floor depth=[2.094, -0.000, 2.105] + !! OVERLAP: nightstand <-> floor depth=[0.551, -0.000, 0.423] + !! OVERLAP: wardrobe <-> floor depth=[1.719, -0.000, 0.491] + !! OVERLAP: wardrobe <-> floor depth=[1.594, -0.000, 0.553] + !! OVERLAP: chair <-> floor depth=[0.762, -0.000, 0.903] + !! OVERLAP: nightstand <-> floor depth=[0.527, -0.000, 0.414] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.3786 (Center Penalty: 2.3800, C1 Heatmap: 0.6219, C2 Repulsion: 2.5056), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.609 1.131 2.340 -0.484 0.001 0.708 89.91° +desk 1.129 0.955 0.531 -0.989 0.010 -1.284 179.78° +chair 0.561 0.978 0.510 -0.616 0.006 -0.648 -168.37° +lamp 0.604 0.190 0.606 -0.178 2.410 0.214 -0.05° +floor 2.945 -0.003 3.996 -0.017 0.001 -0.017 -0.01° +_scene_ 0.066 0.001 0.021 -5.670 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.561, 0.978, 0.069] + !! OVERLAP: bed <-> floor depth=[1.609, -0.003, 2.340] + !! OVERLAP: desk <-> floor depth=[1.066, -0.003, 0.531] + !! OVERLAP: chair <-> floor depth=[0.561, -0.003, 0.510] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0026, Room Outer Loss: 0.3692, Walkable Loss: 3.5494 (Center Penalty: 2.4566, C1 Heatmap: 0.7117, C2 Repulsion: 2.6171), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.721 1.253 2.173 0.468 -0.001 0.301 179.98° +nightstand 0.489 0.680 0.393 -0.753 0.002 1.148 179.93° +nightstand 0.563 0.626 0.434 1.625 0.005 1.180 179.98° +wardrobe 1.428 2.331 0.661 -1.779 0.019 0.091 90.11° +lamp 0.455 0.744 0.365 0.148 1.935 0.110 -0.09° +floor 4.284 -0.001 2.776 -0.012 0.000 -0.001 -0.03° +_scene_ 0.071 -0.000 0.021 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.721, -0.001, 2.173] + !! OVERLAP: nightstand <-> floor depth=[0.489, -0.001, 0.393] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.001, 0.424] + !! OVERLAP: wardrobe <-> floor depth=[1.089, -0.001, 0.661] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0193, Room Outer Loss: 0.0000, Walkable Loss: 3.2246 (Center Penalty: 2.3273, C1 Heatmap: 0.6386, C2 Repulsion: 1.9321), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.760 0.673 2.114 -0.392 0.001 -0.399 0.05° +cabinet 0.613 0.895 0.301 -0.858 0.002 1.501 -179.99° +nightstand 0.741 0.592 0.487 1.354 0.004 -1.284 0.10° +nightstand 0.728 0.682 0.544 -1.488 0.000 -1.252 -0.02° +lamp 0.686 0.486 0.670 -0.276 2.185 0.137 -0.04° +floor 4.100 0.002 3.445 0.029 -0.001 0.019 -0.06° +_scene_ 0.067 0.001 0.022 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.147, 0.673, 0.476] + !! OVERLAP: bed <-> floor depth=[1.760, 0.002, 2.114] + !! OVERLAP: cabinet <-> floor depth=[0.613, 0.002, 0.301] + !! OVERLAP: nightstand <-> floor depth=[0.741, 0.002, 0.487] + !! OVERLAP: nightstand <-> floor depth=[0.728, 0.002, 0.544] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.1129, Room Outer Loss: 1.4086, Walkable Loss: 3.5504 (Center Penalty: 1.7617, C1 Heatmap: 1.1706, C2 Repulsion: 4.2615), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.332 1.262 0.551 -1.226 0.003 0.845 -179.88° +nightstand 0.636 0.512 0.430 -1.366 0.000 -1.213 0.01° +bed 2.251 0.816 2.405 -0.289 -0.000 -0.252 -0.01° +nightstand 0.469 0.537 0.388 1.196 0.001 -1.358 0.01° +wardrobe 2.904 2.375 0.598 1.493 -0.002 0.065 -90.10° +floor 3.655 -0.002 3.143 -0.004 0.001 -0.007 -0.03° +_scene_ 0.072 0.000 0.017 -5.669 -0.006 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.855, 0.816, 0.381] + !! OVERLAP: table <-> floor depth=[1.272, -0.002, 0.551] + !! OVERLAP: nightstand <-> bed depth=[0.367, 0.512, 0.430] + !! OVERLAP: nightstand <-> floor depth=[0.636, -0.002, 0.430] + !! OVERLAP: bed <-> wardrobe depth=[0.795, 0.816, 0.598] + !! OVERLAP: bed <-> floor depth=[2.251, -0.002, 2.405] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.002, 0.388] + !! OVERLAP: wardrobe <-> floor depth=[1.783, -0.002, 0.598] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0919, Walkable Loss: 2.6770 (Center Penalty: 1.8685, C1 Heatmap: 0.7646, C2 Repulsion: 0.9845), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.134 1.110 0.444 -1.379 0.001 0.366 89.91° +cabinet 1.115 1.035 0.387 -1.491 0.001 -1.567 89.98° +bed 2.323 0.697 2.411 0.771 -0.002 -0.679 -0.02° +lamp 0.413 0.827 0.398 0.216 1.805 -0.438 0.03° +lamp 0.419 0.795 0.444 0.823 2.208 -1.251 -0.00° +lamp 0.128 0.759 0.117 -0.960 2.083 1.340 -89.77° +floor 3.804 0.000 4.082 -0.019 0.000 -0.088 0.01° +_scene_ 0.067 0.003 0.022 -5.673 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.109, 0.000, 0.444] + !! OVERLAP: cabinet <-> floor depth=[0.988, 0.000, 0.387] + !! OVERLAP: bed <-> floor depth=[2.273, 0.000, 2.411] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0040, Room Outer Loss: 0.7999, Walkable Loss: 4.1752 (Center Penalty: 2.7439, C1 Heatmap: 0.8826, C2 Repulsion: 3.6259), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.528 0.263 0.528 0.174 2.419 0.043 -0.05° +bed 1.697 1.107 2.372 0.340 -0.000 -0.247 0.01° +nightstand 0.533 0.653 0.475 -0.861 -0.001 -1.260 -0.00° +nightstand 0.636 0.640 0.587 1.540 0.002 -1.110 0.04° +wardrobe 2.241 2.445 0.541 -1.476 0.007 -0.291 90.16° +floor 3.705 -0.002 3.121 -0.002 0.001 0.010 -0.02° +_scene_ 0.064 0.000 0.021 -5.676 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.153, 1.107, 0.541] + !! OVERLAP: bed <-> floor depth=[1.697, -0.002, 2.372] + !! OVERLAP: nightstand <-> floor depth=[0.533, -0.002, 0.475] + !! OVERLAP: nightstand <-> floor depth=[0.628, -0.002, 0.587] + !! OVERLAP: wardrobe <-> floor depth=[1.499, -0.002, 0.541] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3792, Walkable Loss: 3.1895 (Center Penalty: 2.4799, C1 Heatmap: 0.6832, C2 Repulsion: 0.8150), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.904 1.557 2.070 -0.684 0.005 0.002 89.89° +lamp 0.593 0.496 0.593 -0.130 2.037 0.000 -0.00° +wardrobe 1.596 2.293 0.709 1.223 -0.001 -0.151 -90.02° +floor 3.344 0.000 3.252 -0.009 0.001 0.011 -0.03° +_scene_ 0.041 0.006 0.006 -5.661 -0.006 -5.715 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.904, 0.000, 2.070] + !! OVERLAP: wardrobe <-> floor depth=[1.237, 0.000, 0.709] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0182, Room Outer Loss: 0.2033, Walkable Loss: 3.9711 (Center Penalty: 2.4893, C1 Heatmap: 0.9062, C2 Repulsion: 3.7839), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.125 1.240 2.179 -0.492 0.001 -0.081 89.78° +nightstand 0.733 0.656 0.484 -1.622 0.001 -1.187 90.01° +nightstand 0.656 0.736 0.500 -1.872 0.001 1.025 90.02° +lamp 0.486 0.302 0.451 0.252 2.511 -0.022 -0.06° +chair 0.540 0.831 0.711 1.653 -0.001 -0.736 -30.02° +tv_stand 1.963 0.530 0.430 1.688 0.001 0.432 -90.06° +floor 4.642 -0.002 2.871 0.129 -0.000 0.032 -0.02° +_scene_ 0.065 -0.001 0.014 -5.680 -0.006 -5.720 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.299, 0.656, 0.225] + !! OVERLAP: bed <-> nightstand depth=[0.011, 0.736, 0.234] + !! OVERLAP: bed <-> floor depth=[2.125, -0.002, 2.179] + !! OVERLAP: nightstand <-> floor depth=[0.733, -0.002, 0.459] + !! OVERLAP: nightstand <-> floor depth=[0.648, -0.002, 0.500] + !! OVERLAP: chair <-> floor depth=[0.540, -0.002, 0.711] + !! OVERLAP: tv_stand <-> floor depth=[1.744, -0.002, 0.430] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.3281 (Center Penalty: 1.9590, C1 Heatmap: 0.9183, C2 Repulsion: 3.1725), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.843 2.425 0.522 -0.350 0.001 1.753 -179.94° +bed 1.979 0.804 2.057 -0.588 0.000 -0.425 89.93° +nightstand 0.615 0.526 0.430 -1.550 0.001 -1.752 90.11° +nightstand 0.486 0.614 0.423 -1.521 0.001 0.787 90.00° +lamp 0.596 0.123 0.624 -0.060 2.528 -0.500 -0.03° +floor 3.469 -0.003 4.637 -0.066 -0.000 0.021 0.00° +_scene_ 0.067 -0.001 0.020 -5.663 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.843, -0.003, 0.522] + !! OVERLAP: bed <-> nightstand depth=[0.299, 0.614, 0.028] + !! OVERLAP: bed <-> floor depth=[1.979, -0.003, 2.057] + !! OVERLAP: nightstand <-> floor depth=[0.558, -0.003, 0.430] + !! OVERLAP: nightstand <-> floor depth=[0.486, -0.003, 0.423] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.3005 (Center Penalty: 2.0624, C1 Heatmap: 0.9198, C2 Repulsion: 2.5112), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.888 0.919 1.977 0.255 0.001 0.752 179.94° +tv_stand 3.261 0.761 0.466 0.081 0.001 -1.460 -0.02° +lamp 0.694 0.659 0.706 0.320 2.215 0.213 -0.06° +nightstand 0.505 0.465 0.421 1.371 0.003 1.619 179.86° +nightstand 0.503 0.480 0.379 -0.933 0.002 1.600 179.89° +floor 3.968 -0.002 3.711 0.018 0.000 -0.008 -0.07° +_scene_ 0.072 0.000 0.030 -5.668 -0.004 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.080, 0.465, 0.333] + !! OVERLAP: bed <-> nightstand depth=[0.008, 0.480, 0.331] + !! OVERLAP: bed <-> floor depth=[1.888, -0.002, 1.977] + !! OVERLAP: tv_stand <-> floor depth=[3.261, -0.002, 0.466] + !! OVERLAP: nightstand <-> floor depth=[0.505, -0.002, 0.421] + !! OVERLAP: nightstand <-> floor depth=[0.503, -0.002, 0.379] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3650 (Center Penalty: 1.6890, C1 Heatmap: 0.7161, C2 Repulsion: 0.5154), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.078 1.448 2.260 0.287 0.001 0.801 179.92° +lamp 0.771 1.000 0.804 0.438 1.686 0.533 -0.04° +wardrobe 1.544 2.107 0.597 0.452 -0.001 -1.597 0.12° +floor 3.609 -0.002 4.473 0.095 0.001 0.042 -0.04° +_scene_ 0.075 0.006 0.031 -5.667 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.078, -0.002, 2.260] + !! OVERLAP: wardrobe <-> floor depth=[1.544, -0.002, 0.597] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0709, Room Outer Loss: 0.0712, Walkable Loss: 4.3613 (Center Penalty: 2.4194, C1 Heatmap: 1.1011, C2 Repulsion: 5.3051), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.971 0.727 0.842 1.370 0.002 -1.240 -0.03° +chair 0.502 0.688 0.523 1.982 -0.001 -0.682 -179.54° +wardrobe 1.312 2.160 0.510 -1.885 -0.000 -0.309 89.97° +cabinet 0.677 1.017 0.406 1.876 0.001 1.417 180.00° +nightstand 0.736 0.798 0.547 -1.073 0.000 -1.268 0.04° +bed 2.143 1.066 2.349 0.028 -0.002 -0.329 0.03° +lamp 0.622 0.258 0.619 0.466 2.303 0.010 -0.00° +floor 5.048 -0.003 3.209 0.122 -0.001 -0.019 -0.04° +_scene_ 0.070 0.001 0.018 -5.673 -0.006 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.502, 0.688, 0.124] + !! OVERLAP: desk <-> bed depth=[0.715, 0.727, 0.684] + !! OVERLAP: desk <-> floor depth=[1.971, -0.003, 0.804] + !! OVERLAP: chair <-> floor depth=[0.502, -0.003, 0.523] + !! OVERLAP: wardrobe <-> floor depth=[1.173, -0.003, 0.510] + !! OVERLAP: cabinet <-> floor depth=[0.677, -0.003, 0.370] + !! OVERLAP: nightstand <-> bed depth=[0.338, 0.798, 0.509] + !! OVERLAP: nightstand <-> floor depth=[0.736, -0.003, 0.547] + !! OVERLAP: bed <-> floor depth=[2.143, -0.003, 2.349] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0363, Room Outer Loss: 0.1865, Walkable Loss: 3.7885 (Center Penalty: 2.8574, C1 Heatmap: 0.7096, C2 Repulsion: 1.8170), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.293 0.973 2.306 -0.251 0.001 -0.022 89.95° +nightstand 0.594 0.511 0.371 -1.275 0.001 -1.127 89.90° +nightstand 0.553 0.543 0.501 -1.291 0.001 1.302 89.98° +lamp 0.764 0.799 0.769 0.056 1.791 -0.058 0.04° +floor 3.067 -0.004 3.915 0.029 0.000 -0.033 -0.02° +_scene_ 0.061 0.002 0.016 -5.672 -0.005 -5.714 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.421, 0.511, 0.234] + !! OVERLAP: bed <-> nightstand depth=[0.383, 0.543, 0.078] + !! OVERLAP: bed <-> floor depth=[2.293, -0.004, 2.306] + !! OVERLAP: nightstand <-> floor depth=[0.527, -0.004, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.490, -0.004, 0.501] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2105, Walkable Loss: 3.4168 (Center Penalty: 1.9427, C1 Heatmap: 0.8084, C2 Repulsion: 4.1367), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.920 1.245 2.208 0.739 0.000 -0.874 -0.04° +nightstand 0.601 0.457 0.502 -0.638 -0.001 -1.314 -0.04° +table 1.064 1.112 0.520 1.452 0.001 1.728 179.98° +chair 0.571 0.385 0.550 1.123 0.002 1.101 0.03° +wardrobe 1.375 2.107 0.589 -1.405 -0.002 -0.699 90.01° +lamp 0.596 0.176 0.579 0.302 2.378 0.118 -0.03° +floor 3.959 -0.001 4.178 0.020 -0.000 -0.005 0.01° +_scene_ 0.074 0.000 0.023 -5.671 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.920, -0.001, 2.208] + !! OVERLAP: nightstand <-> floor depth=[0.601, -0.001, 0.502] + !! OVERLAP: table <-> floor depth=[1.064, -0.001, 0.520] + !! OVERLAP: chair <-> floor depth=[0.571, -0.001, 0.550] + !! OVERLAP: wardrobe <-> floor depth=[1.242, -0.001, 0.589] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0032, Room Outer Loss: 0.1331, Walkable Loss: 3.6295 (Center Penalty: 2.3479, C1 Heatmap: 0.8218, C2 Repulsion: 3.1205), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.959 1.515 2.283 0.104 0.001 -0.590 -0.00° +nightstand 0.524 0.689 0.446 -1.077 0.003 -1.444 0.01° +nightstand 0.511 0.709 0.437 1.394 0.000 -1.466 0.01° +shelf 0.546 1.085 0.224 -1.411 0.001 1.557 -179.98° +tv_stand 2.016 0.553 0.436 0.600 0.001 1.565 179.92° +lamp 0.726 0.555 0.746 0.371 2.106 -0.168 -0.03° +floor 3.674 -0.000 3.407 -0.027 0.000 0.005 -0.01° +_scene_ 0.072 -0.000 0.025 -5.672 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.061, 0.689, 0.446] + !! OVERLAP: bed <-> floor depth=[1.959, -0.000, 2.251] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.000, 0.446] + !! OVERLAP: nightstand <-> floor depth=[0.511, -0.000, 0.437] + !! OVERLAP: shelf <-> floor depth=[0.546, -0.000, 0.224] + !! OVERLAP: tv_stand <-> floor depth=[2.016, -0.000, 0.362] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.3377, Walkable Loss: 3.9011 (Center Penalty: 2.6527, C1 Heatmap: 0.8188, C2 Repulsion: 2.9670), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.856 0.903 0.842 -0.035 1.733 0.048 0.03° +bed 2.397 1.191 2.476 -0.321 0.001 -0.330 0.04° +nightstand 0.496 0.572 0.406 -1.737 0.000 -1.501 0.04° +chair 0.532 0.514 0.423 1.309 -0.004 -0.859 62.17° +table 0.935 1.763 0.476 1.771 -0.000 -1.349 0.15° +floor 4.839 -0.002 2.935 0.047 -0.001 0.013 -0.01° +_scene_ 0.064 0.001 0.020 -5.671 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.030, 0.572, 0.270] + !! OVERLAP: bed <-> floor depth=[2.397, -0.002, 2.362] + !! OVERLAP: nightstand <-> floor depth=[0.496, -0.002, 0.156] + !! OVERLAP: chair <-> floor depth=[0.532, -0.002, 0.423] + !! OVERLAP: table <-> floor depth=[0.935, -0.002, 0.343] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0067, Room Outer Loss: 0.5212, Walkable Loss: 3.9740 (Center Penalty: 2.3721, C1 Heatmap: 0.9469, C2 Repulsion: 4.2218), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.787 1.352 2.152 -0.412 0.001 -0.482 0.05° +nightstand 0.485 0.769 0.413 0.882 0.000 -1.452 -0.01° +nightstand 0.624 0.781 0.382 -1.665 0.001 -1.416 -0.03° +chair 1.222 0.511 0.739 -0.469 0.000 0.943 -0.03° +lamp 0.576 0.907 0.520 -0.269 1.991 -0.125 -0.01° +wardrobe 2.027 2.398 0.660 1.471 -0.000 -0.288 -90.16° +floor 4.142 -0.002 3.123 -0.000 -0.001 -0.022 -0.02° +_scene_ 0.064 0.000 0.020 -5.674 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[1.222, 0.511, 0.020] + !! OVERLAP: bed <-> wardrobe depth=[0.024, 1.352, 0.660] + !! OVERLAP: bed <-> floor depth=[1.787, -0.002, 2.152] + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.002, 0.338] + !! OVERLAP: nightstand <-> floor depth=[0.624, -0.002, 0.358] + !! OVERLAP: chair <-> floor depth=[1.222, -0.002, 0.739] + !! OVERLAP: wardrobe <-> floor depth=[1.613, -0.002, 0.660] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0062, Room Outer Loss: 0.9452, Walkable Loss: 3.9055 (Center Penalty: 2.1586, C1 Heatmap: 1.0409, C2 Repulsion: 4.5709), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.892 0.764 2.036 0.544 -0.001 0.616 -89.95° +wardrobe 2.270 2.379 0.693 0.454 -0.001 -1.528 0.01° +nightstand 0.492 0.503 0.430 1.275 -0.000 -0.708 -90.04° +nightstand 0.465 0.511 0.440 1.342 0.000 1.659 -90.02° +lamp 0.544 0.135 0.532 0.153 2.480 0.349 -0.05° +tv_stand 2.161 0.657 0.473 -1.380 0.001 0.382 89.98° +floor 3.122 -0.002 4.205 0.004 -0.001 0.017 0.01° +_scene_ 0.072 -0.000 0.023 -5.671 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.381, 0.511, 0.195] + !! OVERLAP: bed <-> tv_stand depth=[0.103, 0.657, 0.473] + !! OVERLAP: bed <-> floor depth=[1.892, -0.002, 2.036] + !! OVERLAP: wardrobe <-> floor depth=[2.247, -0.002, 0.693] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.002, 0.430] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.002, 0.440] + !! OVERLAP: tv_stand <-> floor depth=[1.257, -0.002, 0.473] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0247, Room Outer Loss: 0.2443, Walkable Loss: 2.9433 (Center Penalty: 1.5479, C1 Heatmap: 0.8357, C2 Repulsion: 3.6343), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.721 2.317 0.627 -1.478 -0.001 -0.711 89.96° +bed 2.094 1.248 2.355 0.375 -0.002 -0.269 0.04° +nightstand 0.437 0.488 0.388 1.500 0.001 -1.296 -0.01° +nightstand 0.420 0.500 0.491 -0.966 0.001 -1.059 -0.02° +floor 4.153 -0.003 3.032 -0.042 0.000 -0.030 -0.04° +_scene_ 0.071 0.001 0.021 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.056, 1.248, 0.627] + !! OVERLAP: wardrobe <-> nightstand depth=[0.420, 0.500, 0.211] + !! OVERLAP: wardrobe <-> floor depth=[1.501, -0.003, 0.627] + !! OVERLAP: bed <-> nightstand depth=[0.140, 0.488, 0.345] + !! OVERLAP: bed <-> floor depth=[2.094, -0.003, 2.355] + !! OVERLAP: nightstand <-> floor depth=[0.437, -0.003, 0.388] + !! OVERLAP: nightstand <-> floor depth=[0.420, -0.003, 0.491] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0133, Room Outer Loss: 0.2072, Walkable Loss: 3.8204 (Center Penalty: 2.1818, C1 Heatmap: 0.9624, C2 Repulsion: 4.3433), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.013 1.398 2.253 -0.688 0.002 -0.123 89.84° +nightstand 0.454 0.540 0.451 -1.417 0.001 1.131 90.07° +wardrobe 1.996 2.560 0.612 -0.233 0.001 1.484 179.95° +chair 0.713 0.857 0.604 -1.354 0.003 -1.710 13.28° +tv_stand 1.355 0.449 0.407 1.298 -0.002 -0.706 -90.05° +lamp 0.569 0.146 0.572 -0.009 2.452 -0.381 0.02° +floor 3.614 -0.001 4.278 -0.001 0.000 -0.011 -0.04° +_scene_ 0.071 -0.000 0.022 -5.675 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.454, 0.540, 0.097] + !! OVERLAP: bed <-> floor depth=[2.013, -0.001, 2.253] + !! OVERLAP: nightstand <-> wardrobe depth=[0.040, 0.540, 0.179] + !! OVERLAP: nightstand <-> floor depth=[0.454, -0.001, 0.451] + !! OVERLAP: wardrobe <-> floor depth=[1.996, -0.001, 0.612] + !! OVERLAP: chair <-> floor depth=[0.713, -0.001, 0.604] + !! OVERLAP: tv_stand <-> floor depth=[1.185, -0.001, 0.407] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0316, Room Outer Loss: 0.0561, Walkable Loss: 2.9334 (Center Penalty: 1.7568, C1 Heatmap: 0.9636, C2 Repulsion: 2.0287), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.804 0.818 2.189 -0.187 0.002 -0.323 89.98° +wardrobe 2.618 2.383 0.861 -0.166 0.002 1.198 -179.98° +chair 0.457 1.030 0.510 -0.564 -0.002 -1.653 -104.32° +floor 2.886 -0.001 3.783 -0.005 -0.000 0.001 -0.02° +_scene_ 0.045 0.016 0.035 -5.548 -0.006 -5.618 -57.74° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.804, 0.818, 0.004] + !! OVERLAP: bed <-> chair depth=[0.457, 0.818, 0.020] + !! OVERLAP: bed <-> floor depth=[1.804, -0.001, 2.189] + !! OVERLAP: wardrobe <-> floor depth=[2.591, -0.001, 0.861] + !! OVERLAP: chair <-> floor depth=[0.457, -0.001, 0.493] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0039, Room Outer Loss: 0.9398, Walkable Loss: 4.2029 (Center Penalty: 2.6641, C1 Heatmap: 0.9927, C2 Repulsion: 3.7237), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.710 1.144 2.171 0.363 -0.000 -0.367 0.03° +nightstand 0.522 0.649 0.421 -0.720 0.000 -1.115 0.03° +wardrobe 3.683 2.657 0.488 -1.070 -0.003 -0.035 90.00° +nightstand 0.563 0.519 0.495 1.628 0.001 -1.196 -0.01° +lamp 0.934 0.866 0.892 0.141 2.026 0.083 0.01° +floor 4.408 -0.001 2.800 -0.014 -0.001 -0.010 -0.04° +_scene_ 0.069 0.001 0.022 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.032, 0.649, 0.421] + !! OVERLAP: bed <-> wardrobe depth=[1.264, 1.144, 0.488] + !! OVERLAP: bed <-> floor depth=[1.710, -0.001, 2.129] + !! OVERLAP: nightstand <-> floor depth=[0.522, -0.001, 0.421] + !! OVERLAP: wardrobe <-> floor depth=[2.989, -0.001, 0.488] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.001, 0.462] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0019, Walkable Loss: 3.0402 (Center Penalty: 2.2099, C1 Heatmap: 0.6432, C2 Repulsion: 1.5785), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.451 0.543 0.386 1.360 0.000 -1.669 -0.01° +nightstand 0.624 0.530 0.475 -1.465 0.001 -1.532 0.03° +lamp 1.043 0.994 1.024 -0.107 1.991 -0.196 -0.00° +bed 2.042 1.200 2.361 -0.087 0.000 -0.703 0.02° +floor 4.109 -0.001 3.877 -0.093 -0.000 -0.053 0.01° +_scene_ 0.061 0.002 0.026 -5.675 -0.005 -5.722 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.451, -0.001, 0.386] + !! OVERLAP: nightstand <-> floor depth=[0.624, -0.001, 0.475] + !! OVERLAP: bed <-> floor depth=[2.042, -0.001, 2.361] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0038, Room Outer Loss: 0.6235, Walkable Loss: 4.2269 (Center Penalty: 2.8735, C1 Heatmap: 0.7643, C2 Repulsion: 3.7101), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.273 0.617 0.206 1.680 0.003 1.449 -90.06° +nightstand 0.555 0.689 0.483 1.547 0.001 -1.127 0.02° +nightstand 0.503 0.873 0.432 -0.975 0.001 -0.996 0.03° +bed 1.940 1.109 2.206 0.161 -0.001 -0.170 -0.01° +wardrobe 1.609 2.499 0.494 -1.658 -0.000 -0.389 89.92° +lamp 0.903 0.920 0.872 0.182 1.951 0.052 -0.00° +floor 3.739 -0.002 3.017 -0.021 -0.001 0.043 -0.05° +_scene_ 0.069 0.000 0.020 -5.673 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.273, -0.002, 0.205] + !! OVERLAP: nightstand <-> floor depth=[0.555, -0.002, 0.483] + !! OVERLAP: nightstand <-> bed depth=[0.086, 0.873, 0.432] + !! OVERLAP: nightstand <-> floor depth=[0.503, -0.002, 0.432] + !! OVERLAP: bed <-> floor depth=[1.940, -0.002, 2.206] + !! OVERLAP: wardrobe <-> floor depth=[1.037, -0.002, 0.494] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4872, Walkable Loss: 2.3684 (Center Penalty: 1.4431, C1 Heatmap: 0.9301, C2 Repulsion: 0.9061), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.488 0.812 2.185 -0.679 0.000 -0.242 89.84° +wardrobe 2.335 2.504 0.812 1.347 -0.001 -0.062 -90.13° +lamp 0.596 0.798 0.622 -0.429 1.898 -0.737 179.86° +floor 4.002 0.002 3.737 0.060 -0.000 -0.228 -0.03° +_scene_ 0.052 -0.000 0.012 -5.682 -0.005 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.386, 0.812, 0.812] + !! OVERLAP: bed <-> floor depth=[2.488, 0.002, 2.185] + !! OVERLAP: wardrobe <-> floor depth=[1.882, 0.002, 0.812] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0199, Room Outer Loss: 0.3251, Walkable Loss: 3.0595 (Center Penalty: 0.9062, C1 Heatmap: 1.1863, C2 Repulsion: 6.0218), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.021 1.130 0.489 -2.312 -0.000 -1.252 0.01° +nightstand 0.524 0.575 0.442 0.479 0.000 -1.355 0.05° +chair 0.535 0.474 0.505 -2.337 -0.001 -0.678 -89.92° +bed 2.218 1.505 2.423 -0.927 -0.001 -0.208 0.00° +cabinet 0.749 1.075 0.421 -2.148 0.001 1.459 -180.00° +lamp 0.822 0.916 0.816 -1.027 1.897 0.041 -0.02° +wardrobe 2.979 2.352 0.602 0.859 -0.002 0.043 -90.00° +floor 6.017 0.008 3.118 -0.685 -0.001 0.207 -0.03° +_scene_ 0.073 0.000 0.021 -5.671 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.235, 1.130, 0.412] + !! OVERLAP: table <-> floor depth=[1.021, 0.008, 0.345] + !! OVERLAP: nightstand <-> floor depth=[0.524, 0.008, 0.219] + !! OVERLAP: chair <-> floor depth=[0.535, 0.008, 0.505] + !! OVERLAP: bed <-> wardrobe depth=[0.813, 1.505, 0.602] + !! OVERLAP: bed <-> floor depth=[2.218, 0.008, 2.356] + !! OVERLAP: cabinet <-> floor depth=[0.749, 0.008, 0.421] + !! OVERLAP: wardrobe <-> floor depth=[2.954, 0.008, 0.602] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.1070, Room Outer Loss: 0.5573, Walkable Loss: 4.4717 (Center Penalty: 2.4893, C1 Heatmap: 1.0138, C2 Repulsion: 5.8567), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.955 1.501 0.454 1.482 0.001 1.491 -179.99° +bed 2.061 1.601 2.276 0.354 0.002 -0.480 0.01° +nightstand 0.533 0.559 0.406 -1.159 -0.000 -1.307 0.04° +nightstand 0.537 0.643 0.490 1.598 0.001 -1.374 0.00° +lamp 0.793 1.479 0.778 0.028 1.216 -0.167 -0.01° +wardrobe 2.244 2.399 0.558 -1.423 0.000 -0.577 89.95° +floor 3.958 -0.003 3.278 0.001 0.001 -0.046 -0.01° +_scene_ 0.068 -0.000 0.018 -5.676 -0.006 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.955, -0.003, 0.329] + !! OVERLAP: bed <-> nightstand depth=[0.055, 0.643, 0.488] + !! OVERLAP: bed <-> lamp depth=[0.793, 0.326, 0.778] + !! OVERLAP: bed <-> wardrobe depth=[0.375, 1.601, 0.558] + !! OVERLAP: bed <-> floor depth=[2.061, -0.003, 2.276] + !! OVERLAP: nightstand <-> floor depth=[0.533, -0.003, 0.406] + !! OVERLAP: nightstand <-> floor depth=[0.537, -0.003, 0.490] + !! OVERLAP: lamp <-> wardrobe depth=[0.068, 0.723, 0.259] + !! OVERLAP: wardrobe <-> floor depth=[1.677, -0.003, 0.558] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0239, Room Outer Loss: 0.5422, Walkable Loss: 3.5334 (Center Penalty: 1.9302, C1 Heatmap: 0.9744, C2 Repulsion: 4.1182), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.094 2.095 1.923 -0.439 -0.000 0.269 89.80° +nightstand 0.521 0.431 0.320 -1.479 0.003 -0.249 89.98° +nightstand 0.500 0.490 0.442 -1.352 0.001 1.636 90.03° +tv_stand 1.849 0.596 0.484 1.229 -0.001 0.077 -90.02° +lamp 0.607 0.997 0.646 -0.120 1.516 0.597 89.98° +wardrobe 2.087 2.318 0.639 -0.457 -0.001 -1.572 0.03° +floor 3.423 -0.003 4.480 -0.095 0.001 -0.059 -0.02° +_scene_ 0.071 -0.001 0.024 -5.669 -0.005 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.267, 0.431, 0.320] + !! OVERLAP: bed <-> tv_stand depth=[0.303, 0.596, 0.484] + !! OVERLAP: bed <-> lamp depth=[0.607, 0.030, 0.646] + !! OVERLAP: bed <-> floor depth=[2.094, -0.003, 1.923] + !! OVERLAP: nightstand <-> floor depth=[0.521, -0.003, 0.320] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.003, 0.442] + !! OVERLAP: tv_stand <-> floor depth=[1.312, -0.003, 0.484] + !! OVERLAP: wardrobe <-> floor depth=[2.087, -0.003, 0.639] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.1265, Walkable Loss: 2.7810 (Center Penalty: 1.5042, C1 Heatmap: 0.9081, C2 Repulsion: 2.7514), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.901 0.873 2.216 0.344 -0.000 1.149 179.92° +wardrobe 1.383 2.247 0.666 -1.767 -0.002 -1.342 -0.01° +tv_stand 1.973 0.526 0.478 0.133 0.002 -1.505 0.03° +table 0.506 1.130 0.409 -0.800 0.002 1.932 89.88° +table 0.536 1.164 0.373 2.147 0.002 1.895 -90.12° +lamp 0.990 0.984 0.986 0.131 1.643 0.577 -0.02° +floor 4.885 -0.003 5.217 0.012 0.000 0.271 -0.04° +_scene_ 0.077 -0.001 0.025 -5.675 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.060, 0.873, 0.409] + !! OVERLAP: bed <-> floor depth=[1.901, -0.003, 2.216] + !! OVERLAP: wardrobe <-> floor depth=[1.354, -0.003, 0.666] + !! OVERLAP: tv_stand <-> floor depth=[1.973, -0.003, 0.478] + !! OVERLAP: table <-> floor depth=[0.506, -0.003, 0.409] + !! OVERLAP: table <-> floor depth=[0.536, -0.003, 0.373] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0301, Room Outer Loss: 0.0447, Walkable Loss: 4.0995 (Center Penalty: 2.7478, C1 Heatmap: 0.7981, C2 Repulsion: 3.5660), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.205 1.379 2.113 0.237 -0.001 -0.304 -90.01° +cabinet 1.374 0.924 0.527 0.529 0.002 1.736 179.84° +nightstand 0.737 0.780 0.551 1.100 0.000 -1.491 -90.04° +nightstand 0.595 0.719 0.560 1.073 0.000 1.122 -89.92° +lamp 0.449 0.330 0.452 0.103 2.311 -0.112 -0.04° +floor 2.747 -0.003 3.923 -0.001 -0.000 0.009 -0.03° +_scene_ 0.063 -0.000 0.015 -5.671 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.608, 0.780, 0.145] + !! OVERLAP: bed <-> floor depth=[2.205, -0.003, 2.113] + !! OVERLAP: cabinet <-> floor depth=[1.374, -0.003, 0.499] + !! OVERLAP: nightstand <-> floor depth=[0.642, -0.003, 0.551] + !! OVERLAP: nightstand <-> floor depth=[0.595, -0.003, 0.560] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0019, Room Outer Loss: 0.0120, Walkable Loss: 3.5678 (Center Penalty: 2.4502, C1 Heatmap: 0.8285, C2 Repulsion: 2.2740), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.458 2.308 0.532 -0.239 -0.001 -2.032 0.06° +bed 1.978 0.911 1.955 -0.454 -0.002 0.479 90.08° +nightstand 0.408 0.527 0.377 -1.400 0.007 -0.971 90.03° +nightstand 0.392 0.527 0.360 -1.348 0.002 1.661 90.04° +lamp 0.787 0.286 0.760 -0.075 2.173 0.052 -0.02° +floor 3.401 0.001 4.353 -0.031 0.001 0.014 -0.04° +_scene_ 0.072 -0.001 0.019 -5.673 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.458, 0.001, 0.397] + !! OVERLAP: bed <-> floor depth=[1.978, 0.001, 1.955] + !! OVERLAP: nightstand <-> floor depth=[0.408, 0.001, 0.377] + !! OVERLAP: nightstand <-> floor depth=[0.392, 0.001, 0.360] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0145, Room Outer Loss: 0.3652, Walkable Loss: 4.0380 (Center Penalty: 2.7343, C1 Heatmap: 0.7488, C2 Repulsion: 3.5230), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.878 0.988 2.021 0.143 0.002 0.359 179.98° +lamp 0.598 0.261 0.419 0.155 2.417 0.047 -0.06° +wardrobe 1.896 2.416 0.638 -1.317 -0.003 0.340 89.76° +nightstand 0.462 0.642 0.353 -0.924 0.002 1.212 179.91° +nightstand 0.472 0.624 0.417 1.509 0.001 1.110 179.97° +floor 3.885 -0.000 2.799 -0.000 -0.001 -0.013 -0.04° +_scene_ 0.067 -0.000 0.020 -5.676 -0.005 -5.718 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.426, 0.988, 0.638] + !! OVERLAP: bed <-> nightstand depth=[0.103, 0.642, 0.334] + !! OVERLAP: bed <-> floor depth=[1.878, -0.000, 2.021] + !! OVERLAP: wardrobe <-> floor depth=[1.574, -0.000, 0.638] + !! OVERLAP: nightstand <-> floor depth=[0.462, -0.000, 0.350] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.000, 0.417] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0978, Room Outer Loss: 0.6113, Walkable Loss: 4.2225 (Center Penalty: 2.4836, C1 Heatmap: 0.8853, C2 Repulsion: 5.1534), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.025 1.003 2.154 0.432 -0.001 -0.356 0.01° +table 1.115 1.118 0.365 0.207 0.002 -1.369 0.04° +wardrobe 2.050 2.120 0.448 -1.140 -0.003 0.168 89.90° +lamp 0.565 0.420 0.561 0.330 2.277 0.006 -0.01° +chair 0.474 0.681 0.495 -0.824 -0.001 -0.634 -157.60° +bookshelf 0.736 1.639 0.337 1.202 0.002 1.046 -179.96° +floor 3.326 -0.001 2.862 0.013 0.001 -0.019 -0.02° +_scene_ 0.082 -0.000 0.022 -5.668 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[1.115, 1.003, 0.246] + !! OVERLAP: bed <-> wardrobe depth=[0.466, 1.003, 0.448] + !! OVERLAP: bed <-> floor depth=[2.025, -0.001, 2.154] + !! OVERLAP: table <-> floor depth=[1.115, -0.001, 0.263] + !! OVERLAP: wardrobe <-> floor depth=[1.535, -0.001, 0.448] + !! OVERLAP: chair <-> floor depth=[0.474, -0.001, 0.495] + !! OVERLAP: bookshelf <-> floor depth=[0.736, -0.001, 0.337] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0055, Room Outer Loss: 0.4993, Walkable Loss: 5.1669 (Center Penalty: 2.4122, C1 Heatmap: 1.1401, C2 Repulsion: 9.2131), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.138 2.555 0.525 -1.594 -0.001 0.581 89.92° +bed 2.101 0.751 2.300 0.360 0.001 0.536 -179.97° +nightstand 0.610 0.738 0.502 1.739 0.002 1.449 179.93° +nightstand 0.425 0.835 0.324 -1.323 0.001 1.514 179.95° +cabinet 1.598 0.892 0.391 0.162 0.001 -1.396 -0.03° +table 0.336 1.632 0.437 1.984 -0.007 -1.113 -57.36° +lamp 0.519 0.865 0.488 -1.212 1.370 1.297 -0.01° +lamp 0.725 0.907 0.741 1.662 1.195 1.437 0.05° +lamp 0.565 0.186 0.556 0.240 2.325 0.159 -0.00° +floor 4.643 -0.000 3.434 0.004 0.000 0.014 -0.01° +_scene_ 0.069 0.000 0.021 -5.675 -0.005 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.166, 0.751, 0.525] + !! OVERLAP: wardrobe <-> floor depth=[1.793, -0.000, 0.525] + !! OVERLAP: bed <-> floor depth=[2.101, -0.000, 2.300] + !! OVERLAP: nightstand <-> floor depth=[0.610, -0.000, 0.502] + !! OVERLAP: nightstand <-> floor depth=[0.425, -0.000, 0.324] + !! OVERLAP: cabinet <-> floor depth=[1.598, -0.000, 0.391] + !! OVERLAP: table <-> floor depth=[0.336, -0.000, 0.437] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0219, Walkable Loss: 2.6437 (Center Penalty: 1.5895, C1 Heatmap: 0.8138, C2 Repulsion: 2.0156), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.407 0.507 0.314 1.310 0.000 -0.657 -89.94° +lamp 0.921 0.650 0.913 0.078 1.989 0.641 0.07° +bed 1.981 1.181 2.284 0.363 -0.001 0.782 -89.91° +wardrobe 2.075 2.393 0.688 0.087 -0.000 -1.306 -0.01° +floor 3.055 0.001 3.779 -0.056 -0.001 0.205 -0.00° +_scene_ 0.070 -0.000 0.019 -5.670 -0.004 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.364, 0.001, 0.314] + !! OVERLAP: bed <-> floor depth=[1.981, 0.001, 2.284] + !! OVERLAP: wardrobe <-> floor depth=[2.075, 0.001, 0.688] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3790, Walkable Loss: 2.6167 (Center Penalty: 1.5498, C1 Heatmap: 0.9059, C2 Repulsion: 1.7108), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.924 0.777 2.100 0.604 -0.001 -0.741 0.01° +tv_stand 2.008 0.541 0.402 0.622 0.001 1.378 179.94° +wardrobe 2.012 2.448 0.579 -1.223 -0.003 -0.310 89.91° +lamp 0.359 0.863 0.349 0.488 1.758 -0.653 -0.03° +floor 3.943 -0.002 3.552 0.041 -0.000 -0.086 -0.02° +_scene_ 0.070 0.002 0.021 -5.670 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.141, 0.777, 0.579] + !! OVERLAP: bed <-> floor depth=[1.924, -0.002, 2.100] + !! OVERLAP: tv_stand <-> floor depth=[2.008, -0.002, 0.402] + !! OVERLAP: wardrobe <-> floor depth=[1.713, -0.002, 0.579] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0100, Room Outer Loss: 0.0000, Walkable Loss: 3.2153 (Center Penalty: 2.2316, C1 Heatmap: 0.6714, C2 Repulsion: 2.2329), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.883 0.983 0.857 -0.160 2.215 -0.253 0.11° +wardrobe 1.375 1.724 0.515 0.372 0.001 1.321 -179.93° +bed 2.003 0.843 1.994 -0.181 -0.001 -0.750 -0.02° +nightstand 0.476 0.454 0.388 -1.254 0.002 -1.573 -0.03° +nightstand 0.492 0.482 0.370 1.147 0.001 -1.641 0.03° +floor 3.223 -0.002 3.738 -0.002 0.000 0.005 -0.03° +_scene_ 0.069 0.001 0.019 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.375, -0.002, 0.515] + !! OVERLAP: bed <-> nightstand depth=[0.167, 0.454, 0.368] + !! OVERLAP: bed <-> floor depth=[2.003, -0.002, 1.994] + !! OVERLAP: nightstand <-> floor depth=[0.476, -0.002, 0.388] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.002, 0.370] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.1721, Room Outer Loss: 0.6761, Walkable Loss: 3.7410 (Center Penalty: 2.7679, C1 Heatmap: 0.8146, C2 Repulsion: 1.6071), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.961 2.079 2.049 0.211 -0.004 -0.055 -90.03° +wardrobe 0.788 1.716 0.420 0.727 -0.001 -1.802 0.09° +lamp 0.486 0.387 0.495 -0.084 2.422 -0.280 -0.08° +desk 1.607 0.755 0.814 1.201 -0.001 1.078 -89.99° +floor 2.621 0.002 3.958 0.010 -0.000 0.007 0.01° +_scene_ 0.068 -0.001 0.016 -5.668 -0.006 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[0.794, 0.755, 0.298] + !! OVERLAP: bed <-> floor depth=[1.961, 0.002, 2.049] + !! OVERLAP: wardrobe <-> floor depth=[0.788, 0.002, 0.380] + !! OVERLAP: desk <-> floor depth=[0.923, 0.002, 0.814] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.8955 (Center Penalty: 2.3316, C1 Heatmap: 0.5376, C2 Repulsion: 0.6690), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.788 1.339 1.999 0.315 0.001 0.688 -90.13° +table 0.643 0.785 0.611 1.128 0.000 -1.067 -90.22° +lamp 0.432 0.612 0.450 0.241 2.205 0.047 -0.08° +floor 3.002 -0.004 4.244 -0.030 -0.000 -0.035 -0.00° +_scene_ 0.049 0.011 0.017 -5.609 -0.005 -5.674 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.788, -0.004, 1.999] + !! OVERLAP: table <-> floor depth=[0.643, -0.004, 0.611] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0375, Walkable Loss: 3.3931 (Center Penalty: 1.4520, C1 Heatmap: 0.9394, C2 Repulsion: 5.9480), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.853 0.784 0.830 -0.087 2.031 0.718 -0.07° +wardrobe 0.966 2.216 0.590 0.458 -0.001 -2.249 0.09° +wardrobe 1.366 2.126 0.541 0.819 -0.000 -1.582 0.06° +bed 1.860 1.236 2.181 0.591 -0.000 0.785 -90.01° +nightstand 0.524 0.545 0.444 1.458 -0.000 -0.871 -90.03° +nightstand 0.545 0.586 0.448 1.438 0.001 1.992 -89.98° +cabinet 0.903 0.784 0.423 -1.446 0.002 0.999 89.98° +chair 0.689 0.766 0.661 -1.150 -0.001 -1.791 36.41° +table 0.431 0.446 0.403 -1.224 -0.002 -1.049 14.57° +floor 3.693 -0.001 5.171 -0.099 0.001 0.015 -0.04° +_scene_ 0.068 0.000 0.022 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.966, -0.001, 0.590] + !! OVERLAP: wardrobe <-> floor depth=[1.366, -0.001, 0.541] + !! OVERLAP: bed <-> nightstand depth=[0.355, 0.586, 0.107] + !! OVERLAP: bed <-> floor depth=[1.860, -0.001, 2.181] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.001, 0.444] + !! OVERLAP: nightstand <-> floor depth=[0.545, -0.001, 0.448] + !! OVERLAP: cabinet <-> floor depth=[0.903, -0.001, 0.423] + !! OVERLAP: chair <-> floor depth=[0.689, -0.001, 0.661] + !! OVERLAP: table <-> floor depth=[0.431, -0.001, 0.403] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0066, Room Outer Loss: 0.0741, Walkable Loss: 3.6608 (Center Penalty: 2.3424, C1 Heatmap: 0.7276, C2 Repulsion: 3.6818), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.544 2.466 0.590 1.244 0.001 -0.541 -90.03° +bed 1.919 1.144 2.198 -0.320 0.001 -0.409 0.03° +nightstand 0.609 0.649 0.429 -1.714 0.001 -1.277 -0.02° +nightstand 0.565 0.626 0.438 0.705 0.001 -1.207 0.02° +lamp 0.914 1.148 0.940 -0.384 1.606 -0.051 0.03° +floor 4.054 -0.003 3.122 -0.101 0.000 0.005 -0.03° +_scene_ 0.075 -0.003 0.015 -5.665 -0.008 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.167, 1.144, 0.590] + !! OVERLAP: wardrobe <-> floor depth=[1.453, -0.003, 0.590] + !! OVERLAP: bed <-> nightstand depth=[0.216, 0.626, 0.438] + !! OVERLAP: bed <-> floor depth=[1.919, -0.003, 2.198] + !! OVERLAP: nightstand <-> floor depth=[0.609, -0.003, 0.429] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.003, 0.438] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1809, Walkable Loss: 2.6338 (Center Penalty: 1.8018, C1 Heatmap: 0.7777, C2 Repulsion: 1.0490), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.092 0.933 2.150 -0.731 -0.001 -0.830 0.04° +wardrobe 1.580 2.441 0.583 1.353 -0.001 -0.792 -90.17° +table 0.950 1.156 0.488 -1.619 0.003 1.436 179.90° +lamp 0.588 0.472 0.603 -0.205 2.317 -0.285 -0.01° +floor 4.501 -0.003 4.585 -0.151 0.000 0.090 -0.03° +_scene_ 0.076 -0.001 0.021 -5.675 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.092, -0.003, 2.150] + !! OVERLAP: wardrobe <-> floor depth=[1.536, -0.003, 0.583] + !! OVERLAP: table <-> floor depth=[0.950, -0.003, 0.488] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0340, Walkable Loss: 3.1223 (Center Penalty: 2.4780, C1 Heatmap: 0.6873, C2 Repulsion: 0.4719), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.764 1.067 0.776 0.253 1.632 0.321 -0.04° +bed 2.060 0.910 2.189 0.343 -0.002 0.292 -90.06° +wardrobe 1.391 1.992 0.373 0.349 -0.000 -1.875 0.06° +floor 2.878 -0.002 4.206 0.012 -0.001 0.037 -0.02° +_scene_ 0.062 -0.001 0.026 -5.664 -0.006 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.060, -0.002, 2.189] + !! OVERLAP: wardrobe <-> floor depth=[1.391, -0.002, 0.373] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0314, Room Outer Loss: 0.5985, Walkable Loss: 4.7866 (Center Penalty: 2.9544, C1 Heatmap: 0.8805, C2 Repulsion: 5.6390), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.606 1.159 2.385 0.020 0.001 0.193 179.96° +nightstand 0.497 0.450 0.371 -1.167 0.002 1.116 179.99° +desk 1.078 1.050 0.498 1.333 0.001 1.015 180.00° +chair 0.517 0.696 0.496 1.361 0.000 0.406 -28.12° +wardrobe 2.021 2.090 0.667 -1.370 0.000 0.379 89.83° +lamp 0.645 0.237 0.630 0.021 2.284 0.011 -0.01° +floor 3.672 0.001 2.759 -0.006 0.001 -0.005 -0.04° +_scene_ 0.069 -0.000 0.024 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[0.028, 1.050, 0.498] + !! OVERLAP: bed <-> wardrobe depth=[0.424, 1.159, 0.667] + !! OVERLAP: bed <-> floor depth=[1.606, 0.001, 2.374] + !! OVERLAP: nightstand <-> floor depth=[0.497, 0.001, 0.371] + !! OVERLAP: desk <-> floor depth=[1.036, 0.001, 0.498] + !! OVERLAP: chair <-> floor depth=[0.517, 0.001, 0.496] + !! OVERLAP: wardrobe <-> floor depth=[1.482, 0.001, 0.667] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0417, Room Outer Loss: 0.3921, Walkable Loss: 3.2447 (Center Penalty: 1.6329, C1 Heatmap: 0.8857, C2 Repulsion: 4.5160), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.954 1.382 0.427 1.311 0.001 -0.690 -90.19° +table 1.257 1.284 0.563 1.587 0.001 0.910 -90.01° +nightstand 0.472 0.645 0.415 -1.770 0.003 -1.640 89.99° +chair 1.260 0.496 0.533 -0.186 0.001 -0.585 0.06° +bed 1.780 1.372 2.116 -1.197 0.001 0.080 89.91° +nightstand 0.570 0.659 0.446 -1.812 0.002 1.278 90.02° +chair 0.633 0.825 0.621 -0.148 -0.001 1.494 90.00° +floor 4.087 -0.002 4.302 -0.032 0.001 0.004 -0.01° +_scene_ 0.069 -0.000 0.020 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.954, -0.002, 0.427] + !! OVERLAP: table <-> floor depth=[1.053, -0.002, 0.563] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.002, 0.415] + !! OVERLAP: chair <-> bed depth=[0.510, 0.496, 0.533] + !! OVERLAP: chair <-> floor depth=[1.260, -0.002, 0.533] + !! OVERLAP: bed <-> nightstand depth=[0.560, 0.659, 0.083] + !! OVERLAP: bed <-> floor depth=[1.769, -0.002, 2.116] + !! OVERLAP: nightstand <-> floor depth=[0.548, -0.002, 0.446] + !! OVERLAP: chair <-> floor depth=[0.633, -0.002, 0.621] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0238, Room Outer Loss: 0.0000, Walkable Loss: 2.8311 (Center Penalty: 1.7616, C1 Heatmap: 0.6850, C2 Repulsion: 2.6073), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.886 1.335 2.191 -0.242 -0.003 0.868 -179.98° +nightstand 0.425 0.491 0.383 1.644 0.005 1.529 179.93° +nightstand 0.436 0.564 0.362 -1.459 0.001 1.746 179.97° +table 0.746 1.092 0.437 1.370 0.001 -1.274 0.11° +chair 0.706 0.465 0.717 -0.189 0.001 -0.552 -0.03° +floor 3.785 -0.003 4.081 0.014 -0.000 -0.030 -0.01° +_scene_ 0.076 0.005 0.029 -5.663 -0.002 -5.709 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.706, 0.465, 0.034] + !! OVERLAP: bed <-> floor depth=[1.886, -0.003, 2.191] + !! OVERLAP: nightstand <-> floor depth=[0.425, -0.003, 0.383] + !! OVERLAP: nightstand <-> floor depth=[0.436, -0.003, 0.362] + !! OVERLAP: table <-> floor depth=[0.746, -0.003, 0.437] + !! OVERLAP: chair <-> floor depth=[0.706, -0.003, 0.717] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.1617 (Center Penalty: 2.5551, C1 Heatmap: 0.6047, C2 Repulsion: 0.6141), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.975 1.235 2.499 0.102 -0.000 0.386 -90.08° +nightstand 0.475 0.511 0.424 1.169 0.004 -0.958 -90.22° +lamp 0.772 0.972 0.784 0.148 1.821 0.184 -0.01° +floor 2.919 -0.003 3.509 -0.017 0.000 0.037 -0.03° +_scene_ 0.069 0.000 0.021 -5.669 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.158, 0.511, 0.118] + !! OVERLAP: bed <-> floor depth=[1.975, -0.003, 2.499] + !! OVERLAP: nightstand <-> floor depth=[0.475, -0.003, 0.424] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0072, Room Outer Loss: 0.0000, Walkable Loss: 3.3701 (Center Penalty: 2.1658, C1 Heatmap: 0.8985, C2 Repulsion: 2.4277), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.248 1.204 2.181 -0.128 -0.000 0.661 179.93° +wardrobe 2.156 2.326 0.656 0.679 -0.001 -1.122 0.02° +nightstand 0.617 0.493 0.429 1.674 0.002 1.651 179.89° +nightstand 0.552 0.530 0.461 -1.279 0.001 1.631 179.86° +lamp 0.466 0.980 0.500 -1.263 1.510 1.695 90.08° +lamp 0.657 0.746 0.695 1.467 1.644 1.561 -0.05° +lamp 0.914 0.850 0.934 -0.043 1.873 0.382 -0.03° +floor 3.935 0.001 3.814 -0.021 0.000 0.047 -0.03° +_scene_ 0.073 0.001 0.029 -5.673 -0.006 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.249, 0.530, 0.351] + !! OVERLAP: bed <-> floor depth=[2.248, 0.001, 2.181] + !! OVERLAP: wardrobe <-> floor depth=[2.156, 0.001, 0.656] + !! OVERLAP: nightstand <-> floor depth=[0.582, 0.001, 0.429] + !! OVERLAP: nightstand <-> floor depth=[0.552, 0.001, 0.461] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0056, Room Outer Loss: 0.3611, Walkable Loss: 4.2397 (Center Penalty: 2.6528, C1 Heatmap: 0.8564, C2 Repulsion: 4.5086), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.356 0.504 0.350 1.362 0.000 0.745 -90.02° +nightstand 0.562 0.557 0.488 1.153 0.001 -1.399 -90.05° +bed 1.615 1.012 2.266 0.444 -0.001 -0.243 -90.25° +bookshelf 1.150 1.776 0.291 -1.143 -0.004 -1.055 90.01° +wardrobe 2.002 2.393 0.651 0.369 -0.001 1.198 -179.99° +lamp 0.981 0.872 0.957 0.054 1.699 -0.208 0.02° +floor 2.953 -0.001 3.528 0.003 -0.000 0.009 -0.01° +_scene_ 0.074 0.000 0.024 -5.671 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.067, 0.504, 0.320] + !! OVERLAP: nightstand <-> wardrobe depth=[0.186, 0.504, 0.049] + !! OVERLAP: nightstand <-> floor depth=[0.296, -0.001, 0.350] + !! OVERLAP: nightstand <-> bed depth=[0.380, 0.557, 0.220] + !! OVERLAP: nightstand <-> floor depth=[0.562, -0.001, 0.488] + !! OVERLAP: bed <-> wardrobe depth=[1.615, 1.012, 0.019] + !! OVERLAP: bed <-> floor depth=[1.615, -0.001, 2.266] + !! OVERLAP: bookshelf <-> floor depth=[0.906, -0.001, 0.291] + !! OVERLAP: wardrobe <-> floor depth=[2.002, -0.001, 0.651] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0080, Room Outer Loss: 0.5721, Walkable Loss: 3.9066 (Center Penalty: 2.8220, C1 Heatmap: 0.9061, C2 Repulsion: 1.7982), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.010 0.712 1.994 0.197 -0.001 -0.232 0.05° +wardrobe 2.532 2.206 0.625 -1.319 -0.001 -0.560 89.86° +nightstand 0.676 0.447 0.444 1.495 0.002 -1.093 -0.01° +lamp 0.574 0.153 0.594 0.234 2.419 -0.055 -0.13° +floor 3.950 -0.000 2.880 -0.004 0.000 -0.008 -0.04° +_scene_ 0.070 0.000 0.020 -5.671 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.755, 0.712, 0.625] + !! OVERLAP: bed <-> nightstand depth=[0.045, 0.447, 0.358] + !! OVERLAP: bed <-> floor depth=[2.010, -0.000, 1.994] + !! OVERLAP: wardrobe <-> floor depth=[1.926, -0.000, 0.625] + !! OVERLAP: nightstand <-> floor depth=[0.676, -0.000, 0.444] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0066, Room Outer Loss: 0.0000, Walkable Loss: 3.5168 (Center Penalty: 2.7140, C1 Heatmap: 0.6147, C2 Repulsion: 1.5554), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.970 1.490 2.192 -0.030 -0.000 0.418 -179.99° +nightstand 0.390 0.487 0.254 -1.161 0.002 1.397 179.93° +nightstand 0.398 0.568 0.337 1.175 0.002 1.180 179.93° +lamp 0.568 0.705 0.584 0.119 2.058 0.006 -0.02° +floor 3.503 -0.002 3.158 -0.004 0.001 -0.017 -0.02° +_scene_ 0.070 0.000 0.018 -5.668 -0.004 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.050, 0.487, 0.244] + !! OVERLAP: bed <-> floor depth=[1.970, -0.002, 2.192] + !! OVERLAP: nightstand <-> floor depth=[0.390, -0.002, 0.254] + !! OVERLAP: nightstand <-> floor depth=[0.398, -0.002, 0.337] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.8690, Walkable Loss: 3.7319 (Center Penalty: 2.3005, C1 Heatmap: 1.0181, C2 Repulsion: 3.0845), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.693 0.964 2.122 0.401 -0.001 0.519 179.98° +nightstand 0.479 0.478 0.374 -0.987 0.002 1.429 179.91° +nightstand 0.660 0.563 0.385 1.531 0.007 1.402 -179.85° +lamp 0.574 0.725 0.573 0.242 1.947 0.068 -0.02° +wardrobe 3.886 2.418 0.651 -1.114 -0.002 -0.477 90.05° +floor 4.242 -0.003 3.213 -0.040 0.000 -0.048 -0.02° +_scene_ 0.069 -0.000 0.023 -5.673 -0.005 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.047, 0.563, 0.370] + !! OVERLAP: bed <-> wardrobe depth=[1.275, 0.964, 0.391] + !! OVERLAP: bed <-> floor depth=[1.693, -0.003, 2.101] + !! OVERLAP: nightstand <-> floor depth=[0.479, -0.003, 0.317] + !! OVERLAP: nightstand <-> floor depth=[0.660, -0.003, 0.349] + !! OVERLAP: wardrobe <-> floor depth=[2.990, -0.003, 0.651] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2076, Walkable Loss: 3.3971 (Center Penalty: 2.0901, C1 Heatmap: 0.7262, C2 Repulsion: 3.6299), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.005 2.165 0.464 1.102 0.005 -2.031 0.04° +wardrobe 1.354 2.259 0.556 -0.880 -0.001 -1.513 0.04° +bed 1.748 1.092 2.139 -0.618 -0.001 0.478 89.77° +nightstand 0.491 0.551 0.510 -1.390 0.000 1.617 89.81° +nightstand 0.509 0.506 0.443 -1.243 -0.001 -0.955 90.01° +lamp 0.552 0.821 0.530 -0.217 1.865 0.234 0.01° +floor 3.390 0.001 4.786 0.202 -0.002 -0.000 -0.01° +_scene_ 0.072 0.001 0.026 -5.669 -0.004 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.005, 0.001, 0.464] + !! OVERLAP: wardrobe <-> floor depth=[1.291, 0.001, 0.556] + !! OVERLAP: bed <-> nightstand depth=[0.348, 0.551, 0.186] + !! OVERLAP: bed <-> floor depth=[1.748, 0.001, 2.139] + !! OVERLAP: nightstand <-> floor depth=[0.349, 0.001, 0.510] + !! OVERLAP: nightstand <-> floor depth=[0.505, 0.001, 0.443] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0279, Room Outer Loss: 0.8345, Walkable Loss: 4.1545 (Center Penalty: 2.1028, C1 Heatmap: 1.1503, C2 Repulsion: 5.6572), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.344 0.722 0.705 -1.384 0.002 -1.072 90.03° +bed 2.037 1.049 2.182 0.660 0.001 -0.691 -90.00° +wardrobe 2.821 2.243 0.671 0.266 -0.001 1.300 -179.97° +nightstand 1.049 0.759 0.495 1.457 0.000 0.424 -90.00° +chair 0.452 0.939 0.444 -0.818 0.000 -0.963 -89.91° +lamp 0.660 0.091 0.772 0.159 2.538 -0.266 -0.10° +floor 3.401 -0.003 3.349 -0.019 0.001 -0.030 -0.00° +_scene_ 0.074 -0.000 0.021 -5.671 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.332, 0.722, 0.444] + !! OVERLAP: desk <-> floor depth=[1.008, -0.003, 0.705] + !! OVERLAP: bed <-> nightstand depth=[0.746, 0.759, 0.223] + !! OVERLAP: bed <-> floor depth=[2.037, -0.003, 2.104] + !! OVERLAP: wardrobe <-> floor depth=[2.821, -0.003, 0.671] + !! OVERLAP: nightstand <-> floor depth=[0.749, -0.003, 0.495] + !! OVERLAP: chair <-> floor depth=[0.452, -0.003, 0.444] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.1854, Walkable Loss: 4.0506 (Center Penalty: 2.1705, C1 Heatmap: 0.9150, C2 Repulsion: 5.7403), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.947 1.031 2.147 -0.078 0.001 0.380 179.95° +nightstand 0.598 0.735 0.556 0.969 0.004 1.330 179.99° +nightstand 0.584 0.680 0.400 -1.402 0.002 1.417 179.88° +wardrobe 1.881 2.582 0.509 -1.653 0.000 0.284 89.94° +chair 0.420 0.703 0.505 1.968 -0.001 -1.152 -33.08° +table 0.427 0.466 0.406 1.792 -0.000 -0.521 -0.05° +cabinet 0.649 1.235 0.357 1.986 0.001 1.221 -180.00° +lamp 0.775 1.072 0.793 -0.029 1.814 -0.555 -0.07° +lamp 0.235 0.939 0.229 -1.325 1.728 1.213 0.01° +lamp 0.206 0.763 0.211 1.132 1.723 0.823 0.04° +floor 4.606 -0.001 3.411 -0.007 -0.000 0.018 -0.08° +_scene_ 0.070 0.000 0.022 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.226, 0.735, 0.402] + !! OVERLAP: bed <-> wardrobe depth=[0.339, 1.031, 0.509] + !! OVERLAP: bed <-> floor depth=[1.947, -0.001, 2.147] + !! OVERLAP: nightstand <-> floor depth=[0.598, -0.001, 0.556] + !! OVERLAP: nightstand <-> floor depth=[0.584, -0.001, 0.400] + !! OVERLAP: wardrobe <-> floor depth=[1.597, -0.001, 0.509] + !! OVERLAP: chair <-> floor depth=[0.420, -0.001, 0.505] + !! OVERLAP: table <-> floor depth=[0.427, -0.001, 0.406] + !! OVERLAP: cabinet <-> floor depth=[0.635, -0.001, 0.357] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.9325 (Center Penalty: 2.8499, C1 Heatmap: 0.8807, C2 Repulsion: 1.8897), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.846 1.127 2.451 -0.038 0.000 0.100 89.87° +nightstand 0.599 0.673 0.419 -1.104 0.002 1.358 89.98° +lamp 1.127 0.997 1.076 0.037 1.580 0.309 0.02° +wardrobe 2.244 2.396 0.657 -0.073 0.000 -1.145 -0.00° +floor 2.662 0.002 3.017 -0.006 0.001 -0.002 0.01° +_scene_ 0.071 0.000 0.019 -5.671 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.157, 0.673, 0.176] + !! OVERLAP: bed <-> wardrobe depth=[1.846, 1.127, 0.310] + !! OVERLAP: bed <-> floor depth=[1.846, 0.002, 2.451] + !! OVERLAP: nightstand <-> floor depth=[0.533, 0.002, 0.358] + !! OVERLAP: wardrobe <-> floor depth=[2.244, 0.002, 0.657] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0177, Room Outer Loss: 0.6623, Walkable Loss: 2.9939 (Center Penalty: 1.0135, C1 Heatmap: 1.0193, C2 Repulsion: 5.8249), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.013 1.151 0.442 -2.537 -0.001 -1.290 -0.04° +nightstand 0.511 0.615 0.460 0.654 -0.001 -1.211 0.04° +chair 0.496 0.494 0.445 -2.002 -0.001 -0.756 -89.74° +bed 2.139 1.462 2.267 -0.835 0.000 -0.216 0.01° +cabinet 0.697 0.867 0.409 -2.076 0.002 1.358 179.98° +lamp 0.736 0.817 0.713 -1.021 1.959 0.057 -0.02° +wardrobe 2.459 2.301 0.538 0.927 -0.001 -0.031 -90.06° +floor 5.571 -0.001 2.878 -0.528 -0.001 0.196 0.03° +_scene_ 0.062 -0.001 0.018 -5.669 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.013, -0.001, 0.173] + !! OVERLAP: nightstand <-> floor depth=[0.511, -0.001, 0.262] + !! OVERLAP: chair <-> bed depth=[0.151, 0.494, 0.445] + !! OVERLAP: chair <-> floor depth=[0.496, -0.001, 0.445] + !! OVERLAP: bed <-> wardrobe depth=[0.536, 1.462, 0.538] + !! OVERLAP: bed <-> floor depth=[2.139, -0.001, 2.161] + !! OVERLAP: cabinet <-> floor depth=[0.697, -0.001, 0.409] + !! OVERLAP: wardrobe <-> floor depth=[2.459, -0.001, 0.538] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0765, Room Outer Loss: 0.2220, Walkable Loss: 3.0220 (Center Penalty: 1.8153, C1 Heatmap: 0.8719, C2 Repulsion: 2.5460), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.779 1.586 2.687 -0.182 -0.001 -0.273 89.82° +nightstand 0.380 0.456 0.307 -1.246 0.003 1.149 90.06° +nightstand 0.478 0.470 0.395 -1.342 0.004 -1.638 89.98° +wardrobe 0.766 2.048 0.536 -0.091 0.002 1.806 -179.97° +floor 3.096 -0.002 3.847 -0.008 0.000 0.016 -0.03° +_scene_ 0.071 0.002 0.023 -5.671 -0.004 -5.704 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.380, 0.456, 0.075] + !! OVERLAP: bed <-> nightstand depth=[0.468, 0.470, 0.176] + !! OVERLAP: bed <-> floor depth=[2.763, -0.002, 2.687] + !! OVERLAP: nightstand <-> floor depth=[0.380, -0.002, 0.307] + !! OVERLAP: nightstand <-> floor depth=[0.453, -0.002, 0.395] + !! OVERLAP: wardrobe <-> floor depth=[0.766, -0.002, 0.402] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0189, Room Outer Loss: 0.6683, Walkable Loss: 4.4467 (Center Penalty: 2.2104, C1 Heatmap: 1.1054, C2 Repulsion: 6.7597), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.021 1.699 2.218 0.750 0.000 0.232 -90.04° +nightstand 0.522 0.605 0.419 1.473 0.002 1.568 -90.01° +wardrobe 1.840 2.285 0.586 0.508 -0.001 -2.095 0.01° +chair 0.518 0.509 0.447 -1.044 0.001 1.446 90.00° +table 0.965 1.225 0.547 -1.435 -0.002 1.577 89.98° +nightstand 0.520 0.554 0.539 1.459 -0.000 -1.110 -90.04° +lamp 0.724 1.099 0.719 -0.052 1.734 0.278 0.05° +tv_stand 1.892 0.514 0.387 -1.389 0.002 -0.055 90.05° +floor 3.556 -0.002 5.174 0.037 -0.001 -0.078 -0.03° +_scene_ 0.071 0.000 0.022 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.520, 0.554, 0.036] + !! OVERLAP: bed <-> floor depth=[2.021, -0.002, 2.218] + !! OVERLAP: nightstand <-> floor depth=[0.522, -0.002, 0.419] + !! OVERLAP: wardrobe <-> floor depth=[1.840, -0.002, 0.586] + !! OVERLAP: chair <-> table depth=[0.351, 0.509, 0.366] + !! OVERLAP: chair <-> floor depth=[0.518, -0.002, 0.447] + !! OVERLAP: table <-> floor depth=[0.789, -0.002, 0.547] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.002, 0.539] + !! OVERLAP: tv_stand <-> floor depth=[1.298, -0.002, 0.387] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0170, Room Outer Loss: 0.1825, Walkable Loss: 3.8020 (Center Penalty: 2.2841, C1 Heatmap: 0.9764, C2 Repulsion: 3.6839), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.974 0.979 2.492 -0.460 -0.000 -0.642 -0.02° +lamp 1.100 0.864 1.074 -0.073 1.923 -0.004 -0.00° +tv_stand 1.816 0.516 0.405 -0.252 0.002 1.865 179.91° +chair 0.493 0.799 0.497 -1.385 0.003 1.484 12.05° +nightstand 0.563 0.825 0.478 -1.366 0.000 -1.669 -0.00° +wardrobe 1.555 2.293 0.589 1.194 -0.000 -0.157 -90.20° +floor 3.878 -0.001 4.117 -0.077 -0.000 -0.003 -0.01° +_scene_ 0.066 -0.001 0.019 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.362, 0.825, 0.459] + !! OVERLAP: bed <-> wardrobe depth=[0.111, 0.979, 0.589] + !! OVERLAP: bed <-> floor depth=[1.974, -0.001, 2.492] + !! OVERLAP: tv_stand <-> chair depth=[0.022, 0.516, 0.070] + !! OVERLAP: tv_stand <-> floor depth=[1.816, -0.001, 0.393] + !! OVERLAP: chair <-> floor depth=[0.493, -0.001, 0.497] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.001, 0.478] + !! OVERLAP: wardrobe <-> floor depth=[1.446, -0.001, 0.589] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.1129, Room Outer Loss: 0.9088, Walkable Loss: 5.0768 (Center Penalty: 2.7288, C1 Heatmap: 1.1376, C2 Repulsion: 7.1897), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.985 0.912 2.286 0.239 0.001 0.218 179.95° +wardrobe 1.806 2.277 0.579 2.253 -0.000 0.012 -90.03° +wardrobe 1.878 2.287 0.492 2.105 0.001 0.072 -90.11° +nightstand 0.465 0.613 0.343 1.230 0.001 1.246 179.97° +nightstand 0.502 0.665 0.361 -1.490 0.001 1.250 179.94° +chair 0.914 1.065 1.247 -1.830 -0.002 -0.136 47.52° +table 0.767 0.474 0.550 -1.688 -0.000 -0.625 -0.07° +lamp 0.365 0.860 0.326 -1.823 1.522 0.004 0.08° +lamp 0.668 0.928 0.684 0.068 2.129 -0.078 -0.03° +floor 5.208 -0.001 2.879 0.021 -0.002 -0.022 -0.03° +_scene_ 0.073 -0.001 0.025 -5.672 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.065, 0.912, 0.492] + !! OVERLAP: bed <-> nightstand depth=[0.234, 0.613, 0.286] + !! OVERLAP: bed <-> floor depth=[1.985, -0.001, 2.286] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.695, 2.277, 0.476] + !! OVERLAP: wardrobe <-> floor depth=[1.275, -0.001, 0.579] + !! OVERLAP: wardrobe <-> floor depth=[1.459, -0.001, 0.492] + !! OVERLAP: nightstand <-> floor depth=[0.465, -0.001, 0.343] + !! OVERLAP: nightstand <-> floor depth=[0.502, -0.001, 0.349] + !! OVERLAP: chair <-> table depth=[0.698, 0.474, 0.409] + !! OVERLAP: chair <-> floor depth=[0.914, -0.001, 1.247] + !! OVERLAP: table <-> floor depth=[0.767, -0.001, 0.550] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6081, Walkable Loss: 3.8984 (Center Penalty: 2.6896, C1 Heatmap: 0.7252, C2 Repulsion: 3.1432), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.084 1.605 0.420 0.588 -0.001 -2.400 0.03° +bed 1.641 1.035 2.244 0.198 0.000 -0.055 -90.02° +nightstand 0.565 0.472 0.449 1.142 0.000 -1.168 -89.93° +nightstand 0.442 0.437 0.386 1.256 -0.001 1.418 -90.03° +table 1.245 1.375 0.495 -1.067 0.001 1.652 89.97° +chair 0.339 0.471 0.349 -0.195 0.006 2.160 -110.23° +lamp 0.699 0.138 0.678 0.081 2.408 0.256 -0.03° +floor 2.764 -0.000 5.555 -0.000 -0.001 0.121 -0.05° +_scene_ 0.070 -0.000 0.025 -5.665 -0.005 -5.708 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.084, -0.000, 0.420] + !! OVERLAP: bed <-> nightstand depth=[0.159, 0.472, 0.234] + !! OVERLAP: bed <-> floor depth=[1.641, -0.000, 2.244] + !! OVERLAP: nightstand <-> floor depth=[0.523, -0.000, 0.449] + !! OVERLAP: nightstand <-> floor depth=[0.347, -0.000, 0.386] + !! OVERLAP: table <-> floor depth=[0.938, -0.000, 0.495] + !! OVERLAP: chair <-> floor depth=[0.339, -0.000, 0.349] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0140, Walkable Loss: 3.6544 (Center Penalty: 2.6838, C1 Heatmap: 0.7781, C2 Repulsion: 1.7409), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.863 1.478 2.404 -0.330 0.002 0.116 89.84° +table 0.610 0.623 0.580 -1.166 0.000 1.424 0.02° +lamp 0.611 0.742 0.516 0.030 2.026 0.179 -0.02° +wardrobe 1.644 2.293 0.573 -0.442 -0.002 -1.678 -0.06° +floor 2.995 -0.001 4.017 -0.002 -0.000 -0.041 -0.02° +_scene_ 0.075 0.001 0.020 -5.672 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.400, 0.623, 0.183] + !! OVERLAP: bed <-> floor depth=[1.863, -0.001, 2.404] + !! OVERLAP: table <-> floor depth=[0.610, -0.001, 0.580] + !! OVERLAP: wardrobe <-> floor depth=[1.644, -0.001, 0.573] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0096, Room Outer Loss: 0.5184, Walkable Loss: 4.2453 (Center Penalty: 2.5548, C1 Heatmap: 0.8350, C2 Repulsion: 5.1130), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.806 2.373 0.651 -1.562 0.001 -0.740 89.94° +lamp 0.381 0.634 0.362 -1.005 1.551 -1.449 -0.05° +lamp 0.248 0.957 0.253 1.518 1.401 -1.435 0.06° +lamp 0.672 0.724 0.677 0.007 1.865 -0.213 -0.00° +table 0.998 1.168 0.406 1.342 0.000 1.297 179.95° +bed 1.823 1.113 2.154 0.038 0.000 -0.551 0.02° +nightstand 0.410 0.458 0.371 1.407 0.001 -1.406 -0.02° +nightstand 0.466 0.488 0.335 -1.309 0.001 -1.415 -0.01° +floor 3.923 -0.002 3.209 -0.003 -0.001 -0.007 -0.05° +_scene_ 0.057 0.001 0.019 -5.672 -0.003 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.214, 1.113, 0.651] + !! OVERLAP: wardrobe <-> floor depth=[1.306, -0.002, 0.651] + !! OVERLAP: table <-> floor depth=[0.998, -0.002, 0.406] + !! OVERLAP: bed <-> floor depth=[1.823, -0.002, 2.138] + !! OVERLAP: nightstand <-> floor depth=[0.410, -0.002, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.466, -0.002, 0.335] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0897, Room Outer Loss: 0.2116, Walkable Loss: 5.3609 (Center Penalty: 3.0090, C1 Heatmap: 1.1789, C2 Repulsion: 7.0438), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.458 0.493 0.385 1.330 -0.000 -1.174 -90.02° +bookshelf 1.300 1.931 0.314 0.060 -0.000 -1.468 0.00° +wardrobe 2.452 2.275 0.664 0.183 0.002 1.376 -179.94° +chair 0.480 0.877 0.389 -0.373 0.003 -1.020 -127.79° +desk 1.018 0.783 0.577 -1.338 0.001 1.186 90.11° +bed 2.453 1.267 2.357 0.195 0.003 -0.154 -89.98° +lamp 0.734 0.514 0.721 -0.086 2.349 0.083 -0.04° +floor 3.312 -0.000 3.620 0.000 -0.000 -0.016 -0.02° +_scene_ 0.065 -0.001 0.020 -5.673 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.321, 0.493, 0.352] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.000, 0.385] + !! OVERLAP: bookshelf <-> bed depth=[1.300, 1.267, 0.022] + !! OVERLAP: bookshelf <-> floor depth=[1.300, -0.000, 0.314] + !! OVERLAP: wardrobe <-> desk depth=[0.214, 0.783, 0.431] + !! OVERLAP: wardrobe <-> floor depth=[2.452, -0.000, 0.664] + !! OVERLAP: chair <-> bed depth=[0.480, 0.877, 0.389] + !! OVERLAP: chair <-> floor depth=[0.480, -0.000, 0.389] + !! OVERLAP: desk <-> bed depth=[0.203, 0.783, 0.127] + !! OVERLAP: desk <-> floor depth=[0.826, -0.000, 0.577] + !! OVERLAP: bed <-> floor depth=[2.453, -0.000, 2.357] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0187, Room Outer Loss: 0.4163, Walkable Loss: 4.0646 (Center Penalty: 2.1164, C1 Heatmap: 0.9556, C2 Repulsion: 5.9185), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.372 2.417 0.616 -0.158 -0.001 -1.832 0.03° +nightstand 0.610 0.555 0.512 -1.168 0.003 -0.858 89.96° +nightstand 0.576 0.552 0.428 -0.665 0.003 -0.459 89.99° +nightstand 0.593 0.599 0.389 -1.260 0.003 1.702 90.05° +bed 2.082 1.039 2.110 -0.477 0.002 0.644 89.95° +bookshelf 0.979 2.159 0.438 1.374 -0.000 1.355 -90.06° +lamp 0.607 0.947 0.613 0.101 1.753 0.596 0.03° +floor 3.031 -0.001 4.931 -0.006 0.002 0.137 -0.01° +_scene_ 0.066 0.001 0.019 -5.671 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.372, -0.001, 0.616] + !! OVERLAP: nightstand <-> nightstand depth=[0.090, 0.552, 0.071] + !! OVERLAP: nightstand <-> floor depth=[0.610, -0.001, 0.512] + !! OVERLAP: nightstand <-> bed depth=[0.576, 0.552, 0.166] + !! OVERLAP: nightstand <-> floor depth=[0.576, -0.001, 0.428] + !! OVERLAP: nightstand <-> bed depth=[0.554, 0.599, 0.192] + !! OVERLAP: nightstand <-> floor depth=[0.559, -0.001, 0.389] + !! OVERLAP: bed <-> floor depth=[2.082, -0.001, 2.110] + !! OVERLAP: bookshelf <-> floor depth=[0.625, -0.001, 0.438] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0822, Room Outer Loss: 0.1442, Walkable Loss: 3.3666 (Center Penalty: 2.2533, C1 Heatmap: 0.7610, C2 Repulsion: 2.5224), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.579 0.668 0.585 0.258 2.090 -0.260 -0.00° +desk 1.570 0.745 0.960 0.882 -0.000 -0.391 0.07° +chair 0.600 0.859 0.395 0.821 0.002 -1.065 156.37° +bed 1.929 1.191 2.191 -0.781 0.000 -0.236 0.08° +floor 3.192 0.000 2.758 -0.003 0.000 -0.004 -0.05° +_scene_ 0.067 0.002 0.022 -5.673 -0.004 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.600, 0.745, 0.004] + !! OVERLAP: desk <-> bed depth=[0.085, 0.745, 0.960] + !! OVERLAP: desk <-> floor depth=[1.495, 0.000, 0.960] + !! OVERLAP: chair <-> floor depth=[0.600, 0.000, 0.395] + !! OVERLAP: bed <-> floor depth=[1.782, 0.000, 2.191] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0336, Room Outer Loss: 0.1112, Walkable Loss: 2.0782 (Center Penalty: 0.8087, C1 Heatmap: 0.7923, C2 Repulsion: 3.1779), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.867 0.854 2.042 1.068 -0.000 0.936 179.98° +nightstand 0.405 0.493 0.327 2.138 0.003 1.864 179.96° +wardrobe 1.633 2.015 0.504 -1.355 0.001 -1.243 0.09° +lamp 0.315 0.894 0.305 0.426 1.821 0.645 -0.01° +chair 0.574 0.866 0.680 -1.011 0.002 1.563 54.59° +chair 0.717 0.895 0.765 -1.576 0.001 1.866 145.95° +chair 0.844 0.423 0.516 1.958 -0.001 -0.618 179.94° +floor 5.272 -0.008 4.485 0.621 0.001 0.121 -0.03° +_scene_ 0.060 0.000 0.013 -5.674 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.066, 0.493, 0.257] + !! OVERLAP: bed <-> floor depth=[1.867, -0.008, 2.042] + !! OVERLAP: nightstand <-> floor depth=[0.405, -0.008, 0.327] + !! OVERLAP: wardrobe <-> floor depth=[1.477, -0.008, 0.504] + !! OVERLAP: chair <-> chair depth=[0.080, 0.866, 0.419] + !! OVERLAP: chair <-> floor depth=[0.574, -0.008, 0.680] + !! OVERLAP: chair <-> floor depth=[0.717, -0.008, 0.765] + !! OVERLAP: chair <-> floor depth=[0.844, -0.008, 0.516] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0397, Room Outer Loss: 0.5351, Walkable Loss: 4.1065 (Center Penalty: 2.2478, C1 Heatmap: 0.8953, C2 Repulsion: 5.7119), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.902 1.199 2.339 0.424 0.002 -0.411 -89.95° +cabinet 1.440 2.079 0.594 0.737 0.002 1.441 -179.98° +nightstand 0.475 0.619 0.480 1.432 -0.000 0.732 -90.12° +nightstand 0.550 0.649 0.397 1.259 0.002 -1.404 -90.28° +cabinet 1.379 1.952 0.469 -1.291 0.000 -0.869 89.95° +lamp 0.293 1.462 0.267 -0.254 1.172 -0.476 0.02° +floor 3.209 -0.003 3.596 -0.016 -0.000 -0.023 -0.02° +_scene_ 0.067 0.001 0.020 -5.675 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.181, 0.619, 0.267] + !! OVERLAP: bed <-> nightstand depth=[0.391, 0.649, 0.375] + !! OVERLAP: bed <-> lamp depth=[0.293, 0.161, 0.267] + !! OVERLAP: bed <-> floor depth=[1.902, -0.003, 2.339] + !! OVERLAP: cabinet <-> floor depth=[1.440, -0.003, 0.594] + !! OVERLAP: nightstand <-> floor depth=[0.394, -0.003, 0.480] + !! OVERLAP: nightstand <-> floor depth=[0.550, -0.003, 0.397] + !! OVERLAP: cabinet <-> floor depth=[1.020, -0.003, 0.469] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0032, Room Outer Loss: 0.0000, Walkable Loss: 3.8529 (Center Penalty: 2.4484, C1 Heatmap: 0.7892, C2 Repulsion: 3.8658), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.656 0.836 0.834 -1.326 -0.003 -0.519 89.95° +bed 1.599 1.208 2.360 0.346 0.000 -0.230 0.03° +nightstand 0.478 0.616 0.434 -0.798 0.001 -1.160 0.03° +nightstand 0.511 0.575 0.515 1.454 0.001 -1.125 0.05° +lamp 0.478 0.241 0.474 0.434 2.397 -0.147 -0.13° +lamp 0.782 0.829 0.731 -1.557 1.939 -1.030 -0.02° +floor 4.322 -0.002 2.920 -0.011 -0.001 -0.003 -0.03° +_scene_ 0.070 0.000 0.022 -5.673 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.656, -0.002, 0.834] + !! OVERLAP: bed <-> floor depth=[1.599, -0.002, 2.360] + !! OVERLAP: nightstand <-> floor depth=[0.478, -0.002, 0.434] + !! OVERLAP: nightstand <-> floor depth=[0.511, -0.002, 0.515] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0353, Walkable Loss: 3.5432 (Center Penalty: 2.6674, C1 Heatmap: 0.8759, C2 Repulsion: 0.8757), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.976 1.108 2.276 0.116 0.001 -0.451 -90.10° +wardrobe 2.593 2.468 0.671 -0.269 0.001 1.587 -179.97° +lamp 0.540 0.698 0.554 -0.057 2.030 -0.163 -0.01° +floor 3.128 -0.002 4.146 -0.021 0.000 0.022 -0.03° +_scene_ 0.050 -0.001 0.003 -5.683 -0.006 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.976, -0.002, 2.276] + !! OVERLAP: wardrobe <-> floor depth=[2.593, -0.002, 0.671] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0089, Room Outer Loss: 0.5858, Walkable Loss: 3.7747 (Center Penalty: 2.2590, C1 Heatmap: 1.0336, C2 Repulsion: 3.4445), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.888 2.441 0.624 0.213 -0.002 -1.624 0.09° +bed 2.283 1.258 2.296 0.226 -0.002 0.492 -89.98° +tv_stand 1.840 0.492 0.438 -1.335 -0.000 0.554 90.01° +nightstand 0.609 0.658 0.377 1.343 0.001 -0.839 -89.98° +lamp 1.121 0.913 1.106 0.016 1.917 0.454 0.01° +floor 3.214 -0.005 3.840 -0.001 0.001 0.020 -0.00° +_scene_ 0.070 0.000 0.022 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.888, -0.005, 0.588] + !! OVERLAP: bed <-> tv_stand depth=[0.500, 0.492, 0.438] + !! OVERLAP: bed <-> nightstand depth=[0.329, 0.658, 0.005] + !! OVERLAP: bed <-> floor depth=[2.283, -0.005, 2.296] + !! OVERLAP: tv_stand <-> floor depth=[1.192, -0.005, 0.438] + !! OVERLAP: nightstand <-> floor depth=[0.567, -0.005, 0.377] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0827, Room Outer Loss: 0.0773, Walkable Loss: 3.0061 (Center Penalty: 1.7269, C1 Heatmap: 0.8632, C2 Repulsion: 2.9432), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.509 1.333 2.510 -0.550 -0.000 -0.502 0.04° +wardrobe 1.122 2.292 0.590 1.302 0.003 -0.467 -179.82° +nightstand 0.544 0.639 0.458 1.279 0.001 -1.498 0.06° +nightstand 0.655 0.599 0.445 -1.407 0.001 -1.591 0.00° +lamp 1.054 0.797 1.052 -0.373 2.078 -0.496 -0.03° +floor 4.036 -0.001 3.529 -0.285 0.000 -0.049 0.01° +_scene_ 0.067 -0.000 0.021 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.655, 0.599, 0.389] + !! OVERLAP: bed <-> floor depth=[2.509, -0.001, 2.510] + !! OVERLAP: wardrobe <-> floor depth=[0.992, -0.001, 0.590] + !! OVERLAP: nightstand <-> floor depth=[0.544, -0.001, 0.458] + !! OVERLAP: nightstand <-> floor depth=[0.655, -0.001, 0.445] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0129, Walkable Loss: 3.1802 (Center Penalty: 2.5281, C1 Heatmap: 0.5820, C2 Repulsion: 0.9329), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.014 1.084 2.191 -0.296 -0.001 0.279 89.81° +table 0.446 0.591 0.513 -1.074 0.002 -0.961 89.98° +lamp 1.064 1.032 1.143 -0.154 1.979 0.090 0.00° +floor 2.824 -0.001 3.437 -0.011 0.001 -0.023 -0.04° +_scene_ 0.063 0.001 0.036 -5.665 -0.006 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.446, 0.591, 0.112] + !! OVERLAP: bed <-> floor depth=[2.014, -0.001, 2.191] + !! OVERLAP: table <-> floor depth=[0.446, -0.001, 0.513] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3653, Walkable Loss: 2.8989 (Center Penalty: 1.4005, C1 Heatmap: 0.6215, C2 Repulsion: 5.0064), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.603 0.945 0.861 1.513 0.001 1.156 -90.03° +chair 0.669 0.875 0.692 0.360 0.001 2.443 179.95° +chair 0.619 0.453 0.559 0.178 0.001 -0.548 -0.04° +table 1.179 0.568 0.647 -0.180 -0.003 1.022 -0.03° +chair 0.539 0.850 0.587 -0.792 0.000 2.052 137.54° +table 0.868 0.668 0.520 -1.731 -0.000 -1.832 0.08° +table 0.610 0.691 0.573 -1.593 0.001 2.450 0.02° +lamp 0.528 1.095 0.521 0.200 1.383 1.039 -0.04° +floor 4.526 -0.003 6.501 -0.284 0.002 0.618 -0.04° +_scene_ 0.083 -0.001 0.017 -5.669 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.268, -0.003, 0.861] + !! OVERLAP: chair <-> floor depth=[0.669, -0.003, 0.692] + !! OVERLAP: chair <-> floor depth=[0.619, -0.003, 0.559] + !! OVERLAP: table <-> floor depth=[1.179, -0.003, 0.647] + !! OVERLAP: chair <-> floor depth=[0.539, -0.003, 0.587] + !! OVERLAP: table <-> floor depth=[0.868, -0.003, 0.520] + !! OVERLAP: table <-> floor depth=[0.610, -0.003, 0.573] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0312, Room Outer Loss: 0.2245, Walkable Loss: 3.7160 (Center Penalty: 0.9592, C1 Heatmap: 1.0251, C2 Repulsion: 9.6832), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.383 0.893 1.159 -1.129 0.003 1.886 89.99° +table 1.312 0.588 0.935 -0.351 0.000 1.498 90.09° +tv_stand 1.485 0.521 0.420 1.040 -0.002 1.958 -90.12° +chair 0.528 0.526 0.514 -0.807 -0.000 0.029 0.05° +table 1.351 0.740 1.290 -0.896 -0.002 -1.966 -0.00° +chair 0.512 1.040 0.587 -1.730 -0.000 -1.109 179.97° +chair 0.539 1.073 0.558 -0.704 -0.001 -1.184 -179.91° +chair 0.497 1.008 0.546 -0.620 0.000 -2.386 -89.82° +chair 0.517 1.054 0.567 -1.610 0.000 -2.329 0.00° +cabinet 1.402 0.916 0.482 0.172 -0.001 -3.054 -0.04° +lamp 0.553 0.971 0.488 -1.379 1.645 -1.726 0.01° +lamp 0.632 0.914 0.565 -0.647 1.741 1.693 -0.04° +floor 4.075 -0.000 6.470 -0.558 0.000 -0.032 0.06° +_scene_ 0.069 -0.000 0.021 -5.672 -0.005 -5.716 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.069, 0.588, 0.659] + !! OVERLAP: sofa <-> floor depth=[2.383, -0.000, 1.159] + !! OVERLAP: table <-> tv_stand depth=[0.007, 0.521, 0.218] + !! OVERLAP: table <-> floor depth=[1.312, -0.000, 0.935] + !! OVERLAP: tv_stand <-> floor depth=[1.182, -0.000, 0.420] + !! OVERLAP: chair <-> floor depth=[0.528, -0.000, 0.514] + !! OVERLAP: table <-> chair depth=[0.097, 0.740, 0.081] + !! OVERLAP: table <-> chair depth=[0.539, 0.740, 0.142] + !! OVERLAP: table <-> chair depth=[0.497, 0.740, 0.499] + !! OVERLAP: table <-> chair depth=[0.220, 0.740, 0.566] + !! OVERLAP: table <-> floor depth=[1.351, -0.000, 1.290] + !! OVERLAP: chair <-> floor depth=[0.512, -0.000, 0.587] + !! OVERLAP: chair <-> floor depth=[0.539, -0.000, 0.558] + !! OVERLAP: chair <-> floor depth=[0.497, -0.000, 0.546] + !! OVERLAP: chair <-> floor depth=[0.517, -0.000, 0.567] + !! OVERLAP: cabinet <-> floor depth=[1.402, -0.000, 0.453] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2613, Walkable Loss: 4.1617 (Center Penalty: 3.2310, C1 Heatmap: 0.5981, C2 Repulsion: 2.2615), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.046 0.741 0.980 -0.877 -0.002 -0.125 89.93° +table 1.559 0.620 0.692 0.115 0.001 0.101 -89.92° +tv_stand 1.819 1.498 0.380 1.007 0.002 0.129 -90.09° +lamp 0.746 0.398 0.728 0.015 2.147 0.042 -0.02° +floor 3.550 -0.003 3.533 -0.012 0.000 -0.005 -0.01° +_scene_ 0.071 0.002 0.024 -5.671 -0.005 -5.712 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.811, 0.620, 0.610] + !! OVERLAP: sofa <-> tv_stand depth=[0.049, 0.741, 0.380] + !! OVERLAP: sofa <-> floor depth=[1.933, -0.003, 0.980] + !! OVERLAP: table <-> tv_stand depth=[0.797, 0.620, 0.380] + !! OVERLAP: table <-> floor depth=[1.559, -0.003, 0.692] + !! OVERLAP: tv_stand <-> floor depth=[1.666, -0.003, 0.380] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0352, Room Outer Loss: 0.9094, Walkable Loss: 6.2260 (Center Penalty: 1.2668, C1 Heatmap: 1.4677, C2 Repulsion: 18.9251), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.247 0.878 1.097 1.651 -0.002 -0.828 -0.04° +tv_stand 2.230 0.553 0.378 1.560 0.003 1.375 179.90° +desk 1.047 0.420 0.454 1.506 -0.001 -0.218 -0.01° +table 0.940 0.755 1.485 -1.788 0.001 -0.330 0.07° +chair 0.529 0.657 0.476 -2.308 0.002 -0.737 89.99° +chair 0.607 0.665 0.495 -2.678 0.002 0.140 89.87° +chair 0.473 0.765 0.518 -1.033 -0.000 -0.772 -90.11° +chair 0.480 0.734 0.461 -1.002 0.002 -0.114 -89.86° +cabinet 3.114 2.410 0.340 -1.285 0.000 1.517 -179.99° +bookshelf 1.759 2.249 0.211 -1.684 -0.002 -1.799 -0.10° +chair 0.558 0.698 0.512 -2.384 0.001 -0.110 89.96° +cabinet 2.137 2.078 0.463 -2.604 -0.003 -0.456 89.94° +lamp 0.961 0.726 0.932 1.675 1.938 -0.337 -0.04° +lamp 0.227 0.462 0.233 -1.181 2.117 -0.253 0.06° +floor 5.866 -0.002 3.578 -0.084 0.001 -0.060 0.01° +_scene_ 0.072 -0.001 0.032 -5.675 -0.004 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> desk depth=[1.047, 0.420, 0.166] + !! OVERLAP: sofa <-> floor depth=[2.247, -0.002, 1.097] + !! OVERLAP: tv_stand <-> floor depth=[2.230, -0.002, 0.378] + !! OVERLAP: desk <-> floor depth=[1.047, -0.002, 0.454] + !! OVERLAP: table <-> chair depth=[0.215, 0.657, 0.476] + !! OVERLAP: table <-> chair depth=[0.153, 0.698, 0.512] + !! OVERLAP: table <-> cabinet depth=[0.723, 0.755, 0.463] + !! OVERLAP: table <-> floor depth=[0.940, -0.002, 1.485] + !! OVERLAP: chair <-> cabinet depth=[0.529, 0.657, 0.189] + !! OVERLAP: chair <-> floor depth=[0.529, -0.002, 0.476] + !! OVERLAP: chair <-> chair depth=[0.289, 0.665, 0.253] + !! OVERLAP: chair <-> floor depth=[0.607, -0.002, 0.495] + !! OVERLAP: chair <-> floor depth=[0.473, -0.002, 0.518] + !! OVERLAP: chair <-> floor depth=[0.480, -0.002, 0.461] + !! OVERLAP: cabinet <-> floor depth=[3.114, -0.002, 0.340] + !! OVERLAP: bookshelf <-> floor depth=[1.759, -0.002, 0.156] + !! OVERLAP: chair <-> cabinet depth=[0.558, 0.698, 0.141] + !! OVERLAP: chair <-> floor depth=[0.558, -0.002, 0.512] + !! OVERLAP: cabinet <-> floor depth=[1.482, -0.002, 0.463] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0401, Room Outer Loss: 0.0384, Walkable Loss: 3.1761 (Center Penalty: 0.5649, C1 Heatmap: 1.0907, C2 Repulsion: 8.6932), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.630 1.125 0.342 2.443 0.002 -0.658 -90.02° +table 0.551 0.530 0.605 3.028 0.001 -3.230 0.10° +lamp 0.924 1.039 0.910 1.496 1.861 -1.942 0.01° +tv_stand 2.234 0.521 0.525 -0.825 0.000 -1.232 0.06° +chair 0.472 0.784 0.560 1.500 0.000 1.461 -90.09° +chair 0.556 0.854 0.595 1.582 0.003 0.637 -107.12° +chair 0.593 0.807 0.530 -0.553 -0.000 0.868 79.75° +chair 0.545 0.846 0.568 0.046 0.000 1.808 89.98° +table 1.732 0.705 0.789 1.376 -0.001 1.526 -89.98° +sofa 2.165 1.007 1.198 2.260 -0.000 -1.270 -90.12° +table 1.109 0.493 1.230 1.667 -0.002 -1.325 -90.02° +lamp 0.584 0.201 0.646 -1.790 2.421 2.054 -0.01° +table 0.940 1.018 0.489 -1.815 0.003 3.256 89.93° +lamp 0.566 0.889 0.333 0.654 1.843 1.290 -0.03° +floor 6.661 -0.005 7.322 0.737 0.003 -0.317 -0.06° +_scene_ 0.076 0.000 0.023 -5.670 -0.005 -5.709 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.630, 1.007, 0.158] + !! OVERLAP: table <-> table depth=[0.094, 0.493, 0.119] + !! OVERLAP: table <-> floor depth=[0.630, -0.005, 0.342] + !! OVERLAP: table <-> floor depth=[0.551, -0.005, 0.605] + !! OVERLAP: tv_stand <-> floor depth=[2.234, -0.005, 0.525] + !! OVERLAP: chair <-> table depth=[0.472, 0.705, 0.560] + !! OVERLAP: chair <-> floor depth=[0.472, -0.005, 0.560] + !! OVERLAP: chair <-> floor depth=[0.556, -0.005, 0.595] + !! OVERLAP: chair <-> floor depth=[0.593, -0.005, 0.530] + !! OVERLAP: chair <-> floor depth=[0.545, -0.005, 0.568] + !! OVERLAP: table <-> floor depth=[1.732, -0.005, 0.789] + !! OVERLAP: sofa <-> table depth=[1.044, 0.493, 1.159] + !! OVERLAP: sofa <-> floor depth=[2.165, -0.005, 1.198] + !! OVERLAP: table <-> floor depth=[1.109, -0.005, 1.230] + !! OVERLAP: table <-> floor depth=[0.940, -0.005, 0.333] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0020, Room Outer Loss: 0.4392, Walkable Loss: 2.7174 (Center Penalty: 0.9989, C1 Heatmap: 0.8208, C2 Repulsion: 5.3097), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.385 0.935 0.982 -1.304 0.001 2.295 89.97° +tv_stand 1.647 0.467 0.479 1.424 -0.000 2.332 -89.83° +cabinet 0.963 0.877 0.453 -2.134 0.003 -2.974 90.00° +table 1.291 0.910 0.942 -0.156 0.007 -0.846 0.04° +chair 0.560 0.605 0.615 -0.964 -0.000 -0.196 179.86° +chair 0.517 0.619 0.528 -0.966 0.001 -1.384 0.03° +chair 0.473 0.628 0.514 1.137 0.002 0.143 179.90° +chair 0.510 0.600 0.573 0.676 0.000 -0.984 -0.03° +lamp 0.302 0.394 0.304 -1.966 2.312 -2.958 0.10° +lamp 0.779 0.840 0.801 -0.434 1.902 1.884 -0.00° +lamp 0.298 1.028 0.275 -0.139 2.115 -0.896 0.11° +table 1.095 0.418 0.918 0.038 0.001 2.152 -89.89° +floor 4.737 0.001 8.054 -0.305 0.002 0.794 -0.04° +_scene_ 0.074 -0.001 0.023 -5.670 -0.004 -5.711 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.398, 0.418, 0.807] + !! OVERLAP: sofa <-> floor depth=[2.385, 0.001, 0.982] + !! OVERLAP: tv_stand <-> floor depth=[1.464, 0.001, 0.479] + !! OVERLAP: cabinet <-> floor depth=[0.963, 0.001, 0.453] + !! OVERLAP: table <-> chair depth=[0.117, 0.605, 0.129] + !! OVERLAP: table <-> chair depth=[0.094, 0.619, 0.196] + !! OVERLAP: table <-> chair depth=[0.069, 0.600, 0.573] + !! OVERLAP: table <-> floor depth=[1.291, 0.001, 0.942] + !! OVERLAP: chair <-> floor depth=[0.560, 0.001, 0.615] + !! OVERLAP: chair <-> floor depth=[0.517, 0.001, 0.528] + !! OVERLAP: chair <-> floor depth=[0.473, 0.001, 0.514] + !! OVERLAP: chair <-> floor depth=[0.510, 0.001, 0.573] + !! OVERLAP: table <-> floor depth=[1.095, 0.001, 0.918] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0124, Room Outer Loss: 0.6874, Walkable Loss: 4.2643 (Center Penalty: 1.5899, C1 Heatmap: 1.1244, C2 Repulsion: 8.8747), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.149 0.734 1.035 0.963 0.001 1.559 0.02° +chair 0.513 0.844 0.557 1.799 0.003 1.983 179.92° +chair 0.584 0.841 0.601 0.579 0.000 2.067 179.97° +chair 0.585 0.915 0.607 2.153 -0.001 0.704 0.02° +chair 0.541 0.908 0.580 0.961 0.000 0.617 -0.02° +sofa 2.047 0.877 0.853 1.817 -0.000 -0.603 -90.01° +tv_stand 1.929 0.628 0.432 -1.556 0.005 -1.485 90.04° +table 0.701 0.274 0.927 -0.654 -0.001 0.120 -0.03° +table 1.236 1.451 0.421 -1.576 0.006 1.272 179.95° +table 0.460 0.531 0.464 1.539 0.002 -2.372 0.04° +lamp 0.593 0.914 0.590 0.728 1.882 0.064 -0.02° +lamp 0.649 1.050 0.664 1.750 1.936 -0.162 -0.02° +lamp 0.522 1.137 0.501 -0.157 1.678 -1.588 0.02° +floor 5.157 -0.004 6.208 0.544 0.001 -0.044 -0.07° +_scene_ 0.072 -0.000 0.021 -5.672 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.495, 0.734, 0.373] + !! OVERLAP: table <-> chair depth=[0.584, 0.734, 0.310] + !! OVERLAP: table <-> floor depth=[2.149, -0.004, 1.035] + !! OVERLAP: chair <-> floor depth=[0.513, -0.004, 0.557] + !! OVERLAP: chair <-> floor depth=[0.584, -0.004, 0.601] + !! OVERLAP: chair <-> floor depth=[0.585, -0.004, 0.607] + !! OVERLAP: chair <-> floor depth=[0.541, -0.004, 0.580] + !! OVERLAP: sofa <-> floor depth=[2.047, -0.004, 0.853] + !! OVERLAP: tv_stand <-> floor depth=[1.443, -0.004, 0.432] + !! OVERLAP: table <-> floor depth=[0.701, -0.004, 0.927] + !! OVERLAP: table <-> floor depth=[1.076, -0.004, 0.421] + !! OVERLAP: table <-> floor depth=[0.460, -0.004, 0.464] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6089 (Center Penalty: 1.5938, C1 Heatmap: 0.6434, C2 Repulsion: 2.5019), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.377 1.440 0.436 1.150 0.002 -0.645 -90.00° +sofa 2.338 0.819 1.080 0.298 -0.001 -0.727 -90.12° +table 0.665 0.399 0.621 -1.471 0.001 -0.235 179.98° +lamp 0.664 0.794 0.693 0.257 2.033 0.924 -0.03° +chair 0.769 0.782 0.891 -1.207 -0.001 -1.537 30.64° +floor 4.328 0.002 4.098 -0.013 0.001 0.116 0.09° +_scene_ 0.071 -0.000 0.028 -5.670 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[1.005, 0.819, 0.436] + !! OVERLAP: bookshelf <-> floor depth=[1.377, 0.002, 0.436] + !! OVERLAP: sofa <-> chair depth=[0.048, 0.782, 0.175] + !! OVERLAP: sofa <-> floor depth=[2.338, 0.002, 1.080] + !! OVERLAP: table <-> floor depth=[0.665, 0.002, 0.621] + !! OVERLAP: chair <-> floor depth=[0.769, 0.002, 0.841] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0258, Walkable Loss: 3.3492 (Center Penalty: 2.0650, C1 Heatmap: 0.8044, C2 Repulsion: 3.2033), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.844 0.963 0.909 0.023 0.001 -1.753 -0.01° +chair 0.796 0.904 0.818 0.200 -0.001 2.399 172.92° +table 0.535 0.562 0.462 -1.318 0.001 2.257 89.97° +table 0.663 0.440 0.600 -1.481 0.002 -1.668 90.03° +table 1.159 0.404 0.562 0.364 -0.001 0.588 90.06° +tv_stand 1.639 0.602 0.406 1.531 -0.000 0.263 -90.09° +lamp 0.461 0.898 0.484 0.150 1.935 0.439 -0.05° +sofa 2.088 0.777 0.889 -1.103 -0.001 0.517 89.97° +floor 4.286 -0.002 6.919 0.084 -0.001 -0.070 -0.02° +_scene_ 0.068 0.001 0.019 -5.671 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.844, -0.002, 0.909] + !! OVERLAP: chair <-> floor depth=[0.796, -0.002, 0.818] + !! OVERLAP: table <-> floor depth=[0.535, -0.002, 0.462] + !! OVERLAP: table <-> floor depth=[0.663, -0.002, 0.600] + !! OVERLAP: table <-> tv_stand depth=[0.232, 0.404, 0.159] + !! OVERLAP: table <-> sofa depth=[0.156, 0.404, 0.562] + !! OVERLAP: table <-> floor depth=[1.159, -0.002, 0.562] + !! OVERLAP: tv_stand <-> floor depth=[1.516, -0.002, 0.406] + !! OVERLAP: sofa <-> floor depth=[1.999, -0.002, 0.889] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0159, Room Outer Loss: 0.9407, Walkable Loss: 3.7953 (Center Penalty: 1.4591, C1 Heatmap: 1.1833, C2 Repulsion: 6.9479), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.114 0.811 1.963 -1.030 -0.000 -1.501 0.03° +chair 0.536 0.694 0.543 -2.910 0.001 -2.087 0.04° +chair 0.282 0.366 0.281 -2.471 -0.000 -1.187 -0.00° +chair 0.391 0.395 0.353 -2.881 -0.000 -0.476 -0.01° +table 0.981 0.354 0.707 -1.297 -0.002 -0.319 0.01° +chair 0.452 1.096 0.494 -0.051 0.000 0.398 89.95° +lamp 0.191 1.004 0.184 -2.830 1.566 -2.099 -0.07° +chair 0.416 0.995 0.530 1.276 -0.004 -0.298 -55.28° +cabinet 1.354 0.744 0.650 2.427 0.001 1.868 179.90° +table 0.444 1.272 0.389 2.850 -0.003 -2.348 0.08° +shelf 0.315 2.160 0.387 2.931 -0.002 2.080 0.10° +lamp 0.404 0.940 0.411 0.881 1.909 0.000 0.03° +tv_stand 3.467 0.760 0.487 -1.500 -0.001 2.207 0.13° +floor 6.830 -0.008 5.803 -0.497 0.002 0.446 -0.02° +_scene_ 0.071 -0.001 0.021 -5.674 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.258, 0.366, 0.281] + !! OVERLAP: sofa <-> table depth=[0.981, 0.354, 0.153] + !! OVERLAP: sofa <-> floor depth=[3.114, -0.008, 1.937] + !! OVERLAP: chair <-> floor depth=[0.536, -0.008, 0.543] + !! OVERLAP: chair <-> floor depth=[0.282, -0.008, 0.281] + !! OVERLAP: chair <-> floor depth=[0.391, -0.008, 0.353] + !! OVERLAP: table <-> floor depth=[0.981, -0.008, 0.707] + !! OVERLAP: chair <-> floor depth=[0.452, -0.008, 0.494] + !! OVERLAP: chair <-> floor depth=[0.416, -0.008, 0.530] + !! OVERLAP: cabinet <-> shelf depth=[0.315, 0.744, 0.306] + !! OVERLAP: cabinet <-> floor depth=[1.168, -0.008, 0.650] + !! OVERLAP: table <-> floor depth=[0.290, -0.008, 0.302] + !! OVERLAP: shelf <-> floor depth=[0.145, -0.008, 0.387] + !! OVERLAP: tv_stand <-> floor depth=[3.467, -0.008, 0.487] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0301, Room Outer Loss: 1.0387, Walkable Loss: 4.3940 (Center Penalty: 1.6448, C1 Heatmap: 1.1565, C2 Repulsion: 9.1199), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.676 0.948 0.644 0.210 2.004 -1.201 -0.02° +table 1.826 0.748 0.973 -0.240 0.000 1.099 179.99° +chair 0.484 0.913 0.529 0.117 -0.000 1.493 -90.04° +chair 0.475 0.818 0.468 -1.109 -0.001 1.498 0.02° +lamp 0.279 0.768 0.300 -1.085 1.696 1.522 0.02° +lamp 0.301 0.779 0.297 -0.103 1.868 1.296 -0.03° +sofa 2.441 0.829 1.081 -1.096 0.003 -1.128 89.97° +table 1.061 0.350 0.684 0.448 -0.003 -0.425 -89.83° +tv_stand 1.981 0.556 0.502 1.312 -0.000 -0.942 -89.98° +table 1.969 2.368 0.481 -1.463 -0.001 0.350 89.81° +floor 4.120 -0.001 3.982 -0.054 0.000 -0.049 0.01° +_scene_ 0.070 0.001 0.020 -5.675 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.484, 0.748, 0.357] + !! OVERLAP: table <-> chair depth=[0.281, 0.748, 0.321] + !! OVERLAP: table <-> floor depth=[1.826, -0.001, 0.973] + !! OVERLAP: chair <-> floor depth=[0.484, -0.001, 0.529] + !! OVERLAP: chair <-> floor depth=[0.475, -0.001, 0.468] + !! OVERLAP: sofa <-> table depth=[0.207, 0.350, 0.180] + !! OVERLAP: sofa <-> floor depth=[2.238, -0.001, 1.081] + !! OVERLAP: table <-> tv_stand depth=[0.657, 0.350, 0.075] + !! OVERLAP: table <-> floor depth=[1.061, -0.001, 0.684] + !! OVERLAP: tv_stand <-> floor depth=[1.685, -0.001, 0.502] + !! OVERLAP: table <-> floor depth=[1.635, -0.001, 0.481] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9067, Walkable Loss: 3.7809 (Center Penalty: 2.7628, C1 Heatmap: 0.7043, C2 Repulsion: 2.2735), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.610 0.642 0.432 1.566 0.004 0.053 -90.39° +table 0.552 1.120 0.452 -1.149 0.002 2.099 90.00° +sofa 2.165 0.855 0.980 -1.035 -0.001 -0.096 89.99° +table 0.648 0.461 0.676 0.108 0.002 0.234 89.93° +chair 0.767 0.811 0.867 0.022 -0.000 2.198 179.96° +bookshelf 1.130 2.441 0.422 -0.937 0.000 -2.522 0.12° +lamp 0.544 0.819 0.571 0.356 2.055 0.152 0.02° +floor 3.562 -0.001 6.207 -0.012 0.001 0.112 0.01° +_scene_ 0.068 0.000 0.022 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.008, -0.001, 0.432] + !! OVERLAP: table <-> floor depth=[0.552, -0.001, 0.452] + !! OVERLAP: sofa <-> table depth=[0.264, 0.461, 0.498] + !! OVERLAP: sofa <-> floor depth=[1.841, -0.001, 0.980] + !! OVERLAP: table <-> floor depth=[0.648, -0.001, 0.676] + !! OVERLAP: chair <-> floor depth=[0.767, -0.001, 0.867] + !! OVERLAP: bookshelf <-> floor depth=[1.130, -0.001, 0.422] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0212, Room Outer Loss: 0.0052, Walkable Loss: 4.4686 (Center Penalty: 0.8498, C1 Heatmap: 0.8210, C2 Repulsion: 14.8103), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.350 0.628 0.315 -0.105 2.018 2.240 0.04° +lamp 0.933 0.804 0.784 -0.745 1.679 -3.280 0.01° +tv_stand 2.325 1.037 0.452 -2.482 0.005 3.031 89.79° +chair 0.643 0.463 0.454 0.176 0.024 0.735 46.00° +chair 0.488 0.475 0.518 -0.254 -0.001 0.845 -0.03° +table 1.223 0.504 0.602 0.136 0.002 2.264 -89.91° +table 0.447 0.700 0.383 1.616 0.000 0.831 -90.04° +table 0.498 0.573 0.492 1.661 -0.001 3.928 -90.08° +sofa 2.319 0.995 0.816 1.332 -0.000 2.532 -90.01° +sofa 1.977 0.750 0.692 -0.303 0.004 4.387 179.93° +table 2.319 0.708 0.914 -0.749 0.001 -3.266 -0.06° +chair 0.698 1.131 0.721 -1.041 0.002 -2.055 179.85° +chair 0.528 1.095 0.611 0.102 0.003 -3.117 -100.08° +chair 0.600 1.120 0.664 0.152 -0.001 -3.536 -75.98° +chair 0.590 1.115 0.656 -0.796 -0.001 -4.603 -0.03° +chair 0.603 1.058 0.717 -1.800 0.001 -3.459 89.91° +chair 0.559 1.061 0.612 -1.656 0.005 -2.925 108.02° +table 0.679 0.571 0.424 -2.293 0.003 -0.665 90.04° +floor 6.406 -0.004 11.048 -0.599 -0.002 0.113 0.01° +_scene_ 0.069 0.001 0.020 -5.669 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.325, -0.004, 0.452] + !! OVERLAP: chair <-> chair depth=[0.136, 0.445, 0.377] + !! OVERLAP: chair <-> floor depth=[0.643, -0.004, 0.454] + !! OVERLAP: chair <-> floor depth=[0.488, -0.004, 0.518] + !! OVERLAP: table <-> sofa depth=[0.575, 0.504, 0.440] + !! OVERLAP: table <-> floor depth=[1.223, -0.004, 0.602] + !! OVERLAP: table <-> floor depth=[0.447, -0.004, 0.383] + !! OVERLAP: table <-> floor depth=[0.498, -0.004, 0.492] + !! OVERLAP: sofa <-> floor depth=[2.319, -0.004, 0.816] + !! OVERLAP: sofa <-> floor depth=[1.977, -0.004, 0.692] + !! OVERLAP: table <-> chair depth=[0.528, 0.708, 0.611] + !! OVERLAP: table <-> chair depth=[0.558, 0.708, 0.519] + !! OVERLAP: table <-> chair depth=[0.411, 0.708, 0.623] + !! OVERLAP: table <-> chair depth=[0.532, 0.708, 0.422] + !! OVERLAP: table <-> floor depth=[2.319, -0.004, 0.914] + !! OVERLAP: chair <-> floor depth=[0.698, -0.004, 0.721] + !! OVERLAP: chair <-> chair depth=[0.515, 1.095, 0.219] + !! OVERLAP: chair <-> floor depth=[0.528, -0.004, 0.611] + !! OVERLAP: chair <-> floor depth=[0.600, -0.004, 0.664] + !! OVERLAP: chair <-> floor depth=[0.590, -0.004, 0.656] + !! OVERLAP: chair <-> chair depth=[0.437, 1.057, 0.130] + !! OVERLAP: chair <-> floor depth=[0.603, -0.004, 0.717] + !! OVERLAP: chair <-> floor depth=[0.559, -0.004, 0.612] + !! OVERLAP: table <-> floor depth=[0.679, -0.004, 0.424] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.0150, Walkable Loss: 4.3521 (Center Penalty: 2.4988, C1 Heatmap: 0.9374, C2 Repulsion: 5.5167), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.751 1.133 0.516 -2.213 0.000 -2.065 0.03° +table 0.675 1.274 0.383 2.199 -0.000 -2.026 0.09° +sofa 1.957 0.896 0.861 -2.080 -0.000 0.166 89.94° +table 1.313 0.443 0.907 -0.425 -0.000 0.221 -0.03° +chair 0.786 0.847 0.785 2.046 0.000 0.091 -62.20° +sofa 2.035 0.686 0.921 -0.394 0.001 -1.770 -0.01° +table 0.490 0.752 0.516 1.231 0.006 -2.080 -90.19° +table 0.665 0.727 0.620 -1.761 0.001 -1.818 0.02° +lamp 0.749 0.770 0.756 0.050 1.957 0.012 0.01° +floor 5.941 -0.000 5.018 -0.422 0.000 -0.214 -0.02° +_scene_ 0.241 0.082 0.456 -4.731 0.004 -4.708 -64.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.256, 0.727, 0.322] + !! OVERLAP: table <-> floor depth=[0.751, -0.000, 0.516] + !! OVERLAP: table <-> floor depth=[0.675, -0.000, 0.383] + !! OVERLAP: sofa <-> floor depth=[1.957, -0.000, 0.861] + !! OVERLAP: table <-> floor depth=[1.313, -0.000, 0.907] + !! OVERLAP: chair <-> floor depth=[0.786, -0.000, 0.785] + !! OVERLAP: sofa <-> floor depth=[2.035, -0.000, 0.921] + !! OVERLAP: table <-> floor depth=[0.490, -0.000, 0.516] + !! OVERLAP: table <-> floor depth=[0.665, -0.000, 0.620] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.4355, Walkable Loss: 2.3190 (Center Penalty: 0.8258, C1 Heatmap: 0.7173, C2 Repulsion: 4.5969), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.594 0.848 0.587 -0.397 0.000 1.109 89.99° +chair 0.549 0.887 0.658 -0.490 0.001 1.638 89.96° +chair 0.560 0.925 0.682 0.927 0.005 0.899 -90.13° +chair 0.535 0.841 0.601 0.847 0.001 1.731 -90.15° +sofa 2.037 0.877 0.929 -0.865 -0.002 -1.419 90.06° +table 1.769 2.040 0.440 -1.465 -0.002 0.144 89.89° +table 0.962 0.347 0.883 0.156 -0.001 -1.906 -90.16° +lamp 0.500 0.484 0.455 -0.060 2.333 -1.601 -0.06° +lamp 0.125 0.606 0.131 0.644 2.089 1.281 -89.92° +floor 3.987 -0.002 6.854 0.155 -0.001 -0.326 -0.11° +_scene_ 0.069 0.002 0.021 -5.665 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.478, 0.848, 0.093] + !! OVERLAP: chair <-> floor depth=[0.594, -0.002, 0.587] + !! OVERLAP: chair <-> floor depth=[0.549, -0.002, 0.658] + !! OVERLAP: chair <-> floor depth=[0.560, -0.002, 0.682] + !! OVERLAP: chair <-> floor depth=[0.535, -0.002, 0.601] + !! OVERLAP: sofa <-> table depth=[0.479, 0.347, 0.419] + !! OVERLAP: sofa <-> floor depth=[1.993, -0.002, 0.929] + !! OVERLAP: table <-> floor depth=[1.259, -0.002, 0.440] + !! OVERLAP: table <-> floor depth=[0.962, -0.002, 0.883] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.8103, Walkable Loss: 4.5657 (Center Penalty: 2.7856, C1 Heatmap: 0.9650, C2 Repulsion: 5.0402), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.539 0.888 0.974 1.129 -0.001 -0.207 -90.07° +table 0.580 0.469 0.450 1.238 0.002 1.583 -90.29° +table 0.502 0.500 0.388 1.351 0.001 -2.182 -89.86° +table 1.267 0.356 1.121 -0.139 -0.001 -0.096 -89.89° +chair 0.710 0.891 0.687 -1.166 0.000 -1.482 0.02° +chair 0.807 0.886 0.816 -1.225 -0.001 1.711 178.22° +tv_stand 1.869 0.535 0.386 -1.467 -0.002 -0.304 89.85° +lamp 0.459 0.943 0.426 -0.027 1.714 -0.339 0.03° +floor 4.305 -0.003 5.360 -0.092 0.000 -0.296 -0.05° +_scene_ 0.060 -0.001 0.015 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.635, 0.356, 0.936] + !! OVERLAP: sofa <-> floor depth=[2.201, -0.003, 0.974] + !! OVERLAP: table <-> floor depth=[0.580, -0.003, 0.450] + !! OVERLAP: table <-> floor depth=[0.502, -0.003, 0.388] + !! OVERLAP: table <-> tv_stand depth=[0.240, 0.356, 0.386] + !! OVERLAP: table <-> floor depth=[1.267, -0.003, 1.121] + !! OVERLAP: chair <-> floor depth=[0.710, -0.003, 0.687] + !! OVERLAP: chair <-> floor depth=[0.807, -0.003, 0.816] + !! OVERLAP: tv_stand <-> floor depth=[1.712, -0.003, 0.386] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0390, Room Outer Loss: 0.0068, Walkable Loss: 4.1286 (Center Penalty: 1.8056, C1 Heatmap: 1.0123, C2 Repulsion: 7.5660), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.494 0.730 0.903 -0.980 0.001 1.597 179.99° +table 0.442 0.461 0.424 -1.085 0.001 -0.413 0.00° +tv_stand 1.550 0.337 0.379 -0.450 0.002 -2.087 0.04° +chair 0.802 1.100 0.933 1.480 0.001 -0.827 0.08° +chair 0.705 1.080 0.787 1.474 0.002 -1.081 -0.01° +chair 0.594 1.121 0.650 1.385 0.000 1.223 89.82° +chair 0.618 1.011 0.729 1.586 0.002 1.578 -155.29° +table 0.835 0.730 0.465 1.612 0.002 -0.014 0.08° +table 1.980 0.828 0.566 0.834 0.004 2.039 179.82° +lamp 0.565 0.602 0.565 0.052 2.142 -0.327 -0.01° +floor 4.325 -0.001 5.817 -0.126 0.001 0.100 -0.06° +_scene_ 0.065 -0.001 0.020 -5.670 -0.004 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.423, 0.730, 0.293] + !! OVERLAP: sofa <-> floor depth=[2.494, -0.001, 0.903] + !! OVERLAP: table <-> floor depth=[0.442, -0.001, 0.424] + !! OVERLAP: tv_stand <-> floor depth=[1.550, -0.001, 0.379] + !! OVERLAP: chair <-> chair depth=[0.705, 1.080, 0.606] + !! OVERLAP: chair <-> floor depth=[0.802, -0.001, 0.933] + !! OVERLAP: chair <-> floor depth=[0.705, -0.001, 0.787] + !! OVERLAP: chair <-> chair depth=[0.405, 1.011, 0.335] + !! OVERLAP: chair <-> floor depth=[0.594, -0.001, 0.650] + !! OVERLAP: chair <-> table depth=[0.547, 0.828, 0.187] + !! OVERLAP: chair <-> floor depth=[0.618, -0.001, 0.729] + !! OVERLAP: table <-> floor depth=[0.835, -0.001, 0.465] + !! OVERLAP: table <-> floor depth=[1.980, -0.001, 0.566] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0178, Room Outer Loss: 0.0993, Walkable Loss: 4.8203 (Center Penalty: 1.0737, C1 Heatmap: 1.3523, C2 Repulsion: 13.3235), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.149 0.688 0.817 -1.429 -0.000 0.609 89.93° +chair 0.760 0.836 0.877 -2.113 -0.002 2.092 90.19° +table 1.595 0.353 1.370 -0.028 0.001 1.589 -89.91° +chair 0.798 0.583 0.621 -0.736 -0.002 0.252 -0.03° +tv_stand 1.788 0.492 0.413 0.953 -0.001 1.515 -90.04° +table 2.512 0.768 1.214 -0.107 -0.000 -1.192 -90.27° +chair 0.507 0.844 0.554 -0.531 0.001 -2.241 0.07° +chair 0.476 0.868 0.522 -0.658 0.006 -1.636 89.99° +chair 0.458 0.867 0.505 0.502 0.001 -2.188 -90.27° +chair 0.496 0.808 0.519 0.700 0.003 -1.157 179.95° +lamp 0.671 0.930 0.564 -0.193 1.651 1.117 -0.04° +lamp 0.850 0.619 0.298 -0.083 2.130 -1.956 -90.04° +floor 4.197 -0.008 5.639 -0.392 -0.001 0.344 -0.01° +_scene_ 0.069 0.003 0.025 -5.669 -0.003 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.470, 0.353, 0.113] + !! OVERLAP: sofa <-> chair depth=[0.781, 0.583, 0.362] + !! OVERLAP: sofa <-> floor depth=[2.136, -0.008, 0.817] + !! OVERLAP: chair <-> floor depth=[0.758, -0.008, 0.877] + !! OVERLAP: table <-> tv_stand depth=[0.711, 0.353, 0.413] + !! OVERLAP: table <-> floor depth=[1.595, -0.008, 1.370] + !! OVERLAP: chair <-> floor depth=[0.798, -0.008, 0.621] + !! OVERLAP: tv_stand <-> floor depth=[1.648, -0.008, 0.413] + !! OVERLAP: table <-> chair depth=[0.476, 0.768, 0.424] + !! OVERLAP: table <-> chair depth=[0.496, 0.768, 0.519] + !! OVERLAP: table <-> floor depth=[2.512, -0.008, 1.214] + !! OVERLAP: chair <-> floor depth=[0.507, -0.008, 0.512] + !! OVERLAP: chair <-> floor depth=[0.476, -0.008, 0.522] + !! OVERLAP: chair <-> floor depth=[0.458, -0.008, 0.505] + !! OVERLAP: chair <-> floor depth=[0.496, -0.008, 0.519] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0124, Room Outer Loss: 0.5871, Walkable Loss: 4.2675 (Center Penalty: 0.5513, C1 Heatmap: 1.2229, C2 Repulsion: 13.6892), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.146 0.916 0.939 -2.420 0.002 1.776 179.99° +sofa 1.922 0.896 1.329 -3.334 0.004 0.545 89.90° +table 0.646 0.403 0.600 -2.256 0.001 0.422 0.04° +tv_stand 2.245 0.638 0.467 -1.955 0.001 -1.515 0.00° +chair 0.798 0.928 0.858 -0.618 -0.006 0.584 -70.22° +table 1.869 0.754 1.120 2.582 0.002 0.539 0.01° +chair 0.412 0.782 0.480 3.316 0.001 1.072 -90.09° +chair 0.516 0.786 0.621 2.821 0.001 1.175 179.92° +chair 0.556 0.771 0.580 2.776 0.001 0.043 0.03° +chair 0.528 0.752 0.589 3.289 0.006 0.047 -89.93° +table 1.449 1.466 0.266 1.094 -0.001 -1.503 0.06° +cabinet 1.574 2.119 0.406 1.585 -0.000 2.161 -179.97° +table 0.595 0.444 0.576 -0.092 -0.002 2.297 -0.02° +table 0.500 0.448 0.563 -3.242 -0.003 2.238 -179.93° +lamp 0.602 0.527 0.636 -1.466 2.653 0.183 -0.02° +lamp 0.693 0.975 0.711 1.613 1.993 0.389 -0.02° +table 1.262 1.330 0.309 3.143 0.002 -2.351 0.03° +floor 8.404 -0.003 5.430 -0.618 -0.002 0.366 0.04° +_scene_ 0.072 0.001 0.027 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.500, 0.448, 0.289] + !! OVERLAP: sofa <-> floor depth=[2.146, -0.003, 0.939] + !! OVERLAP: sofa <-> table depth=[0.206, 0.403, 0.600] + !! OVERLAP: sofa <-> floor depth=[1.922, -0.003, 1.329] + !! OVERLAP: table <-> floor depth=[0.646, -0.003, 0.600] + !! OVERLAP: tv_stand <-> floor depth=[2.245, -0.003, 0.467] + !! OVERLAP: chair <-> floor depth=[0.798, -0.003, 0.858] + !! OVERLAP: table <-> chair depth=[0.407, 0.754, 0.268] + !! OVERLAP: table <-> chair depth=[0.516, 0.754, 0.234] + !! OVERLAP: table <-> chair depth=[0.556, 0.754, 0.354] + !! OVERLAP: table <-> chair depth=[0.492, 0.748, 0.362] + !! OVERLAP: table <-> floor depth=[1.869, -0.003, 1.120] + !! OVERLAP: chair <-> floor depth=[0.412, -0.003, 0.480] + !! OVERLAP: chair <-> floor depth=[0.516, -0.003, 0.621] + !! OVERLAP: chair <-> chair depth=[0.029, 0.752, 0.580] + !! OVERLAP: chair <-> floor depth=[0.556, -0.003, 0.580] + !! OVERLAP: chair <-> floor depth=[0.528, -0.003, 0.589] + !! OVERLAP: table <-> floor depth=[1.449, -0.003, 0.266] + !! OVERLAP: cabinet <-> floor depth=[1.574, -0.003, 0.406] + !! OVERLAP: table <-> floor depth=[0.595, -0.003, 0.576] + !! OVERLAP: table <-> floor depth=[0.500, -0.003, 0.563] + !! OVERLAP: table <-> floor depth=[1.071, -0.003, 0.153] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0386, Room Outer Loss: 0.4239, Walkable Loss: 4.0009 (Center Penalty: 1.0740, C1 Heatmap: 1.2641, C2 Repulsion: 9.5781), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.334 1.052 0.353 -1.641 -0.003 -2.867 0.18° +table 1.159 0.848 0.343 1.857 0.004 -2.000 -90.06° +tv_stand 1.812 0.421 0.327 1.228 -0.003 1.991 -89.94° +sofa 2.124 0.726 0.934 -1.648 -0.001 1.885 89.90° +chair 0.910 0.697 0.906 -2.088 -0.000 2.807 -179.97° +table 2.515 0.753 1.223 -0.252 0.000 -1.381 -90.36° +chair 0.496 0.738 0.509 0.576 0.001 -1.707 -0.20° +chair 0.469 0.723 0.502 -0.198 0.001 -1.677 0.01° +chair 0.496 0.756 0.477 -0.571 -0.000 -0.605 -179.90° +chair 0.468 0.741 0.483 0.418 -0.001 -0.482 -179.99° +table 1.528 0.371 1.302 -0.149 0.001 2.412 -93.19° +lamp 0.565 0.629 0.540 -0.213 2.052 1.685 -90.12° +lamp 1.088 0.615 0.233 -0.080 2.134 -1.308 -0.14° +floor 5.035 -0.005 7.310 -0.345 0.002 0.681 -0.01° +_scene_ 0.065 0.001 0.025 -5.669 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.334, -0.005, 0.284] + !! OVERLAP: table <-> floor depth=[0.895, -0.005, 0.343] + !! OVERLAP: tv_stand <-> table depth=[0.292, 0.371, 0.327] + !! OVERLAP: tv_stand <-> floor depth=[1.812, -0.005, 0.327] + !! OVERLAP: sofa <-> table depth=[0.327, 0.371, 0.591] + !! OVERLAP: sofa <-> floor depth=[2.124, -0.005, 0.934] + !! OVERLAP: chair <-> floor depth=[0.910, -0.005, 0.906] + !! OVERLAP: table <-> chair depth=[0.496, 0.738, 0.509] + !! OVERLAP: table <-> chair depth=[0.469, 0.723, 0.502] + !! OVERLAP: table <-> chair depth=[0.496, 0.753, 0.074] + !! OVERLAP: table <-> floor depth=[2.515, -0.005, 1.223] + !! OVERLAP: chair <-> floor depth=[0.496, -0.005, 0.509] + !! OVERLAP: chair <-> floor depth=[0.469, -0.005, 0.502] + !! OVERLAP: chair <-> floor depth=[0.496, -0.005, 0.477] + !! OVERLAP: chair <-> floor depth=[0.468, -0.005, 0.483] + !! OVERLAP: table <-> floor depth=[1.528, -0.005, 1.302] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0192, Room Outer Loss: 0.1024, Walkable Loss: 5.5141 (Center Penalty: 1.8750, C1 Heatmap: 1.0842, C2 Repulsion: 13.8591), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.152 0.698 0.941 -0.854 0.001 1.269 90.00° +chair 0.643 0.942 0.596 0.018 0.003 3.215 179.87° +table 1.567 0.434 0.904 0.184 0.007 2.106 90.12° +table 1.930 0.747 1.392 0.480 0.004 -1.687 0.05° +chair 0.395 0.942 0.454 0.255 -0.000 -0.959 -180.00° +chair 0.396 0.960 0.416 0.833 0.003 -0.861 179.93° +chair 0.449 0.886 0.489 0.011 -0.000 -2.187 -0.01° +chair 0.514 0.925 0.443 0.818 0.002 -2.213 0.03° +table 1.480 0.847 0.510 0.382 0.001 -3.082 0.01° +lamp 1.018 1.011 1.027 -0.076 1.748 2.125 -0.00° +lamp 1.260 0.950 0.353 0.052 1.749 -1.634 0.00° +lamp 1.113 0.859 0.466 0.455 2.046 -1.906 -0.01° +chair 0.686 0.618 0.668 0.111 -0.000 0.293 12.57° +table 0.705 1.089 0.381 -1.486 0.003 0.537 89.93° +table 0.753 0.915 0.483 -1.539 0.003 3.207 90.03° +floor 3.694 -0.003 8.278 -0.092 0.001 0.133 -0.02° +_scene_ 0.070 -0.000 0.024 -5.671 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.822, 0.434, 0.086] + !! OVERLAP: sofa <-> floor depth=[2.152, -0.003, 0.941] + !! OVERLAP: chair <-> floor depth=[0.643, -0.003, 0.596] + !! OVERLAP: table <-> floor depth=[1.567, -0.003, 0.904] + !! OVERLAP: table <-> chair depth=[0.395, 0.747, 0.195] + !! OVERLAP: table <-> chair depth=[0.396, 0.747, 0.079] + !! OVERLAP: table <-> chair depth=[0.449, 0.747, 0.440] + !! OVERLAP: table <-> chair depth=[0.514, 0.747, 0.391] + !! OVERLAP: table <-> floor depth=[1.930, -0.003, 1.392] + !! OVERLAP: chair <-> floor depth=[0.395, -0.003, 0.454] + !! OVERLAP: chair <-> floor depth=[0.396, -0.003, 0.416] + !! OVERLAP: chair <-> floor depth=[0.449, -0.003, 0.489] + !! OVERLAP: chair <-> floor depth=[0.514, -0.003, 0.443] + !! OVERLAP: table <-> floor depth=[1.480, -0.003, 0.510] + !! OVERLAP: lamp <-> lamp depth=[0.783, 0.607, 0.137] + !! OVERLAP: chair <-> floor depth=[0.686, -0.003, 0.668] + !! OVERLAP: table <-> floor depth=[0.705, -0.003, 0.381] + !! OVERLAP: table <-> floor depth=[0.753, -0.003, 0.483] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0228, Room Outer Loss: 0.1709, Walkable Loss: 4.7420 (Center Penalty: 0.4403, C1 Heatmap: 1.2206, C2 Repulsion: 16.6262), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.977 0.741 0.805 -1.870 0.000 1.575 89.98° +chair 1.440 0.810 0.635 -0.865 0.002 0.095 17.27° +sofa 2.279 0.943 0.906 -0.534 0.001 3.372 179.88° +table 0.436 0.433 0.407 -0.549 -0.000 1.924 90.04° +table 0.594 0.500 0.469 -1.859 0.001 0.134 90.02° +table 0.506 0.507 0.415 -1.929 0.004 3.119 90.07° +table 2.985 0.843 1.119 -1.053 -0.000 -2.091 0.02° +chair 0.497 0.702 0.514 -0.611 0.001 -2.743 0.13° +chair 0.511 0.739 0.516 -0.678 -0.001 -1.389 179.98° +chair 0.436 0.723 0.487 0.024 0.001 -1.673 179.99° +chair 0.465 0.742 0.471 -1.039 -0.005 -1.527 170.48° +chair 0.486 0.646 0.480 -1.327 -0.002 -2.610 0.05° +chair 0.528 0.699 0.589 0.291 0.000 -2.538 -90.00° +lamp 1.217 0.782 0.591 -0.716 1.893 1.677 0.02° +lamp 0.909 0.787 0.897 -0.371 1.969 -2.450 -0.02° +table 0.975 1.610 0.466 -0.269 -0.003 -4.000 0.06° +tv_stand 1.460 0.472 0.424 1.357 0.007 1.885 -89.89° +floor 5.426 -0.018 8.848 -0.763 0.002 0.263 -0.05° +_scene_ 0.072 0.000 0.024 -5.669 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.977, -0.018, 0.805] + !! OVERLAP: chair <-> table depth=[0.023, 0.500, 0.469] + !! OVERLAP: chair <-> floor depth=[1.440, -0.018, 0.635] + !! OVERLAP: sofa <-> floor depth=[2.279, -0.018, 0.906] + !! OVERLAP: table <-> floor depth=[0.436, -0.018, 0.407] + !! OVERLAP: table <-> floor depth=[0.594, -0.018, 0.469] + !! OVERLAP: table <-> floor depth=[0.506, -0.018, 0.415] + !! OVERLAP: table <-> chair depth=[0.497, 0.702, 0.164] + !! OVERLAP: table <-> chair depth=[0.511, 0.739, 0.116] + !! OVERLAP: table <-> chair depth=[0.436, 0.723, 0.386] + !! OVERLAP: table <-> chair depth=[0.465, 0.742, 0.231] + !! OVERLAP: table <-> chair depth=[0.486, 0.646, 0.281] + !! OVERLAP: table <-> chair depth=[0.413, 0.699, 0.407] + !! OVERLAP: table <-> floor depth=[2.985, -0.018, 1.119] + !! OVERLAP: chair <-> floor depth=[0.497, -0.018, 0.514] + !! OVERLAP: chair <-> chair depth=[0.127, 0.736, 0.355] + !! OVERLAP: chair <-> floor depth=[0.511, -0.018, 0.516] + !! OVERLAP: chair <-> floor depth=[0.436, -0.018, 0.487] + !! OVERLAP: chair <-> floor depth=[0.465, -0.018, 0.471] + !! OVERLAP: chair <-> floor depth=[0.486, -0.018, 0.480] + !! OVERLAP: chair <-> floor depth=[0.528, -0.018, 0.589] + !! OVERLAP: table <-> floor depth=[0.975, -0.018, 0.394] + !! OVERLAP: tv_stand <-> floor depth=[1.322, -0.018, 0.424] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0097, Room Outer Loss: 0.8813, Walkable Loss: 3.6687 (Center Penalty: 0.4064, C1 Heatmap: 0.5712, C2 Repulsion: 14.0271), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.060 0.777 1.016 3.311 0.001 0.747 179.94° +chair 0.881 0.973 0.954 4.969 0.001 -0.784 -89.85° +chair 0.717 1.229 0.726 1.207 0.005 -0.776 130.93° +table 1.339 0.459 0.924 3.183 0.005 -1.089 0.02° +table 0.674 0.496 0.705 4.819 -0.005 0.625 179.67° +table 0.574 0.575 0.539 1.585 0.001 0.746 -179.95° +table 1.613 0.764 1.092 -3.233 0.000 0.843 0.00° +chair 0.553 0.868 0.542 -3.750 0.002 0.278 0.00° +chair 0.547 0.887 0.597 -3.357 0.001 0.406 -0.00° +chair 0.560 0.857 0.608 -3.858 0.006 1.824 179.94° +chair 0.586 0.892 0.615 -3.094 0.002 1.957 179.96° +chair 0.555 0.896 0.615 -2.093 -0.002 1.064 -90.24° +chair 0.579 0.808 0.575 -4.650 0.003 0.971 89.81° +cabinet 0.806 1.333 0.287 -1.226 0.000 2.587 90.00° +table 1.251 2.117 0.478 -4.939 0.019 0.951 89.89° +lamp 0.835 0.742 0.862 2.780 1.999 -1.082 0.06° +lamp 1.182 1.027 1.224 -3.741 1.898 1.278 -0.12° +floor 11.234 -0.013 6.050 0.734 0.000 -0.332 -0.04° +_scene_ 0.069 -0.000 0.020 -5.676 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.060, -0.013, 1.016] + !! OVERLAP: chair <-> floor depth=[0.881, -0.013, 0.954] + !! OVERLAP: chair <-> floor depth=[0.717, -0.013, 0.726] + !! OVERLAP: table <-> floor depth=[1.339, -0.013, 0.924] + !! OVERLAP: table <-> floor depth=[0.674, -0.013, 0.705] + !! OVERLAP: table <-> floor depth=[0.574, -0.013, 0.539] + !! OVERLAP: table <-> chair depth=[0.553, 0.764, 0.252] + !! OVERLAP: table <-> chair depth=[0.547, 0.764, 0.407] + !! OVERLAP: table <-> floor depth=[1.613, -0.013, 1.092] + !! OVERLAP: chair <-> chair depth=[0.157, 0.868, 0.441] + !! OVERLAP: chair <-> floor depth=[0.553, -0.013, 0.542] + !! OVERLAP: chair <-> floor depth=[0.547, -0.013, 0.597] + !! OVERLAP: chair <-> floor depth=[0.560, -0.013, 0.608] + !! OVERLAP: chair <-> floor depth=[0.586, -0.013, 0.615] + !! OVERLAP: chair <-> floor depth=[0.555, -0.013, 0.615] + !! OVERLAP: chair <-> table depth=[0.579, 0.808, 0.478] + !! OVERLAP: chair <-> floor depth=[0.522, -0.013, 0.575] + !! OVERLAP: cabinet <-> floor depth=[0.806, -0.013, 0.249] + !! OVERLAP: table <-> floor depth=[0.570, -0.013, 0.478] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0079, Room Outer Loss: 0.2382, Walkable Loss: 4.4785 (Center Penalty: 0.6365, C1 Heatmap: 1.3113, C2 Repulsion: 13.9645), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.628 1.146 0.378 0.838 0.003 -0.789 -90.10° +sofa 2.316 0.799 1.073 -1.293 -0.001 -0.068 -0.03° +table 1.311 0.680 1.158 -1.020 -0.000 -2.792 0.02° +tv_stand 2.478 0.530 0.457 -0.853 0.000 2.499 179.86° +table 1.388 0.690 0.990 -0.950 -0.001 1.052 -0.03° +chair 0.775 0.886 0.896 0.874 0.000 1.289 -130.25° +chair 0.495 0.941 0.593 -1.495 0.002 -3.354 0.06° +chair 0.509 0.907 0.567 -0.991 -0.002 -3.446 -0.13° +chair 0.508 0.958 0.594 -0.965 -0.001 -2.076 179.94° +chair 0.532 0.958 0.544 -1.452 -0.001 -1.903 -179.97° +table 0.602 1.339 0.505 0.305 0.001 2.748 0.11° +table 0.545 1.256 0.433 -2.608 0.002 2.723 89.88° +cabinet 1.728 0.703 0.278 -2.528 0.001 -2.286 90.01° +lamp 0.859 0.923 0.707 -1.125 1.780 1.197 0.01° +cabinet 0.994 1.236 0.326 2.010 0.001 -2.553 -90.23° +chair 0.629 0.369 0.487 1.854 0.002 -1.011 -90.11° +lamp 0.716 1.003 0.719 -1.124 1.555 -2.750 0.02° +floor 5.993 -0.003 7.492 -0.737 -0.002 -0.287 -0.03° +_scene_ 0.070 -0.000 0.023 -5.671 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.628, -0.003, 0.378] + !! OVERLAP: sofa <-> floor depth=[2.316, -0.003, 1.073] + !! OVERLAP: table <-> chair depth=[0.428, 0.680, 0.314] + !! OVERLAP: table <-> chair depth=[0.509, 0.680, 0.209] + !! OVERLAP: table <-> chair depth=[0.508, 0.680, 0.159] + !! OVERLAP: table <-> cabinet depth=[0.011, 0.680, 0.212] + !! OVERLAP: table <-> floor depth=[1.311, -0.003, 1.158] + !! OVERLAP: tv_stand <-> table depth=[0.382, 0.530, 0.232] + !! OVERLAP: tv_stand <-> floor depth=[2.478, -0.003, 0.457] + !! OVERLAP: table <-> floor depth=[1.388, -0.003, 0.990] + !! OVERLAP: chair <-> floor depth=[0.775, -0.003, 0.896] + !! OVERLAP: chair <-> floor depth=[0.495, -0.003, 0.593] + !! OVERLAP: chair <-> floor depth=[0.509, -0.003, 0.567] + !! OVERLAP: chair <-> chair depth=[0.033, 0.958, 0.396] + !! OVERLAP: chair <-> floor depth=[0.508, -0.003, 0.594] + !! OVERLAP: chair <-> cabinet depth=[0.054, 0.703, 0.027] + !! OVERLAP: chair <-> floor depth=[0.532, -0.003, 0.544] + !! OVERLAP: table <-> floor depth=[0.602, -0.003, 0.505] + !! OVERLAP: table <-> floor depth=[0.545, -0.003, 0.433] + !! OVERLAP: cabinet <-> floor depth=[1.728, -0.003, 0.278] + !! OVERLAP: cabinet <-> floor depth=[0.746, -0.003, 0.326] + !! OVERLAP: chair <-> floor depth=[0.629, -0.003, 0.487] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0110, Room Outer Loss: 0.0000, Walkable Loss: 5.0905 (Center Penalty: 1.0821, C1 Heatmap: 1.1704, C2 Repulsion: 15.3602), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.489 0.745 1.074 -2.149 -0.001 -0.489 0.07° +lamp 0.365 0.825 0.337 -2.037 1.734 -1.013 -0.01° +chair 0.593 0.879 0.633 -1.362 -0.001 -0.298 -89.89° +chair 0.571 0.936 0.624 -1.438 0.000 -1.576 0.02° +chair 0.552 0.911 0.606 -1.731 0.003 0.103 179.96° +chair 0.582 0.884 0.633 -2.985 0.001 -0.108 179.86° +chair 0.605 0.892 0.677 -3.482 0.002 -0.759 89.96° +chair 0.609 0.858 0.613 -2.618 0.001 -1.790 -0.01° +table 0.849 0.529 1.027 2.115 0.002 -0.781 0.00° +tv_stand 2.230 1.069 0.409 1.472 0.001 0.896 -179.98° +sofa 2.498 0.916 0.967 1.186 -0.001 -1.745 -0.04° +chair 0.694 1.125 0.795 2.847 -0.001 -1.171 -60.30° +chair 0.523 0.425 0.417 0.134 0.003 -0.910 90.10° +chair 0.544 0.445 0.568 0.428 0.002 -0.618 0.24° +lamp 0.348 0.774 0.351 1.680 1.964 -0.585 -0.03° +cabinet 0.605 0.728 0.514 -2.926 0.002 1.509 179.88° +floor 7.851 0.010 5.548 -0.267 0.001 -0.557 0.02° +_scene_ 0.079 0.002 0.027 -5.670 -0.003 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.255, 0.745, 0.633] + !! OVERLAP: table <-> chair depth=[0.552, 0.745, 0.247] + !! OVERLAP: table <-> chair depth=[0.200, 0.745, 0.472] + !! OVERLAP: table <-> floor depth=[1.489, 0.010, 1.074] + !! OVERLAP: chair <-> chair depth=[0.204, 0.879, 0.219] + !! OVERLAP: chair <-> floor depth=[0.593, 0.010, 0.633] + !! OVERLAP: chair <-> floor depth=[0.571, 0.010, 0.624] + !! OVERLAP: chair <-> floor depth=[0.552, 0.010, 0.606] + !! OVERLAP: chair <-> chair depth=[0.096, 0.884, 0.004] + !! OVERLAP: chair <-> floor depth=[0.582, 0.010, 0.633] + !! OVERLAP: chair <-> floor depth=[0.605, 0.010, 0.677] + !! OVERLAP: chair <-> floor depth=[0.609, 0.010, 0.613] + !! OVERLAP: table <-> sofa depth=[0.744, 0.529, 0.033] + !! OVERLAP: table <-> chair depth=[0.040, 0.529, 0.521] + !! OVERLAP: table <-> floor depth=[0.849, 0.010, 1.027] + !! OVERLAP: tv_stand <-> floor depth=[2.230, 0.010, 0.409] + !! OVERLAP: sofa <-> floor depth=[2.498, 0.010, 0.967] + !! OVERLAP: chair <-> floor depth=[0.694, 0.010, 0.795] + !! OVERLAP: chair <-> chair depth=[0.239, 0.425, 0.200] + !! OVERLAP: chair <-> floor depth=[0.523, 0.010, 0.417] + !! OVERLAP: chair <-> floor depth=[0.544, 0.010, 0.568] + !! OVERLAP: cabinet <-> floor depth=[0.605, 0.010, 0.514] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.1026, Walkable Loss: 2.8411 (Center Penalty: 0.5533, C1 Heatmap: 0.9390, C2 Repulsion: 7.6829), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.091 0.828 0.774 1.445 0.001 -2.200 -90.08° +chair 0.806 1.047 0.801 0.347 -0.001 -3.499 -0.07° +table 1.319 0.450 1.072 0.436 0.003 -1.467 90.03° +table 0.334 1.146 0.376 2.132 0.001 -3.012 -89.98° +tv_stand 1.862 0.609 0.444 -1.373 0.003 -1.524 90.01° +table 1.266 0.821 1.255 0.818 -0.001 1.468 -90.05° +chair 0.540 1.116 0.565 -0.158 0.000 1.124 89.96° +chair 0.514 1.081 0.608 -0.343 0.000 2.036 89.89° +chair 0.504 1.087 0.586 1.731 -0.000 1.131 -89.84° +chair 0.476 1.049 0.565 1.652 -0.000 2.125 -90.12° +lamp 1.017 1.386 1.029 0.119 2.014 -1.367 -0.01° +lamp 0.870 0.968 0.870 0.911 1.736 1.679 -0.05° +floor 4.714 -0.012 7.179 0.318 -0.000 -0.494 -0.05° +_scene_ 0.072 0.000 0.025 -5.668 -0.005 -5.713 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.696, 0.450, 0.190] + !! OVERLAP: sofa <-> floor depth=[2.091, -0.012, 0.774] + !! OVERLAP: chair <-> floor depth=[0.806, -0.012, 0.801] + !! OVERLAP: table <-> floor depth=[1.319, -0.012, 1.072] + !! OVERLAP: table <-> floor depth=[0.334, -0.012, 0.376] + !! OVERLAP: tv_stand <-> floor depth=[1.597, -0.012, 0.444] + !! OVERLAP: table <-> chair depth=[0.037, 0.821, 0.254] + !! OVERLAP: table <-> floor depth=[1.266, -0.012, 1.255] + !! OVERLAP: chair <-> floor depth=[0.540, -0.012, 0.565] + !! OVERLAP: chair <-> floor depth=[0.514, -0.012, 0.608] + !! OVERLAP: chair <-> floor depth=[0.504, -0.012, 0.586] + !! OVERLAP: chair <-> floor depth=[0.476, -0.012, 0.565] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0065, Room Outer Loss: 0.0000, Walkable Loss: 2.3449 (Center Penalty: 0.1758, C1 Heatmap: 0.7995, C2 Repulsion: 7.6472), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.678 0.976 0.669 -1.564 1.834 -2.473 -0.07° +table 1.653 0.858 1.306 1.645 -0.001 -2.231 -179.99° +chair 0.505 0.714 0.537 1.848 0.002 -2.831 0.02° +chair 0.521 0.771 0.578 0.409 -0.000 -2.786 0.01° +chair 0.533 0.756 0.530 1.779 0.002 -1.197 -179.95° +chair 0.558 0.777 0.595 0.413 0.002 -1.169 179.94° +lamp 0.976 0.863 0.894 -1.783 1.952 1.834 179.81° +table 0.508 0.573 0.514 -3.291 0.004 0.198 90.05° +table 0.589 0.527 0.516 -3.285 0.004 3.416 89.94° +table 1.086 0.395 0.904 -1.836 -0.002 1.692 89.94° +tv_stand 1.444 0.587 0.356 -0.436 0.001 2.000 -89.97° +sofa 2.355 0.916 0.899 -3.302 0.002 1.829 89.94° +chair 0.817 1.033 0.896 -1.765 0.001 3.168 178.88° +table 0.797 0.682 0.540 -1.509 0.002 0.139 179.63° +floor 7.093 -0.013 8.233 -0.970 0.002 0.293 -0.01° +_scene_ 0.066 0.001 0.020 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.505, 0.714, 0.322] + !! OVERLAP: table <-> floor depth=[1.653, -0.013, 1.306] + !! OVERLAP: chair <-> floor depth=[0.505, -0.013, 0.537] + !! OVERLAP: chair <-> floor depth=[0.521, -0.013, 0.578] + !! OVERLAP: chair <-> floor depth=[0.533, -0.013, 0.530] + !! OVERLAP: chair <-> floor depth=[0.558, -0.013, 0.595] + !! OVERLAP: table <-> floor depth=[0.508, -0.013, 0.514] + !! OVERLAP: table <-> floor depth=[0.589, -0.013, 0.516] + !! OVERLAP: table <-> sofa depth=[0.255, 0.395, 0.765] + !! OVERLAP: table <-> floor depth=[1.086, -0.013, 0.904] + !! OVERLAP: tv_stand <-> floor depth=[1.444, -0.013, 0.356] + !! OVERLAP: sofa <-> floor depth=[2.355, -0.013, 0.899] + !! OVERLAP: chair <-> floor depth=[0.817, -0.013, 0.896] + !! OVERLAP: table <-> floor depth=[0.797, -0.013, 0.540] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0479, Room Outer Loss: 0.0000, Walkable Loss: 4.2058 (Center Penalty: 2.5668, C1 Heatmap: 0.5683, C2 Repulsion: 5.9217), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.611 0.723 0.881 -0.622 -0.001 -0.068 89.92° +chair 0.617 0.916 0.634 -1.828 0.001 0.422 89.96° +chair 0.515 0.925 0.557 -1.711 0.004 -0.149 89.96° +chair 0.449 0.956 0.510 -0.734 0.002 0.554 -90.10° +chair 0.503 0.924 0.549 -0.686 -0.000 -0.417 -89.94° +table 1.469 0.719 0.629 1.026 -0.001 0.464 -89.96° +cabinet 0.933 1.443 0.443 1.356 0.005 -1.094 0.11° +lamp 0.444 0.505 0.452 -0.461 2.075 -0.341 -0.07° +floor 4.931 -0.004 2.847 0.128 0.000 -0.042 -0.01° +_scene_ 0.069 -0.000 0.025 -5.661 -0.003 -5.721 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.449, 0.723, 0.073] + !! OVERLAP: table <-> chair depth=[0.503, 0.723, 0.366] + !! OVERLAP: table <-> floor depth=[1.611, -0.004, 0.881] + !! OVERLAP: chair <-> chair depth=[0.449, 0.916, 0.025] + !! OVERLAP: chair <-> floor depth=[0.617, -0.004, 0.634] + !! OVERLAP: chair <-> floor depth=[0.515, -0.004, 0.557] + !! OVERLAP: chair <-> floor depth=[0.449, -0.004, 0.510] + !! OVERLAP: chair <-> floor depth=[0.503, -0.004, 0.549] + !! OVERLAP: table <-> floor depth=[1.469, -0.004, 0.629] + !! OVERLAP: cabinet <-> floor depth=[0.933, -0.004, 0.443] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0188, Room Outer Loss: 0.7039, Walkable Loss: 3.1207 (Center Penalty: 0.5939, C1 Heatmap: 0.9374, C2 Repulsion: 8.8846), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.842 0.794 0.890 1.539 -0.001 1.514 -90.02° +table 0.876 0.330 0.891 -0.021 -0.001 1.349 -90.03° +table 1.608 0.793 1.054 1.171 0.001 -0.676 -0.02° +chair 0.548 0.795 0.446 1.055 0.001 -0.105 179.97° +chair 0.453 0.808 0.492 1.724 0.003 -0.377 179.96° +chair 0.447 0.851 0.517 0.909 0.001 -1.276 0.03° +chair 0.437 0.806 0.546 1.716 0.004 -1.423 0.04° +tv_stand 2.220 0.620 0.273 -1.065 0.001 1.572 89.84° +cabinet 1.056 1.095 0.296 -0.338 -0.000 -2.128 0.03° +lamp 0.509 0.417 0.423 -0.106 2.239 1.660 -0.00° +lamp 0.198 1.282 0.192 1.290 1.510 -0.816 -0.01° +floor 4.075 -0.010 5.239 0.317 -0.001 0.662 -0.03° +_scene_ 0.069 0.001 0.023 -5.669 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.736, -0.010, 0.890] + !! OVERLAP: table <-> tv_stand depth=[0.504, 0.330, 0.273] + !! OVERLAP: table <-> floor depth=[0.876, -0.010, 0.891] + !! OVERLAP: table <-> chair depth=[0.548, 0.793, 0.178] + !! OVERLAP: table <-> chair depth=[0.453, 0.793, 0.474] + !! OVERLAP: table <-> chair depth=[0.447, 0.793, 0.186] + !! OVERLAP: table <-> chair depth=[0.437, 0.793, 0.053] + !! OVERLAP: table <-> floor depth=[1.608, -0.010, 1.054] + !! OVERLAP: chair <-> floor depth=[0.548, -0.010, 0.446] + !! OVERLAP: chair <-> floor depth=[0.453, -0.010, 0.492] + !! OVERLAP: chair <-> floor depth=[0.447, -0.010, 0.517] + !! OVERLAP: chair <-> floor depth=[0.437, -0.010, 0.546] + !! OVERLAP: tv_stand <-> floor depth=[1.765, -0.010, 0.273] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0056, Room Outer Loss: 0.3642, Walkable Loss: 3.1337 (Center Penalty: 1.1966, C1 Heatmap: 0.8214, C2 Repulsion: 6.3995), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.810 0.773 0.818 -0.553 -0.000 3.101 148.27° +chair 0.782 0.330 0.516 -0.805 -0.000 0.194 0.04° +table 0.540 0.459 0.700 -0.487 0.001 2.002 -0.03° +table 1.062 0.662 0.616 0.810 0.002 0.327 0.10° +table 0.697 0.621 0.781 0.737 0.004 2.790 -0.01° +tv_stand 2.592 0.796 0.419 -1.839 0.001 1.653 89.97° +cabinet 1.031 1.018 0.362 2.108 0.000 -1.164 -90.19° +lamp 1.120 0.511 0.336 -0.106 2.085 1.325 0.04° +lamp 0.538 0.289 0.504 2.019 2.135 -2.436 -0.17° +sofa 2.296 0.841 0.777 0.659 0.002 1.816 179.85° +floor 5.547 -0.003 7.122 -0.113 0.002 0.426 -0.09° +_scene_ 0.066 0.001 0.019 -5.668 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.810, -0.003, 0.818] + !! OVERLAP: chair <-> floor depth=[0.782, -0.003, 0.516] + !! OVERLAP: table <-> tv_stand depth=[0.214, 0.459, 0.210] + !! OVERLAP: table <-> sofa depth=[0.272, 0.459, 0.552] + !! OVERLAP: table <-> floor depth=[0.540, -0.003, 0.700] + !! OVERLAP: table <-> floor depth=[1.062, -0.003, 0.616] + !! OVERLAP: table <-> floor depth=[0.697, -0.003, 0.781] + !! OVERLAP: tv_stand <-> floor depth=[2.344, -0.003, 0.419] + !! OVERLAP: cabinet <-> floor depth=[1.031, -0.003, 0.362] + !! OVERLAP: sofa <-> floor depth=[2.296, -0.003, 0.777] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0061, Room Outer Loss: 0.0000, Walkable Loss: 3.9304 (Center Penalty: 1.4369, C1 Heatmap: 1.0261, C2 Repulsion: 8.3630), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.924 0.763 0.858 2.081 -0.000 1.409 -179.99° +table 1.327 0.448 0.964 2.275 0.000 0.071 -0.01° +chair 0.512 0.468 0.466 0.940 0.000 0.155 0.01° +bookshelf 3.385 2.699 0.144 -1.177 0.000 2.228 179.93° +table 1.547 0.771 0.922 -1.244 -0.000 -0.891 0.07° +chair 0.465 0.963 0.551 -2.055 0.000 -1.551 -0.00° +chair 0.626 0.904 0.652 -1.951 0.000 -0.238 89.97° +chair 0.552 0.954 0.608 -0.220 0.000 -1.205 -90.42° +chair 0.552 0.934 0.631 -0.570 0.001 -0.188 -90.13° +lamp 0.568 0.769 0.590 1.756 1.962 -0.434 -0.02° +lamp 0.250 0.994 0.264 -1.499 1.431 -1.881 0.00° +lamp 0.530 0.884 0.110 -1.361 1.531 -1.314 0.00° +lamp 0.347 0.892 0.338 -1.289 1.824 -0.539 -0.00° +floor 6.808 -0.005 5.458 0.321 -0.000 -0.291 -0.05° +_scene_ 0.067 0.000 0.021 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.924, -0.005, 0.858] + !! OVERLAP: table <-> floor depth=[1.327, -0.005, 0.964] + !! OVERLAP: chair <-> floor depth=[0.512, -0.005, 0.466] + !! OVERLAP: bookshelf <-> floor depth=[3.385, -0.005, 0.144] + !! OVERLAP: table <-> chair depth=[0.195, 0.771, 0.076] + !! OVERLAP: table <-> chair depth=[0.379, 0.771, 0.135] + !! OVERLAP: table <-> chair depth=[0.026, 0.771, 0.451] + !! OVERLAP: table <-> chair depth=[0.376, 0.771, 0.073] + !! OVERLAP: table <-> floor depth=[1.547, -0.005, 0.922] + !! OVERLAP: chair <-> floor depth=[0.465, -0.005, 0.551] + !! OVERLAP: chair <-> floor depth=[0.626, -0.005, 0.652] + !! OVERLAP: chair <-> floor depth=[0.552, -0.005, 0.608] + !! OVERLAP: chair <-> floor depth=[0.552, -0.005, 0.631] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7669, Walkable Loss: 3.3848 (Center Penalty: 1.5120, C1 Heatmap: 1.0353, C2 Repulsion: 5.2226), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.952 0.793 0.883 -1.396 -0.001 0.273 89.97° +chair 0.785 0.906 0.894 -0.176 0.000 2.869 169.00° +chair 0.925 1.028 0.768 -0.157 0.002 -1.459 14.37° +table 0.476 0.381 0.547 -1.475 0.001 -1.172 -0.03° +table 0.574 0.578 0.611 -1.416 0.003 2.049 0.09° +table 0.959 0.440 1.070 0.330 0.001 0.928 -0.00° +tv_stand 3.301 2.556 0.424 1.546 -0.001 0.543 -90.03° +cabinet 0.971 0.847 0.295 1.329 0.003 2.705 179.86° +lamp 0.644 0.901 0.647 0.094 1.812 0.578 0.02° +floor 4.726 -0.001 7.265 0.012 0.001 0.382 -0.04° +_scene_ 0.074 0.001 0.027 -5.667 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.932, -0.001, 0.883] + !! OVERLAP: chair <-> floor depth=[0.785, -0.001, 0.894] + !! OVERLAP: chair <-> floor depth=[0.925, -0.001, 0.768] + !! OVERLAP: table <-> floor depth=[0.476, -0.001, 0.547] + !! OVERLAP: table <-> floor depth=[0.574, -0.001, 0.611] + !! OVERLAP: table <-> tv_stand depth=[0.913, 0.440, 0.362] + !! OVERLAP: table <-> floor depth=[0.959, -0.001, 1.070] + !! OVERLAP: tv_stand <-> floor depth=[2.479, -0.001, 0.424] + !! OVERLAP: cabinet <-> floor depth=[0.971, -0.001, 0.295] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0056, Room Outer Loss: 1.1238, Walkable Loss: 4.6127 (Center Penalty: 1.5363, C1 Heatmap: 1.2511, C2 Repulsion: 10.3776), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.140 0.907 0.872 -1.349 0.001 -1.551 90.00° +chair 0.960 0.797 0.914 -0.144 0.003 -2.991 13.55° +chair 1.245 0.390 0.552 0.491 0.002 -0.165 -0.00° +table 1.342 0.326 0.916 0.275 0.003 -1.466 90.01° +table 0.628 0.653 0.450 -1.838 0.002 -3.368 90.00° +table 0.599 0.630 0.526 -1.501 -0.000 0.105 -0.03° +tv_stand 2.294 0.429 0.471 1.642 -0.001 -1.920 -90.03° +table 1.598 0.728 1.424 -0.087 -0.001 2.307 179.87° +chair 0.487 0.600 0.490 0.814 -0.002 1.378 -89.87° +chair 0.402 0.497 0.429 0.940 0.003 2.608 -90.17° +chair 0.395 0.668 0.413 -0.533 -0.001 1.368 90.00° +chair 0.456 0.587 0.422 -0.498 -0.005 2.676 -179.99° +table 1.312 0.934 0.511 -2.191 -0.002 2.503 89.91° +lamp 0.742 0.677 0.705 0.218 1.960 -1.572 -0.02° +lamp 0.544 0.810 0.564 0.169 1.760 2.129 -0.00° +floor 4.771 -0.004 8.519 -0.005 -0.002 -0.410 -0.00° +_scene_ 0.071 -0.000 0.018 -5.665 -0.003 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.116, 0.326, 0.809] + !! OVERLAP: sofa <-> floor depth=[2.111, -0.004, 0.872] + !! OVERLAP: chair <-> floor depth=[0.960, -0.004, 0.914] + !! OVERLAP: chair <-> floor depth=[1.245, -0.004, 0.552] + !! OVERLAP: table <-> tv_stand depth=[0.452, 0.326, 0.240] + !! OVERLAP: table <-> floor depth=[1.342, -0.004, 0.916] + !! OVERLAP: table <-> floor depth=[0.628, -0.004, 0.450] + !! OVERLAP: table <-> floor depth=[0.599, -0.004, 0.526] + !! OVERLAP: tv_stand <-> floor depth=[1.886, -0.004, 0.471] + !! OVERLAP: table <-> chair depth=[0.142, 0.600, 0.028] + !! OVERLAP: table <-> chair depth=[0.456, 0.587, 0.422] + !! OVERLAP: table <-> floor depth=[1.598, -0.004, 1.424] + !! OVERLAP: chair <-> floor depth=[0.487, -0.004, 0.490] + !! OVERLAP: chair <-> floor depth=[0.402, -0.004, 0.429] + !! OVERLAP: chair <-> floor depth=[0.395, -0.004, 0.413] + !! OVERLAP: chair <-> floor depth=[0.456, -0.004, 0.422] + !! OVERLAP: table <-> floor depth=[0.856, -0.004, 0.511] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0246, Room Outer Loss: 0.3895, Walkable Loss: 5.5445 (Center Penalty: 1.1041, C1 Heatmap: 1.1433, C2 Repulsion: 17.6287), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.414 0.926 0.997 -1.428 0.000 1.657 89.90° +table 1.522 0.416 0.958 -0.442 -0.002 1.976 90.06° +chair 0.765 0.957 0.787 -0.369 0.005 3.037 180.00° +table 0.572 0.648 0.503 -1.796 0.000 -0.062 90.02° +table 0.486 0.589 0.448 -1.947 0.004 3.388 90.01° +tv_stand 1.534 0.509 0.384 0.810 0.002 1.524 -89.91° +chair 0.814 0.986 0.816 -0.544 -0.001 -0.559 10.59° +table 1.701 0.769 1.053 -0.695 0.000 -2.302 -0.03° +chair 0.513 1.039 0.558 -0.887 -0.002 -1.755 179.89° +chair 0.567 0.974 0.643 -0.973 -0.003 -2.566 -0.02° +chair 0.537 0.958 0.574 -0.567 -0.002 -2.571 -0.28° +chair 0.481 1.039 0.529 -0.366 -0.000 -1.632 -179.95° +table 0.528 0.591 0.569 -1.062 -0.001 -3.320 -0.15° +table 0.753 1.266 0.282 1.278 0.003 -3.383 -90.29° +lamp 0.771 0.791 0.779 -0.592 1.917 -2.397 -0.05° +lamp 1.314 1.127 1.410 -0.885 1.742 1.888 0.02° +floor 4.138 0.002 7.600 -0.409 -0.000 0.118 0.04° +_scene_ 0.070 -0.000 0.025 -5.672 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.983, 0.416, 0.659] + !! OVERLAP: sofa <-> floor depth=[2.257, 0.002, 0.997] + !! OVERLAP: table <-> tv_stand depth=[0.275, 0.416, 0.219] + !! OVERLAP: table <-> floor depth=[1.522, 0.002, 0.958] + !! OVERLAP: chair <-> floor depth=[0.765, 0.002, 0.787] + !! OVERLAP: table <-> floor depth=[0.572, 0.002, 0.503] + !! OVERLAP: table <-> floor depth=[0.486, 0.002, 0.448] + !! OVERLAP: tv_stand <-> floor depth=[1.534, 0.002, 0.384] + !! OVERLAP: chair <-> floor depth=[0.814, 0.002, 0.816] + !! OVERLAP: table <-> chair depth=[0.513, 0.769, 0.259] + !! OVERLAP: table <-> chair depth=[0.567, 0.769, 0.583] + !! OVERLAP: table <-> chair depth=[0.537, 0.769, 0.544] + !! OVERLAP: table <-> chair depth=[0.481, 0.769, 0.121] + !! OVERLAP: table <-> floor depth=[1.701, 0.002, 1.053] + !! OVERLAP: chair <-> floor depth=[0.513, 0.002, 0.558] + !! OVERLAP: chair <-> chair depth=[0.146, 0.958, 0.574] + !! OVERLAP: chair <-> floor depth=[0.567, 0.002, 0.643] + !! OVERLAP: chair <-> floor depth=[0.537, 0.002, 0.574] + !! OVERLAP: chair <-> floor depth=[0.481, 0.002, 0.529] + !! OVERLAP: table <-> floor depth=[0.528, 0.002, 0.569] + !! OVERLAP: table <-> floor depth=[0.753, 0.002, 0.282] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0511, Room Outer Loss: 0.0000, Walkable Loss: 3.7999 (Center Penalty: 1.1825, C1 Heatmap: 0.9402, C2 Repulsion: 9.3261), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.633 0.901 0.652 -0.567 -0.005 -0.655 -77.92° +table 0.770 0.334 0.657 1.075 0.001 -0.693 -0.03° +sofa 2.016 0.827 0.832 1.026 0.001 -1.628 -0.01° +chair 1.015 1.035 0.926 2.955 0.006 -0.095 -107.44° +table 0.560 0.576 0.555 2.842 0.001 -1.607 -0.01° +table 0.598 0.520 0.605 -0.332 0.000 -1.661 0.07° +lamp 0.693 0.833 0.704 0.997 1.894 -0.749 -0.01° +chair 0.655 1.034 0.661 -2.638 0.002 -1.881 -0.04° +chair 0.648 0.968 0.643 -2.333 -0.001 -0.673 -90.25° +table 2.727 0.820 0.864 -2.505 -0.001 -0.907 90.03° +cabinet 1.142 0.749 0.316 -1.650 0.002 -1.663 0.08° +floor 7.364 -0.003 4.733 -0.268 -0.000 -0.462 -0.09° +_scene_ 0.070 0.000 0.025 -5.671 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.633, -0.003, 0.652] + !! OVERLAP: table <-> floor depth=[0.770, -0.003, 0.657] + !! OVERLAP: sofa <-> floor depth=[2.016, -0.003, 0.832] + !! OVERLAP: chair <-> floor depth=[0.966, -0.003, 0.926] + !! OVERLAP: table <-> floor depth=[0.560, -0.003, 0.555] + !! OVERLAP: table <-> floor depth=[0.598, -0.003, 0.605] + !! OVERLAP: chair <-> floor depth=[0.655, -0.003, 0.661] + !! OVERLAP: chair <-> table depth=[0.648, 0.820, 0.520] + !! OVERLAP: chair <-> floor depth=[0.648, -0.003, 0.643] + !! OVERLAP: table <-> floor depth=[2.727, -0.003, 0.864] + !! OVERLAP: cabinet <-> floor depth=[1.142, -0.003, 0.316] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2273, Walkable Loss: 2.2063 (Center Penalty: 1.2334, C1 Heatmap: 0.7137, C2 Repulsion: 2.0096), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.107 0.328 0.893 0.619 0.002 0.399 0.04° +table 0.552 0.580 0.530 -1.281 0.001 -1.826 -0.23° +sofa 2.289 0.820 0.973 -1.590 0.000 0.188 89.96° +chair 0.738 0.915 0.741 0.514 -0.001 -1.291 -24.15° +tv_stand 1.612 0.714 0.412 1.797 0.000 0.263 -90.08° +lamp 0.381 0.506 0.331 0.578 2.157 0.791 0.02° +floor 5.422 -0.002 5.434 -0.300 -0.001 -0.583 -0.02° +_scene_ 0.065 0.002 0.021 -5.672 -0.004 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.182, 0.328, 0.412] + !! OVERLAP: table <-> floor depth=[1.107, -0.002, 0.893] + !! OVERLAP: table <-> floor depth=[0.552, -0.002, 0.530] + !! OVERLAP: sofa <-> floor depth=[2.289, -0.002, 0.973] + !! OVERLAP: chair <-> floor depth=[0.738, -0.002, 0.741] + !! OVERLAP: tv_stand <-> floor depth=[1.420, -0.002, 0.412] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3586, Walkable Loss: 1.7322 (Center Penalty: 0.8083, C1 Heatmap: 0.6636, C2 Repulsion: 1.9653), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.712 0.789 0.453 -0.207 1.940 -2.070 -0.04° +tv_stand 1.762 0.439 0.407 -1.267 -0.001 1.634 90.07° +sofa 2.063 0.812 0.892 1.030 -0.001 1.513 -90.09° +cabinet 1.124 1.020 0.408 1.347 0.001 -0.613 -89.95° +table 1.169 0.421 0.607 0.122 0.002 1.797 90.03° +bookshelf 0.873 2.534 0.402 -1.363 0.000 -0.930 89.92° +lamp 1.062 1.266 1.106 -0.079 1.639 1.410 0.05° +chair 0.520 1.069 0.544 -0.052 0.000 -1.970 88.98° +floor 3.887 -0.000 5.997 -0.180 0.003 0.377 -0.01° +_scene_ 0.074 0.001 0.024 -5.671 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.076, 0.421, 0.344] + !! OVERLAP: tv_stand <-> floor depth=[1.737, -0.000, 0.407] + !! OVERLAP: sofa <-> table depth=[0.709, 0.421, 0.465] + !! OVERLAP: sofa <-> floor depth=[1.765, -0.000, 0.892] + !! OVERLAP: cabinet <-> floor depth=[0.978, -0.000, 0.408] + !! OVERLAP: table <-> floor depth=[1.169, -0.000, 0.607] + !! OVERLAP: bookshelf <-> floor depth=[0.873, -0.000, 0.402] + !! OVERLAP: chair <-> floor depth=[0.520, -0.000, 0.544] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.2187, Room Outer Loss: 1.3648, Walkable Loss: 4.0322 (Center Penalty: 1.7321, C1 Heatmap: 1.0960, C2 Repulsion: 7.1168), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.092 0.926 1.131 -0.985 1.881 1.453 -0.03° +tv_stand 1.882 0.423 0.389 1.255 -0.001 -0.951 -90.02° +table 0.811 0.497 0.634 -0.889 0.006 -1.272 89.99° +sofa 3.324 0.854 1.679 -0.735 0.004 0.414 89.92° +table 1.404 0.543 0.659 -0.143 0.002 1.311 179.98° +chair 0.426 0.705 0.437 -1.103 0.002 0.563 0.06° +chair 0.550 0.767 0.597 -0.312 0.002 0.666 0.04° +lamp 0.420 0.297 0.421 -0.663 2.210 -0.857 -0.01° +floor 3.359 -0.000 5.314 -0.081 0.001 0.140 -0.03° +_scene_ 0.064 0.001 0.018 -5.669 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.285, -0.000, 0.389] + !! OVERLAP: table <-> floor depth=[0.811, -0.000, 0.634] + !! OVERLAP: sofa <-> table depth=[1.404, 0.543, 0.272] + !! OVERLAP: sofa <-> chair depth=[0.426, 0.705, 0.437] + !! OVERLAP: sofa <-> chair depth=[0.550, 0.767, 0.597] + !! OVERLAP: sofa <-> floor depth=[2.688, -0.000, 1.679] + !! OVERLAP: table <-> floor depth=[1.404, -0.000, 0.659] + !! OVERLAP: chair <-> floor depth=[0.426, -0.000, 0.437] + !! OVERLAP: chair <-> floor depth=[0.550, -0.000, 0.597] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0197, Room Outer Loss: 0.0000, Walkable Loss: 2.6895 (Center Penalty: 1.1539, C1 Heatmap: 0.9174, C2 Repulsion: 4.0086), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.165 0.465 1.029 1.165 0.000 0.130 0.08° +table 0.539 0.640 0.577 1.519 -0.001 -0.224 0.08° +sofa 2.919 1.027 0.904 0.497 -0.001 -1.645 -0.02° +chair 0.584 0.809 0.547 -1.099 0.000 -0.122 139.59° +tv_stand 2.735 0.798 0.614 0.843 0.001 1.690 179.94° +floor 5.291 -0.005 4.298 0.139 0.001 -0.076 -0.06° +_scene_ 0.047 -0.002 0.024 -5.645 -0.002 -5.681 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.498, 0.465, 0.449] + !! OVERLAP: table <-> floor depth=[1.165, -0.005, 1.029] + !! OVERLAP: table <-> floor depth=[0.539, -0.005, 0.577] + !! OVERLAP: sofa <-> floor depth=[2.919, -0.005, 0.904] + !! OVERLAP: chair <-> floor depth=[0.584, -0.005, 0.547] + !! OVERLAP: tv_stand <-> floor depth=[2.735, -0.005, 0.614] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0467, Room Outer Loss: 0.8194, Walkable Loss: 3.2981 (Center Penalty: 1.8160, C1 Heatmap: 0.8164, C2 Repulsion: 4.1451), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.832 0.687 0.721 -0.949 0.002 0.121 90.03° +table 0.899 1.113 0.450 -1.330 0.002 -2.098 90.09° +tv_stand 1.628 0.687 0.425 1.252 0.000 0.062 -89.95° +table 2.356 0.788 1.101 -0.535 -0.002 2.131 -0.08° +chair 0.276 0.922 0.339 0.239 0.009 2.704 -157.15° +chair 0.469 0.903 0.518 -0.312 -0.002 2.349 157.72° +lamp 0.604 0.959 0.609 -0.114 1.801 0.360 0.04° +chair 0.575 0.356 0.640 -0.116 0.002 -1.971 -0.18° +floor 3.356 -0.003 5.906 -0.052 -0.000 0.305 -0.01° +_scene_ 0.070 -0.001 0.025 -5.669 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.696, -0.003, 0.721] + !! OVERLAP: table <-> floor depth=[0.849, -0.003, 0.450] + !! OVERLAP: tv_stand <-> floor depth=[1.188, -0.003, 0.425] + !! OVERLAP: table <-> chair depth=[0.276, 0.788, 0.146] + !! OVERLAP: table <-> chair depth=[0.469, 0.788, 0.518] + !! OVERLAP: table <-> floor depth=[2.356, -0.003, 1.101] + !! OVERLAP: chair <-> floor depth=[0.276, -0.003, 0.339] + !! OVERLAP: chair <-> floor depth=[0.469, -0.003, 0.518] + !! OVERLAP: chair <-> floor depth=[0.575, -0.003, 0.640] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0086, Room Outer Loss: 0.6566, Walkable Loss: 3.6306 (Center Penalty: 1.0008, C1 Heatmap: 1.0751, C2 Repulsion: 8.8486), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.535 0.780 0.532 2.318 0.002 0.070 -73.95° +sofa 2.302 0.852 0.861 1.272 -0.002 -1.164 -0.02° +chair 0.695 0.553 0.549 0.067 0.002 0.516 -90.15° +table 0.482 0.292 0.425 1.258 0.002 -0.153 -179.93° +table 0.454 0.398 0.492 2.013 0.001 -1.012 179.72° +table 0.456 0.407 0.466 -0.598 0.005 -1.187 179.90° +table 1.687 0.692 0.787 -2.011 0.003 0.573 179.98° +chair 0.554 0.831 0.534 -2.747 0.006 1.519 -179.97° +chair 0.573 0.786 0.610 -1.848 -0.000 1.760 -179.97° +chair 0.600 0.823 0.654 -2.007 0.001 -0.007 0.03° +chair 0.572 0.762 0.533 -2.771 0.007 -0.199 -0.07° +tv_stand 2.833 0.721 0.543 1.393 0.002 2.350 179.96° +cabinet 1.014 1.145 0.391 -2.858 0.000 -2.094 89.97° +lamp 0.288 0.677 0.320 1.188 1.979 0.568 -0.01° +lamp 0.702 0.864 0.695 -1.802 2.041 0.828 0.02° +floor 6.474 0.001 5.490 -0.797 0.000 0.488 0.01° +_scene_ 0.066 -0.000 0.020 -5.676 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.389, 0.001, 0.532] + !! OVERLAP: sofa <-> table depth=[0.454, 0.398, 0.492] + !! OVERLAP: sofa <-> floor depth=[2.302, 0.001, 0.861] + !! OVERLAP: chair <-> floor depth=[0.695, 0.001, 0.549] + !! OVERLAP: table <-> floor depth=[0.482, 0.001, 0.425] + !! OVERLAP: table <-> floor depth=[0.454, 0.001, 0.492] + !! OVERLAP: table <-> floor depth=[0.456, 0.001, 0.466] + !! OVERLAP: table <-> chair depth=[0.600, 0.692, 0.141] + !! OVERLAP: table <-> floor depth=[1.687, 0.001, 0.787] + !! OVERLAP: chair <-> floor depth=[0.554, 0.001, 0.534] + !! OVERLAP: chair <-> floor depth=[0.573, 0.001, 0.610] + !! OVERLAP: chair <-> floor depth=[0.600, 0.001, 0.654] + !! OVERLAP: chair <-> floor depth=[0.572, 0.001, 0.533] + !! OVERLAP: tv_stand <-> floor depth=[2.463, 0.001, 0.543] + !! OVERLAP: cabinet <-> floor depth=[1.014, 0.001, 0.358] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0154, Room Outer Loss: 0.5810, Walkable Loss: 4.9818 (Center Penalty: 1.7154, C1 Heatmap: 1.0083, C2 Repulsion: 12.2989), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.107 0.951 0.988 -0.059 0.003 -2.288 89.98° +table 1.556 0.949 0.783 0.682 0.001 0.839 -0.01° +tv_stand 1.779 0.419 0.405 -1.112 0.001 -2.295 89.96° +cabinet 0.825 1.229 0.270 -1.414 -0.000 3.412 90.04° +cabinet 0.545 0.685 0.298 -1.528 0.001 0.086 90.01° +table 0.463 0.551 0.413 1.084 0.001 -1.195 0.04° +bookshelf 2.075 2.296 0.310 0.499 0.002 1.791 179.99° +sofa 2.188 0.701 1.007 0.614 0.002 -2.967 -89.89° +lamp 0.923 0.832 0.923 -0.190 1.764 -2.195 90.06° +chair 0.553 0.959 0.600 0.289 0.001 1.188 -179.98° +lamp 0.851 1.013 0.860 0.402 1.625 0.534 0.00° +chair 0.563 1.018 0.608 1.187 0.001 1.121 -179.99° +chair 0.572 1.004 0.593 0.539 0.001 -0.233 0.04° +chair 0.508 1.089 0.539 1.031 0.001 -0.174 0.07° +floor 3.384 -0.001 8.345 -0.064 -0.003 -0.709 -0.09° +_scene_ 0.069 0.000 0.020 -5.669 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.390, 0.419, 0.405] + !! OVERLAP: table <-> sofa depth=[0.974, 0.701, 0.317] + !! OVERLAP: table <-> floor depth=[1.107, -0.001, 0.988] + !! OVERLAP: table <-> chair depth=[0.553, 0.949, 0.342] + !! OVERLAP: table <-> chair depth=[0.554, 0.949, 0.414] + !! OVERLAP: table <-> floor depth=[1.556, -0.001, 0.783] + !! OVERLAP: tv_stand <-> sofa depth=[0.257, 0.419, 0.034] + !! OVERLAP: tv_stand <-> floor depth=[1.534, -0.001, 0.405] + !! OVERLAP: cabinet <-> floor depth=[0.754, -0.001, 0.187] + !! OVERLAP: cabinet <-> floor depth=[0.500, -0.001, 0.298] + !! OVERLAP: table <-> floor depth=[0.463, -0.001, 0.413] + !! OVERLAP: bookshelf <-> floor depth=[2.075, -0.001, 0.310] + !! OVERLAP: sofa <-> floor depth=[2.108, -0.001, 1.007] + !! OVERLAP: chair <-> floor depth=[0.553, -0.001, 0.600] + !! OVERLAP: chair <-> floor depth=[0.563, -0.001, 0.608] + !! OVERLAP: chair <-> chair depth=[0.048, 1.004, 0.506] + !! OVERLAP: chair <-> floor depth=[0.572, -0.001, 0.593] + !! OVERLAP: chair <-> floor depth=[0.508, -0.001, 0.539] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0233, Room Outer Loss: 0.6771, Walkable Loss: 3.7876 (Center Penalty: 0.7010, C1 Heatmap: 1.2335, C2 Repulsion: 10.4991), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.416 0.745 1.094 -0.082 0.004 -1.374 -89.93° +chair 0.486 0.897 0.514 -0.651 -0.000 -2.390 0.02° +chair 0.533 0.882 0.574 -0.635 -0.001 -1.706 179.92° +chair 0.456 0.895 0.557 0.539 0.001 -2.399 -90.19° +chair 0.527 0.841 0.604 0.576 0.001 -1.463 179.90° +sofa 2.143 0.934 0.854 -1.329 -0.003 1.487 89.89° +table 1.356 0.390 0.678 -0.252 0.002 1.664 90.07° +table 1.038 0.443 0.830 -1.624 0.004 -0.179 90.00° +tv_stand 2.363 0.500 0.423 0.976 0.001 1.456 -89.90° +lamp 0.872 0.860 0.848 -0.101 1.873 1.555 -0.02° +lamp 0.199 0.900 0.200 0.170 2.118 -1.978 -0.02° +floor 4.310 -0.004 6.175 -0.486 0.003 0.289 -0.01° +_scene_ 0.075 0.002 0.029 -5.665 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.533, 0.745, 0.501] + !! OVERLAP: table <-> chair depth=[0.527, 0.745, 0.604] + !! OVERLAP: table <-> floor depth=[2.416, -0.004, 1.094] + !! OVERLAP: chair <-> floor depth=[0.486, -0.004, 0.514] + !! OVERLAP: chair <-> floor depth=[0.533, -0.004, 0.574] + !! OVERLAP: chair <-> floor depth=[0.456, -0.004, 0.557] + !! OVERLAP: chair <-> floor depth=[0.527, -0.004, 0.604] + !! OVERLAP: sofa <-> table depth=[0.673, 0.390, 0.589] + !! OVERLAP: sofa <-> floor depth=[2.143, -0.004, 0.854] + !! OVERLAP: table <-> tv_stand depth=[0.632, 0.390, 0.342] + !! OVERLAP: table <-> floor depth=[1.356, -0.004, 0.678] + !! OVERLAP: table <-> floor depth=[1.038, -0.004, 0.830] + !! OVERLAP: tv_stand <-> floor depth=[1.875, -0.004, 0.423] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0446, Room Outer Loss: 0.5615, Walkable Loss: 3.5038 (Center Penalty: 2.6276, C1 Heatmap: 0.7085, C2 Repulsion: 1.5475), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.182 0.866 0.989 -1.327 -0.001 -0.168 89.99° +table 1.527 0.749 1.006 -0.412 -0.001 -0.249 -89.92° +tv_stand 1.958 0.388 0.332 1.294 -0.001 -0.218 -90.02° +lamp 0.769 0.458 0.766 0.017 2.128 0.115 -0.05° +floor 3.993 -0.004 2.925 -0.072 -0.000 0.004 -0.06° +_scene_ 0.069 -0.000 0.038 -5.656 -0.004 -5.695 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.939, 0.749, 0.918] + !! OVERLAP: sofa <-> floor depth=[1.832, -0.004, 0.989] + !! OVERLAP: table <-> tv_stand depth=[0.037, 0.388, 0.332] + !! OVERLAP: table <-> floor depth=[1.527, -0.004, 1.006] + !! OVERLAP: tv_stand <-> floor depth=[1.609, -0.004, 0.332] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0302, Room Outer Loss: 0.2695, Walkable Loss: 3.7302 (Center Penalty: 0.9287, C1 Heatmap: 1.0110, C2 Repulsion: 9.9635), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.098 0.805 0.792 -1.166 0.000 -1.538 89.96° +table 1.733 0.461 1.187 0.626 0.004 -1.579 90.06° +chair 0.682 0.897 0.776 0.253 0.002 -2.691 0.10° +table 0.500 0.520 0.411 -1.578 0.001 -3.347 90.00° +table 0.598 0.650 0.537 -1.325 0.001 -0.144 90.06° +table 1.896 0.754 1.014 0.951 -0.001 2.729 0.01° +chair 0.613 0.992 0.658 -0.071 0.000 2.170 89.93° +chair 0.528 0.969 0.604 -0.223 0.000 2.545 -179.89° +chair 0.493 0.923 0.576 1.669 -0.001 1.795 -90.03° +chair 0.529 0.942 0.495 1.419 0.002 2.613 -118.65° +bookshelf 1.327 2.108 0.305 -1.236 0.001 0.691 -179.88° +lamp 0.704 0.974 0.708 1.011 1.624 2.674 -0.02° +floor 4.509 -0.001 7.752 0.371 -0.001 -0.078 -0.08° +_scene_ 0.072 0.001 0.025 -5.670 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.123, 0.461, 0.792] + !! OVERLAP: sofa <-> floor depth=[1.766, -0.001, 0.792] + !! OVERLAP: table <-> floor depth=[1.733, -0.001, 1.187] + !! OVERLAP: chair <-> floor depth=[0.682, -0.001, 0.776] + !! OVERLAP: table <-> floor depth=[0.500, -0.001, 0.411] + !! OVERLAP: table <-> floor depth=[0.598, -0.001, 0.537] + !! OVERLAP: table <-> chair depth=[0.232, 0.754, 0.277] + !! OVERLAP: table <-> chair depth=[0.037, 0.754, 0.604] + !! OVERLAP: table <-> chair depth=[0.529, 0.754, 0.495] + !! OVERLAP: table <-> floor depth=[1.896, -0.001, 1.014] + !! OVERLAP: chair <-> chair depth=[0.418, 0.969, 0.256] + !! OVERLAP: chair <-> floor depth=[0.613, -0.001, 0.658] + !! OVERLAP: chair <-> floor depth=[0.528, -0.001, 0.604] + !! OVERLAP: chair <-> floor depth=[0.493, -0.001, 0.576] + !! OVERLAP: chair <-> floor depth=[0.529, -0.001, 0.495] + !! OVERLAP: bookshelf <-> floor depth=[1.311, -0.001, 0.305] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5630 (Center Penalty: 0.9160, C1 Heatmap: 0.4825, C2 Repulsion: 1.3054), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.621 1.199 0.413 0.006 0.002 2.255 180.00° +sofa 2.110 0.814 1.047 1.211 -0.001 0.528 0.04° +table 1.011 0.764 1.132 1.857 -0.000 1.553 89.98° +lamp 1.055 0.699 0.667 0.861 2.120 1.075 -0.00° +lamp 0.565 0.880 0.338 -1.241 2.227 -1.465 -89.83° +floor 5.444 -0.001 4.798 0.010 0.002 0.357 0.05° +_scene_ 0.063 0.001 0.019 -5.671 -0.004 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.621, -0.001, 0.413] + !! OVERLAP: sofa <-> table depth=[0.914, 0.764, 0.064] + !! OVERLAP: sofa <-> floor depth=[2.110, -0.001, 1.047] + !! OVERLAP: table <-> floor depth=[1.011, -0.001, 1.132] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.9270, Walkable Loss: 4.0237 (Center Penalty: 2.5940, C1 Heatmap: 0.8189, C2 Repulsion: 3.8726), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.016 0.633 0.349 1.259 0.002 0.916 -90.01° +cabinet 0.550 1.119 0.403 -1.731 0.002 2.156 90.02° +sofa 2.616 0.798 0.899 -1.403 0.000 0.188 90.00° +table 0.851 0.334 0.792 -0.014 0.001 0.090 0.02° +chair 0.932 0.787 0.895 -0.205 0.000 1.905 -179.95° +bookshelf 1.222 1.826 0.241 -1.283 -0.000 -1.662 89.97° +lamp 1.060 0.721 0.937 -0.166 2.053 0.404 0.01° +floor 4.106 -0.002 5.399 -0.033 0.001 0.264 -0.03° +_scene_ 0.067 -0.000 0.012 -5.674 -0.006 -5.720 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.769, -0.002, 0.349] + !! OVERLAP: cabinet <-> floor depth=[0.550, -0.002, 0.403] + !! OVERLAP: sofa <-> table depth=[0.345, 0.334, 0.747] + !! OVERLAP: sofa <-> floor depth=[1.991, -0.002, 0.899] + !! OVERLAP: table <-> floor depth=[0.851, -0.002, 0.792] + !! OVERLAP: chair <-> floor depth=[0.932, -0.002, 0.895] + !! OVERLAP: bookshelf <-> floor depth=[1.222, -0.002, 0.241] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0276, Walkable Loss: 3.1242 (Center Penalty: 1.4922, C1 Heatmap: 1.0353, C2 Repulsion: 4.0184), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.520 0.725 0.808 0.099 -0.000 -1.626 0.00° +chair 1.026 0.941 0.830 2.650 -0.000 0.013 -66.98° +table 1.644 0.871 0.957 0.556 0.000 0.351 -0.05° +tv_stand 2.242 0.620 0.450 0.194 0.002 1.521 179.97° +table 0.508 0.499 0.521 -1.783 0.000 -1.520 0.01° +table 0.476 0.478 0.508 2.698 0.002 -1.544 -0.07° +lamp 0.552 0.861 0.590 0.898 1.827 0.150 -0.03° +chair 0.651 0.755 0.730 -1.925 0.004 -0.232 47.52° +floor 7.422 -0.004 3.666 -0.347 -0.000 -0.094 0.00° +_scene_ 0.069 -0.001 0.018 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.520, -0.004, 0.705] + !! OVERLAP: chair <-> floor depth=[1.026, -0.004, 0.830] + !! OVERLAP: table <-> floor depth=[1.644, -0.004, 0.957] + !! OVERLAP: tv_stand <-> floor depth=[2.242, -0.004, 0.442] + !! OVERLAP: table <-> floor depth=[0.508, -0.004, 0.521] + !! OVERLAP: table <-> floor depth=[0.476, -0.004, 0.508] + !! OVERLAP: chair <-> floor depth=[0.651, -0.004, 0.730] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0386, Room Outer Loss: 0.0000, Walkable Loss: 3.1862 (Center Penalty: 2.0519, C1 Heatmap: 0.8521, C2 Repulsion: 2.2634), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.537 0.102 0.476 -0.386 2.565 0.171 -0.06° +table 1.143 0.726 1.259 -1.027 0.001 -1.052 -90.16° +sofa 2.527 1.298 1.383 -1.223 0.001 0.675 89.92° +table 0.803 1.104 0.497 1.931 0.003 1.639 -90.13° +sofa 0.903 0.429 1.017 0.701 -0.002 0.016 -55.72° +floor 5.342 -0.001 3.881 -0.091 0.001 0.029 0.00° +_scene_ 0.075 0.002 0.046 -5.665 -0.003 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.143, -0.001, 1.259] + !! OVERLAP: sofa <-> floor depth=[2.527, -0.001, 1.383] + !! OVERLAP: table <-> floor depth=[0.803, -0.001, 0.497] + !! OVERLAP: sofa <-> floor depth=[0.903, -0.001, 1.017] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0346, Room Outer Loss: 0.0000, Walkable Loss: 1.8385 (Center Penalty: 0.6770, C1 Heatmap: 0.6996, C2 Repulsion: 3.0093), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.026 0.630 0.441 -1.717 0.002 -1.718 90.01° +table 0.658 0.366 0.619 1.824 0.006 -1.884 -0.13° +table 1.386 1.375 0.483 -2.696 0.001 0.367 89.88° +table 0.619 0.695 0.577 -1.051 -0.000 -0.279 -0.02° +table 0.539 0.706 0.511 -1.238 -0.003 -2.643 -0.05° +sofa 2.729 0.968 0.911 1.630 -0.000 -1.516 -90.10° +lamp 0.941 1.136 0.677 1.005 1.641 1.668 -0.13° +lamp 0.545 0.711 0.534 0.421 1.963 -1.857 -0.03° +floor 6.559 0.000 6.099 -0.357 -0.001 -0.466 0.01° +_scene_ 0.117 -0.002 0.148 -5.598 -0.000 -5.639 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.026, 0.000, 0.441] + !! OVERLAP: table <-> sofa depth=[0.658, 0.366, 0.397] + !! OVERLAP: table <-> floor depth=[0.658, 0.000, 0.619] + !! OVERLAP: table <-> floor depth=[1.386, 0.000, 0.483] + !! OVERLAP: table <-> floor depth=[0.619, 0.000, 0.577] + !! OVERLAP: table <-> floor depth=[0.539, 0.000, 0.511] + !! OVERLAP: sofa <-> floor depth=[2.657, 0.000, 0.911] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.8579, Walkable Loss: 4.9191 (Center Penalty: 0.9473, C1 Heatmap: 1.1952, C2 Repulsion: 15.0779), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.651 2.587 0.336 1.636 -0.004 3.232 -90.02° +table 2.096 0.773 0.992 -0.953 0.001 1.480 -0.02° +chair 0.578 0.821 0.553 -1.219 -0.001 0.875 -0.01° +chair 0.565 0.826 0.597 -0.183 -0.000 1.007 0.01° +chair 0.511 0.878 0.528 -0.982 0.002 3.034 -179.92° +chair 0.529 0.804 0.570 -0.063 0.000 3.179 179.94° +chair 0.490 0.774 0.491 0.501 0.002 2.055 -90.12° +chair 0.559 0.814 0.570 -1.804 0.003 2.043 90.03° +sofa 2.085 0.979 0.939 -1.601 0.002 -2.435 89.96° +sofa 1.288 0.853 0.867 -0.232 0.002 -4.302 0.01° +chair 0.957 0.967 0.981 -0.436 0.003 -0.764 -168.22° +table 1.077 0.677 0.946 -0.508 0.001 -2.418 90.00° +table 0.507 0.430 0.513 -1.700 0.003 -0.540 90.03° +table 0.458 0.325 0.486 -1.619 -0.002 -4.103 0.03° +cabinet 1.927 2.176 0.462 -1.298 0.002 3.604 179.88° +tv_stand 1.754 0.653 0.346 1.294 0.005 -2.190 -90.35° +lamp 0.797 0.778 0.788 -0.169 2.013 -2.536 -0.04° +lamp 0.753 0.825 0.821 -0.279 1.736 2.750 0.10° +lamp 0.432 1.439 0.433 0.895 1.300 4.075 0.21° +floor 4.850 -0.002 8.989 -0.502 0.001 -0.254 0.03° +_scene_ 0.067 -0.000 0.020 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.112, -0.002, 0.336] + !! OVERLAP: table <-> chair depth=[0.578, 0.773, 0.168] + !! OVERLAP: table <-> chair depth=[0.560, 0.773, 0.322] + !! OVERLAP: table <-> chair depth=[0.476, 0.773, 0.218] + !! OVERLAP: table <-> floor depth=[2.096, -0.002, 0.992] + !! OVERLAP: chair <-> floor depth=[0.578, -0.002, 0.553] + !! OVERLAP: chair <-> floor depth=[0.565, -0.002, 0.597] + !! OVERLAP: chair <-> floor depth=[0.511, -0.002, 0.528] + !! OVERLAP: chair <-> floor depth=[0.529, -0.002, 0.570] + !! OVERLAP: chair <-> floor depth=[0.490, -0.002, 0.491] + !! OVERLAP: chair <-> floor depth=[0.559, -0.002, 0.570] + !! OVERLAP: sofa <-> table depth=[0.488, 0.677, 0.926] + !! OVERLAP: sofa <-> floor depth=[2.085, -0.002, 0.939] + !! OVERLAP: sofa <-> floor depth=[1.288, -0.002, 0.867] + !! OVERLAP: chair <-> floor depth=[0.957, -0.002, 0.981] + !! OVERLAP: table <-> floor depth=[1.077, -0.002, 0.946] + !! OVERLAP: table <-> floor depth=[0.507, -0.002, 0.513] + !! OVERLAP: table <-> floor depth=[0.458, -0.002, 0.486] + !! OVERLAP: cabinet <-> floor depth=[1.927, -0.002, 0.462] + !! OVERLAP: tv_stand <-> floor depth=[1.506, -0.002, 0.346] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.2495, Room Outer Loss: 0.1251, Walkable Loss: 2.7288 (Center Penalty: 1.4099, C1 Heatmap: 1.1340, C2 Repulsion: 2.0585), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.606 0.860 1.520 -0.536 -0.002 1.361 -179.97° +lamp 0.540 0.533 0.540 -0.718 2.057 0.549 -0.05° +table 1.594 0.488 1.109 -0.854 0.002 0.455 0.03° +tv_stand 2.455 0.700 0.527 -0.850 0.004 -1.481 0.04° +floor 4.639 -0.004 3.771 -0.116 -0.000 0.167 -0.02° +_scene_ 0.063 -0.001 0.017 -5.674 -0.004 -5.707 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.594, 0.488, 0.408] + !! OVERLAP: sofa <-> floor depth=[3.606, -0.004, 1.452] + !! OVERLAP: table <-> floor depth=[1.594, -0.004, 1.109] + !! OVERLAP: tv_stand <-> floor depth=[2.455, -0.004, 0.502] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0126, Room Outer Loss: 0.2857, Walkable Loss: 3.0475 (Center Penalty: 0.5336, C1 Heatmap: 1.0490, C2 Repulsion: 8.3734), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.623 0.783 0.617 -0.815 1.897 -1.969 -0.00° +sofa 2.274 0.854 0.764 -1.836 0.001 1.951 89.98° +table 1.505 0.627 1.153 -0.665 -0.000 2.149 -90.14° +tv_stand 1.991 0.438 0.450 1.221 -0.001 2.029 -90.02° +chair 0.797 0.872 0.762 -1.897 0.002 0.111 89.85° +chair 0.911 0.913 0.940 -1.657 0.000 -0.822 -179.99° +cabinet 0.599 0.908 0.348 1.489 0.000 0.358 -90.04° +table 1.547 0.763 1.198 -0.308 -0.001 -2.297 -89.96° +chair 0.466 0.440 0.486 0.695 0.000 -0.126 -0.01° +chair 0.472 0.479 0.448 -0.309 0.001 1.760 -0.01° +chair 0.441 0.419 0.405 -0.285 0.006 2.289 -91.78° +lamp 0.713 0.632 0.658 -0.553 2.037 1.540 -0.03° +floor 5.593 0.003 7.117 -0.907 0.001 0.367 -0.03° +_scene_ 0.073 0.001 0.024 -5.674 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.718, 0.627, 0.761] + !! OVERLAP: sofa <-> floor depth=[2.274, 0.003, 0.764] + !! OVERLAP: table <-> chair depth=[0.472, 0.479, 0.412] + !! OVERLAP: table <-> chair depth=[0.441, 0.419, 0.405] + !! OVERLAP: table <-> floor depth=[1.505, 0.003, 1.153] + !! OVERLAP: tv_stand <-> floor depth=[1.664, 0.003, 0.450] + !! OVERLAP: chair <-> floor depth=[0.797, 0.003, 0.762] + !! OVERLAP: chair <-> floor depth=[0.911, 0.003, 0.940] + !! OVERLAP: cabinet <-> floor depth=[0.599, 0.003, 0.348] + !! OVERLAP: table <-> floor depth=[1.547, 0.003, 1.198] + !! OVERLAP: chair <-> floor depth=[0.466, 0.003, 0.486] + !! OVERLAP: chair <-> floor depth=[0.472, 0.003, 0.448] + !! OVERLAP: chair <-> floor depth=[0.441, 0.003, 0.405] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0585, Room Outer Loss: 1.4853, Walkable Loss: 3.7347 (Center Penalty: 1.6020, C1 Heatmap: 1.0768, C2 Repulsion: 6.3561), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.732 0.718 1.318 0.623 0.004 -0.473 -0.06° +chair 0.429 0.861 0.483 0.263 0.001 2.191 -179.93° +chair 0.439 0.844 0.492 0.238 -0.001 1.524 -179.92° +table 1.213 0.441 0.683 0.911 0.001 1.911 179.99° +sofa 2.005 0.814 0.868 1.318 0.000 -0.393 -90.04° +tv_stand 2.156 1.072 0.538 -1.379 -0.001 -0.737 90.01° +cabinet 0.742 1.181 0.241 0.606 0.003 -2.196 0.01° +lamp 0.893 1.117 0.888 0.795 1.618 -0.317 -0.03° +floor 3.392 -0.002 5.663 0.025 0.000 -0.033 -0.02° +_scene_ 0.069 0.001 0.022 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.173, 0.718, 0.868] + !! OVERLAP: table <-> floor depth=[1.732, -0.002, 1.318] + !! OVERLAP: chair <-> table depth=[0.173, 0.441, 0.303] + !! OVERLAP: chair <-> floor depth=[0.429, -0.002, 0.483] + !! OVERLAP: chair <-> table depth=[0.153, 0.441, 0.200] + !! OVERLAP: chair <-> floor depth=[0.439, -0.002, 0.492] + !! OVERLAP: table <-> floor depth=[1.213, -0.002, 0.683] + !! OVERLAP: sofa <-> floor depth=[1.406, -0.002, 0.868] + !! OVERLAP: tv_stand <-> floor depth=[1.369, -0.002, 0.538] + !! OVERLAP: cabinet <-> floor depth=[0.742, -0.002, 0.241] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0153, Room Outer Loss: 0.0567, Walkable Loss: 4.2140 (Center Penalty: 0.4376, C1 Heatmap: 0.9734, C2 Repulsion: 14.9884), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 1.034 1.149 1.025 -0.991 0.001 3.810 179.93° +sofa 2.414 0.898 1.036 -1.722 0.000 2.138 89.94° +chair 0.895 0.830 1.050 -0.724 0.006 1.732 50.19° +table 0.832 0.367 1.016 -0.780 0.001 2.294 -0.03° +tv_stand 1.606 0.906 0.421 0.686 0.000 2.556 -90.07° +table 0.536 0.532 0.511 -2.105 -0.000 0.576 -0.02° +table 0.571 0.479 0.548 -2.123 0.001 3.811 0.13° +cabinet 0.994 2.328 0.374 -1.949 -0.003 -1.198 0.10° +chair 0.638 0.979 0.726 1.611 0.001 -2.414 -90.18° +table 1.740 0.730 0.938 1.333 0.002 -3.019 89.96° +chair 0.531 1.001 0.615 1.938 0.001 -3.378 -90.00° +chair 0.619 0.976 0.634 0.258 0.009 -2.653 89.84° +chair 0.583 1.014 0.620 0.294 0.001 -3.220 89.88° +bookshelf 1.297 2.031 0.432 -0.835 0.002 -3.239 -179.86° +lamp 0.710 0.627 0.701 -0.343 2.060 2.341 0.01° +lamp 0.451 1.067 0.362 1.335 1.834 -3.115 -0.01° +floor 5.178 -0.004 9.429 -0.287 0.000 0.558 -0.14° +_scene_ 0.070 -0.001 0.022 -5.672 -0.004 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[1.034, -0.004, 1.025] + !! OVERLAP: sofa <-> chair depth=[0.656, 0.830, 0.636] + !! OVERLAP: sofa <-> table depth=[0.681, 0.367, 0.871] + !! OVERLAP: sofa <-> floor depth=[2.360, -0.004, 1.036] + !! OVERLAP: chair <-> table depth=[0.807, 0.367, 0.471] + !! OVERLAP: chair <-> floor depth=[0.895, -0.004, 1.050] + !! OVERLAP: table <-> floor depth=[0.832, -0.004, 1.016] + !! OVERLAP: tv_stand <-> floor depth=[1.606, -0.004, 0.421] + !! OVERLAP: table <-> floor depth=[0.536, -0.004, 0.511] + !! OVERLAP: table <-> floor depth=[0.571, -0.004, 0.548] + !! OVERLAP: cabinet <-> floor depth=[0.994, -0.004, 0.374] + !! OVERLAP: chair <-> table depth=[0.638, 0.730, 0.227] + !! OVERLAP: chair <-> floor depth=[0.638, -0.004, 0.726] + !! OVERLAP: table <-> chair depth=[0.531, 0.730, 0.418] + !! OVERLAP: table <-> chair depth=[0.105, 0.730, 0.419] + !! OVERLAP: table <-> chair depth=[0.123, 0.730, 0.578] + !! OVERLAP: table <-> floor depth=[1.740, -0.004, 0.938] + !! OVERLAP: chair <-> floor depth=[0.531, -0.004, 0.615] + !! OVERLAP: chair <-> chair depth=[0.565, 0.976, 0.059] + !! OVERLAP: chair <-> floor depth=[0.619, -0.004, 0.634] + !! OVERLAP: chair <-> floor depth=[0.583, -0.004, 0.620] + !! OVERLAP: bookshelf <-> floor depth=[1.297, -0.004, 0.432] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0021, Room Outer Loss: 0.2301, Walkable Loss: 4.0496 (Center Penalty: 1.3675, C1 Heatmap: 0.9634, C2 Repulsion: 9.5568), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.611 1.417 0.586 -0.327 1.529 0.555 -0.01° +tv_stand 2.116 0.408 0.393 1.007 -0.000 1.713 -89.94° +table 0.463 0.283 0.460 -0.166 0.001 1.113 -90.01° +table 0.465 0.436 0.418 -1.650 0.003 2.644 89.89° +table 0.474 0.506 0.482 -1.604 0.001 -0.608 0.02° +sofa 2.180 0.880 0.928 -1.560 0.002 1.054 89.97° +chair 0.845 0.711 0.736 -0.308 -0.000 2.617 179.95° +chair 0.641 0.718 0.606 -0.328 0.008 -2.682 89.96° +chair 0.567 0.770 0.591 -0.263 0.001 -2.141 89.98° +chair 0.642 0.800 0.717 1.408 0.002 -2.587 -90.10° +chair 0.636 0.728 0.648 1.181 0.001 -2.067 -90.07° +table 1.969 0.742 0.740 0.456 0.000 -2.023 -90.04° +floor 4.478 -0.000 6.988 -0.172 0.001 0.243 -0.10° +_scene_ 0.060 -0.001 0.017 -5.672 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.116, -0.000, 0.393] + !! OVERLAP: table <-> floor depth=[0.463, -0.000, 0.460] + !! OVERLAP: table <-> floor depth=[0.465, -0.000, 0.418] + !! OVERLAP: table <-> floor depth=[0.474, -0.000, 0.482] + !! OVERLAP: sofa <-> floor depth=[1.941, -0.000, 0.928] + !! OVERLAP: chair <-> floor depth=[0.845, -0.000, 0.736] + !! OVERLAP: chair <-> chair depth=[0.539, 0.718, 0.057] + !! OVERLAP: chair <-> table depth=[0.521, 0.718, 0.014] + !! OVERLAP: chair <-> floor depth=[0.641, -0.000, 0.606] + !! OVERLAP: chair <-> table depth=[0.550, 0.742, 0.548] + !! OVERLAP: chair <-> floor depth=[0.567, -0.000, 0.591] + !! OVERLAP: chair <-> chair depth=[0.412, 0.728, 0.162] + !! OVERLAP: chair <-> table depth=[0.354, 0.742, 0.164] + !! OVERLAP: chair <-> floor depth=[0.642, -0.000, 0.717] + !! OVERLAP: chair <-> table depth=[0.578, 0.728, 0.648] + !! OVERLAP: chair <-> floor depth=[0.636, -0.000, 0.648] + !! OVERLAP: table <-> floor depth=[1.969, -0.000, 0.740] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0434, Room Outer Loss: 0.0034, Walkable Loss: 4.2515 (Center Penalty: 1.3928, C1 Heatmap: 1.1226, C2 Repulsion: 9.8033), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.196 0.732 0.939 1.165 0.002 0.793 179.96° +chair 0.626 0.755 0.566 2.115 0.004 -0.108 -107.79° +table 0.706 0.531 0.779 -0.023 0.000 0.994 179.94° +chair 0.545 0.990 0.616 -1.315 -0.000 0.105 -89.88° +chair 0.608 1.044 0.717 -2.075 0.001 -0.233 89.67° +table 2.082 0.811 1.294 -0.894 0.001 0.263 89.93° +table 1.379 0.465 1.265 1.375 0.001 -0.626 179.96° +lamp 0.485 0.897 0.481 1.358 1.701 -0.677 0.00° +lamp 0.369 0.932 0.270 -1.119 1.642 0.544 0.00° +floor 5.895 -0.003 2.816 0.111 -0.000 -0.068 -0.01° +_scene_ 0.072 0.000 0.019 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.263, 0.531, 0.657] + !! OVERLAP: sofa <-> table depth=[0.080, 0.732, 0.586] + !! OVERLAP: sofa <-> floor depth=[2.196, -0.003, 0.939] + !! OVERLAP: chair <-> table depth=[0.262, 0.465, 0.398] + !! OVERLAP: chair <-> floor depth=[0.626, -0.003, 0.566] + !! OVERLAP: table <-> table depth=[0.523, 0.531, 0.305] + !! OVERLAP: table <-> floor depth=[0.706, -0.003, 0.735] + !! OVERLAP: chair <-> table depth=[0.545, 0.811, 0.616] + !! OVERLAP: chair <-> floor depth=[0.545, -0.003, 0.616] + !! OVERLAP: chair <-> table depth=[0.164, 0.811, 0.509] + !! OVERLAP: chair <-> floor depth=[0.608, -0.003, 0.717] + !! OVERLAP: table <-> floor depth=[2.082, -0.003, 1.294] + !! OVERLAP: table <-> floor depth=[1.379, -0.003, 1.265] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1300, Walkable Loss: 2.0526 (Center Penalty: 1.4323, C1 Heatmap: 0.6075, C2 Repulsion: 0.6715), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.292 0.767 0.893 0.595 0.000 -1.355 -0.03° +table 1.035 0.428 1.148 0.611 -0.001 0.640 -0.02° +lamp 0.844 0.776 0.831 0.784 1.926 0.077 0.02° +table 1.492 1.115 0.436 -1.585 0.002 0.599 89.95° +floor 4.432 -0.004 5.011 -0.050 0.001 -0.013 0.02° +_scene_ 0.108 0.006 0.093 -5.630 -0.003 -5.694 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.292, -0.004, 0.893] + !! OVERLAP: table <-> floor depth=[1.035, -0.004, 1.148] + !! OVERLAP: table <-> floor depth=[1.427, -0.004, 0.436] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0117, Room Outer Loss: 0.4420, Walkable Loss: 4.9295 (Center Penalty: 1.8860, C1 Heatmap: 0.9452, C2 Repulsion: 11.4364), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.248 0.973 0.959 1.187 -0.002 -0.833 -90.10° +table 1.146 0.421 0.910 0.027 -0.001 -0.605 -90.18° +table 0.569 0.664 0.591 1.458 0.001 -2.950 -90.06° +table 0.543 0.604 0.523 1.575 0.000 0.487 -90.12° +chair 1.026 0.692 0.792 -0.109 0.007 0.786 -168.69° +chair 0.834 0.343 0.531 -0.120 0.002 -2.261 0.18° +table 1.563 0.739 1.015 -0.066 -0.000 2.651 -89.98° +chair 0.462 0.856 0.567 0.475 0.003 3.150 -90.12° +chair 0.479 0.838 0.507 0.484 0.000 2.099 -100.88° +chair 0.472 0.918 0.523 -0.351 0.001 3.242 179.88° +chair 0.568 0.843 0.560 -0.637 0.001 2.162 90.00° +lamp 0.192 0.687 0.143 0.267 1.811 2.713 0.04° +lamp 0.620 0.950 0.641 -0.209 1.842 -0.921 -0.07° +bookshelf 0.953 2.540 0.255 1.087 0.001 -3.688 0.12° +bookshelf 2.097 2.350 0.172 -0.707 -0.001 -3.766 0.01° +floor 3.787 -0.002 7.979 -0.095 0.000 -0.113 -0.08° +_scene_ 0.069 0.001 0.024 -5.666 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.537, 0.421, 0.707] + !! OVERLAP: sofa <-> floor depth=[1.736, -0.002, 0.959] + !! OVERLAP: table <-> floor depth=[1.146, -0.002, 0.910] + !! OVERLAP: table <-> floor depth=[0.569, -0.002, 0.591] + !! OVERLAP: table <-> floor depth=[0.495, -0.002, 0.523] + !! OVERLAP: chair <-> floor depth=[1.026, -0.002, 0.792] + !! OVERLAP: chair <-> floor depth=[0.834, -0.002, 0.531] + !! OVERLAP: table <-> chair depth=[0.462, 0.739, 0.293] + !! OVERLAP: table <-> chair depth=[0.471, 0.739, 0.208] + !! OVERLAP: table <-> chair depth=[0.472, 0.739, 0.178] + !! OVERLAP: table <-> chair depth=[0.494, 0.739, 0.298] + !! OVERLAP: table <-> floor depth=[1.563, -0.002, 1.015] + !! OVERLAP: chair <-> floor depth=[0.462, -0.002, 0.567] + !! OVERLAP: chair <-> floor depth=[0.479, -0.002, 0.507] + !! OVERLAP: chair <-> floor depth=[0.472, -0.002, 0.523] + !! OVERLAP: chair <-> floor depth=[0.568, -0.002, 0.560] + !! OVERLAP: bookshelf <-> floor depth=[0.953, -0.002, 0.255] + !! OVERLAP: bookshelf <-> floor depth=[2.097, -0.002, 0.172] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0204, Room Outer Loss: 0.0000, Walkable Loss: 3.8227 (Center Penalty: 1.0302, C1 Heatmap: 1.1434, C2 Repulsion: 9.3889), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.314 0.874 0.865 1.485 -0.000 1.189 179.92° +table 0.975 0.476 1.432 1.547 0.004 0.114 -179.98° +tv_stand 2.178 0.975 0.454 1.354 -0.001 -1.351 -0.03° +table 2.210 0.720 0.953 -1.274 0.001 0.655 90.00° +chair 0.495 1.100 0.553 -0.507 0.002 1.385 -90.06° +chair 0.546 1.074 0.563 -0.655 0.002 0.825 -90.04° +chair 0.571 1.138 0.635 -1.986 0.000 1.342 89.93° +chair 0.516 1.048 0.536 -1.768 0.003 0.794 89.95° +lamp 0.774 0.939 0.807 1.364 1.621 0.227 -0.03° +lamp 0.419 0.857 0.388 -1.074 2.476 0.265 -0.01° +floor 5.425 -0.001 3.541 0.357 0.001 0.062 -0.02° +_scene_ 0.070 0.001 0.022 -5.667 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.975, 0.476, 0.073] + !! OVERLAP: sofa <-> floor depth=[2.314, -0.001, 0.865] + !! OVERLAP: table <-> floor depth=[0.975, -0.001, 1.432] + !! OVERLAP: tv_stand <-> floor depth=[2.178, -0.001, 0.454] + !! OVERLAP: table <-> chair depth=[0.495, 0.720, 0.024] + !! OVERLAP: table <-> chair depth=[0.546, 0.720, 0.563] + !! OVERLAP: table <-> chair depth=[0.571, 0.720, 0.107] + !! OVERLAP: table <-> chair depth=[0.516, 0.720, 0.536] + !! OVERLAP: table <-> floor depth=[2.187, -0.001, 0.953] + !! OVERLAP: chair <-> floor depth=[0.495, -0.001, 0.553] + !! OVERLAP: chair <-> floor depth=[0.546, -0.001, 0.563] + !! OVERLAP: chair <-> chair depth=[0.325, 1.048, 0.037] + !! OVERLAP: chair <-> floor depth=[0.571, -0.001, 0.635] + !! OVERLAP: chair <-> floor depth=[0.516, -0.001, 0.536] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9602, Walkable Loss: 3.4037 (Center Penalty: 2.2901, C1 Heatmap: 0.7126, C2 Repulsion: 2.7174), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.982 0.519 0.467 1.648 0.001 1.290 -90.07° +table 0.562 1.108 0.279 -1.279 0.002 1.862 90.02° +sofa 2.042 0.823 0.872 -1.244 -0.003 0.337 90.05° +table 0.873 0.364 0.720 0.282 -0.001 0.578 -0.04° +chair 0.891 0.741 0.813 -0.121 0.000 2.278 -179.94° +bookshelf 1.156 1.779 0.354 -1.307 -0.000 -2.108 89.93° +lamp 0.625 0.869 0.637 0.128 2.313 0.419 -0.01° +floor 3.987 0.001 6.424 0.059 0.001 0.024 -0.04° +_scene_ 0.070 0.001 0.026 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.395, 0.001, 0.467] + !! OVERLAP: table <-> floor depth=[0.562, 0.001, 0.279] + !! OVERLAP: sofa <-> floor depth=[1.712, 0.001, 0.872] + !! OVERLAP: table <-> floor depth=[0.873, 0.001, 0.720] + !! OVERLAP: chair <-> floor depth=[0.891, 0.001, 0.813] + !! OVERLAP: bookshelf <-> floor depth=[1.156, 0.001, 0.354] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0624, Room Outer Loss: 0.2210, Walkable Loss: 5.1115 (Center Penalty: 0.6384, C1 Heatmap: 1.4208, C2 Repulsion: 16.6824), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.735 0.987 0.567 2.591 0.002 -2.297 -0.01° +shelf 0.415 1.809 0.361 2.621 -0.005 -1.211 0.17° +table 1.812 0.703 1.251 1.751 0.001 1.604 0.02° +table 1.290 0.695 1.303 1.280 0.003 1.584 0.05° +chair 0.567 1.077 0.616 2.482 0.001 1.789 -90.20° +chair 0.538 1.099 0.621 0.931 -0.000 2.016 89.97° +chair 0.556 1.078 0.616 1.836 -0.000 0.895 -0.11° +chair 0.620 1.107 0.696 1.375 0.001 0.832 0.01° +table 0.432 0.625 0.466 -0.065 0.002 -0.714 -0.00° +sofa 2.570 0.823 1.111 -1.628 0.005 -1.183 89.95° +table 1.186 0.410 0.925 -1.369 -0.002 -0.059 -0.00° +tv_stand 2.101 0.493 0.410 -1.459 0.000 2.792 -179.95° +lamp 0.428 0.716 0.421 1.521 1.879 -1.159 0.04° +lamp 0.322 1.149 0.236 1.315 1.428 2.048 0.03° +lamp 0.207 0.772 0.218 -1.867 1.922 0.334 0.03° +floor 6.513 -0.002 5.942 0.449 0.004 0.781 0.07° +_scene_ 0.068 0.000 0.023 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.735, -0.002, 0.176] + !! OVERLAP: shelf <-> floor depth=[0.415, -0.002, 0.361] + !! OVERLAP: table <-> table depth=[1.081, 0.695, 1.251] + !! OVERLAP: table <-> chair depth=[0.459, 0.703, 0.616] + !! OVERLAP: table <-> chair depth=[0.355, 0.703, 0.525] + !! OVERLAP: table <-> chair depth=[0.556, 0.703, 0.224] + !! OVERLAP: table <-> chair depth=[0.620, 0.703, 0.202] + !! OVERLAP: table <-> floor depth=[1.812, -0.002, 1.251] + !! OVERLAP: table <-> chair depth=[0.538, 0.695, 0.530] + !! OVERLAP: table <-> chair depth=[0.367, 0.695, 0.271] + !! OVERLAP: table <-> chair depth=[0.620, 0.695, 0.248] + !! OVERLAP: table <-> floor depth=[1.290, -0.002, 1.303] + !! OVERLAP: chair <-> floor depth=[0.567, -0.002, 0.616] + !! OVERLAP: chair <-> floor depth=[0.538, -0.002, 0.621] + !! OVERLAP: chair <-> chair depth=[0.127, 1.078, 0.594] + !! OVERLAP: chair <-> floor depth=[0.556, -0.002, 0.616] + !! OVERLAP: chair <-> floor depth=[0.620, -0.002, 0.696] + !! OVERLAP: table <-> floor depth=[0.432, -0.002, 0.466] + !! OVERLAP: sofa <-> floor depth=[2.464, -0.002, 1.111] + !! OVERLAP: table <-> floor depth=[1.186, -0.002, 0.925] + !! OVERLAP: tv_stand <-> floor depth=[2.101, -0.002, 0.410] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.1016, Room Outer Loss: 0.0000, Walkable Loss: 4.7710 (Center Penalty: 1.2112, C1 Heatmap: 1.1550, C2 Repulsion: 13.1789), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.110 0.802 0.869 1.394 -0.001 1.165 -179.87° +chair 0.950 0.741 1.005 1.843 0.001 0.641 179.81° +table 1.063 0.465 1.103 0.949 -0.000 -0.713 -0.04° +table 1.149 0.360 1.148 0.970 -0.000 0.102 0.01° +bookshelf 0.748 1.853 0.204 1.939 0.002 1.327 -90.09° +table 1.408 0.702 1.171 -1.271 0.000 1.110 89.95° +chair 0.503 0.814 0.521 -1.740 -0.001 0.412 0.03° +chair 0.624 0.776 0.621 -1.021 0.000 1.270 -89.93° +chair 0.583 0.777 0.627 -1.450 0.002 1.437 -179.99° +lamp 0.478 0.761 0.487 0.871 1.843 -0.065 0.00° +floor 6.184 -0.008 3.982 0.329 -0.002 0.206 -0.07° +_scene_ 0.072 0.001 0.022 -5.670 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.950, 0.741, 0.414] + !! OVERLAP: sofa <-> bookshelf depth=[0.748, 0.802, 0.204] + !! OVERLAP: sofa <-> floor depth=[2.110, -0.008, 0.869] + !! OVERLAP: chair <-> table depth=[0.177, 0.360, 0.537] + !! OVERLAP: chair <-> floor depth=[0.950, -0.008, 1.005] + !! OVERLAP: table <-> table depth=[1.063, 0.360, 0.311] + !! OVERLAP: table <-> floor depth=[1.063, -0.008, 1.103] + !! OVERLAP: table <-> floor depth=[1.149, -0.008, 1.148] + !! OVERLAP: bookshelf <-> floor depth=[0.748, -0.008, 0.204] + !! OVERLAP: table <-> chair depth=[0.486, 0.702, 0.148] + !! OVERLAP: table <-> chair depth=[0.624, 0.702, 0.621] + !! OVERLAP: table <-> chair depth=[0.583, 0.702, 0.571] + !! OVERLAP: table <-> floor depth=[1.408, -0.008, 1.171] + !! OVERLAP: chair <-> floor depth=[0.503, -0.008, 0.521] + !! OVERLAP: chair <-> chair depth=[0.174, 0.775, 0.457] + !! OVERLAP: chair <-> floor depth=[0.624, -0.008, 0.621] + !! OVERLAP: chair <-> floor depth=[0.583, -0.008, 0.627] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0550, Room Outer Loss: 0.6050, Walkable Loss: 3.7341 (Center Penalty: 1.1933, C1 Heatmap: 1.1426, C2 Repulsion: 8.1336), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.080 0.570 0.497 1.263 0.000 1.382 -89.96° +sofa 2.413 0.898 0.930 -0.911 -0.005 1.486 89.83° +table 1.234 0.499 1.128 -0.386 -0.001 1.205 90.07° +lamp 0.494 0.613 0.480 -0.254 1.974 1.107 -0.00° +table 1.887 0.715 1.092 -0.828 0.001 -1.873 0.03° +chair 0.506 0.813 0.535 -1.560 0.002 -2.250 0.01° +chair 0.565 0.820 0.552 -0.171 -0.000 -2.425 -90.02° +chair 0.538 0.857 0.584 -1.297 -0.001 -1.042 180.00° +chair 0.564 0.836 0.614 -0.753 0.000 -1.019 -179.86° +floor 3.773 0.001 5.476 -0.008 -0.000 0.070 -0.03° +_scene_ 0.067 0.001 0.021 -5.667 -0.006 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> sofa depth=[0.072, 0.570, 0.497] + !! OVERLAP: tv_stand <-> table depth=[0.008, 0.499, 0.497] + !! OVERLAP: tv_stand <-> floor depth=[1.655, 0.001, 0.497] + !! OVERLAP: sofa <-> table depth=[1.234, 0.499, 0.749] + !! OVERLAP: sofa <-> floor depth=[2.189, 0.001, 0.930] + !! OVERLAP: table <-> floor depth=[1.234, 0.001, 1.128] + !! OVERLAP: table <-> chair depth=[0.465, 0.715, 0.437] + !! OVERLAP: table <-> chair depth=[0.565, 0.715, 0.270] + !! OVERLAP: table <-> chair depth=[0.538, 0.715, 0.007] + !! OVERLAP: table <-> floor depth=[1.887, 0.001, 1.092] + !! OVERLAP: chair <-> floor depth=[0.506, 0.001, 0.535] + !! OVERLAP: chair <-> floor depth=[0.565, 0.001, 0.519] + !! OVERLAP: chair <-> chair depth=[0.007, 0.836, 0.575] + !! OVERLAP: chair <-> floor depth=[0.538, 0.001, 0.584] + !! OVERLAP: chair <-> floor depth=[0.564, 0.001, 0.614] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.9854 (Center Penalty: 2.5784, C1 Heatmap: 0.9393, C2 Repulsion: 3.2782), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.475 0.796 0.968 -0.201 0.000 1.576 179.94° +table 0.615 0.669 0.547 1.771 0.001 1.510 -179.96° +table 0.552 0.761 0.552 -2.174 0.000 1.671 179.93° +chair 0.735 0.799 0.750 1.888 -0.000 0.174 -43.85° +table 1.302 1.196 0.908 -0.431 0.007 0.228 180.00° +tv_stand 2.129 0.314 0.471 -0.005 0.001 -1.758 -0.00° +lamp 1.200 1.027 0.919 -0.213 1.767 -0.165 -0.00° +chair 0.596 0.792 0.667 -2.092 0.004 -0.156 0.79° +floor 6.056 -0.001 4.051 -0.238 0.001 0.043 -0.01° +_scene_ 0.064 -0.001 0.023 -5.671 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.475, -0.001, 0.968] + !! OVERLAP: table <-> floor depth=[0.615, -0.001, 0.547] + !! OVERLAP: table <-> floor depth=[0.552, -0.001, 0.552] + !! OVERLAP: chair <-> floor depth=[0.735, -0.001, 0.750] + !! OVERLAP: table <-> floor depth=[1.302, -0.001, 0.908] + !! OVERLAP: tv_stand <-> floor depth=[2.129, -0.001, 0.460] + !! OVERLAP: chair <-> floor depth=[0.596, -0.001, 0.667] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0174, Room Outer Loss: 0.0000, Walkable Loss: 3.8107 (Center Penalty: 1.1942, C1 Heatmap: 0.9398, C2 Repulsion: 9.3232), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.225 0.835 0.965 1.951 0.005 1.081 179.91° +table 0.913 0.770 0.770 2.311 -0.001 -0.467 0.11° +chair 0.856 0.725 0.900 3.166 0.001 -0.548 -89.95° +table 0.649 0.385 0.603 0.305 0.001 1.038 0.10° +lamp 0.818 0.936 0.834 1.692 1.982 -0.785 0.07° +chair 0.564 0.769 0.554 -1.803 0.002 -1.919 -0.01° +chair 0.491 0.756 0.566 -0.666 0.002 -0.697 -90.05° +chair 0.485 0.774 0.537 -1.849 -0.001 -0.312 -179.92° +table 1.520 0.717 1.420 -1.390 -0.003 -0.631 0.05° +lamp 0.431 0.755 0.421 -1.800 1.973 -1.084 -0.00° +table 1.269 1.123 0.369 -3.189 0.003 0.901 89.96° +chair 0.601 0.733 0.563 -2.389 0.002 -0.887 89.87° +chair 0.353 0.329 0.321 0.776 -0.000 -0.433 0.02° +floor 8.526 -0.008 3.946 0.292 0.000 -0.305 -0.08° +_scene_ 0.071 0.001 0.026 -5.667 -0.005 -5.709 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.225, -0.008, 0.965] + !! OVERLAP: table <-> chair depth=[0.029, 0.725, 0.754] + !! OVERLAP: table <-> floor depth=[0.913, -0.008, 0.770] + !! OVERLAP: chair <-> floor depth=[0.856, -0.008, 0.900] + !! OVERLAP: table <-> floor depth=[0.649, -0.008, 0.603] + !! OVERLAP: chair <-> floor depth=[0.564, -0.008, 0.554] + !! OVERLAP: chair <-> table depth=[0.281, 0.717, 0.566] + !! OVERLAP: chair <-> floor depth=[0.491, -0.008, 0.566] + !! OVERLAP: chair <-> table depth=[0.485, 0.717, 0.537] + !! OVERLAP: chair <-> floor depth=[0.485, -0.008, 0.537] + !! OVERLAP: table <-> chair depth=[0.062, 0.717, 0.563] + !! OVERLAP: table <-> floor depth=[1.520, -0.008, 1.420] + !! OVERLAP: table <-> floor depth=[1.269, -0.008, 0.369] + !! OVERLAP: chair <-> floor depth=[0.601, -0.008, 0.563] + !! OVERLAP: chair <-> floor depth=[0.353, -0.008, 0.321] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.0814, Room Outer Loss: 0.8252, Walkable Loss: 4.5587 (Center Penalty: 0.6951, C1 Heatmap: 1.4694, C2 Repulsion: 13.4400), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.109 0.950 1.133 -0.397 1.693 1.500 0.07° +table 1.513 0.400 1.287 -0.871 0.000 1.547 89.95° +tv_stand 1.967 0.660 0.441 1.007 -0.000 1.586 -90.03° +sofa 2.854 0.826 1.423 -1.249 0.004 1.705 89.96° +table 1.822 0.712 1.502 -1.121 -0.001 -2.641 -0.03° +table 2.007 0.495 0.946 -1.287 -0.001 3.147 -179.71° +table 1.252 0.423 1.091 -1.235 -0.000 -0.989 -0.01° +chair 0.458 1.012 0.554 -1.719 -0.004 -1.884 179.78° +chair 0.535 0.950 0.552 -1.095 -0.002 -2.112 -141.60° +chair 0.419 0.937 0.401 -1.867 -0.005 -3.030 -0.27° +chair 0.472 0.879 0.507 -0.969 0.002 -3.146 -58.66° +lamp 1.071 1.026 0.687 -1.433 1.646 -2.763 -0.06° +table 0.441 1.414 0.446 1.224 0.002 -0.798 -90.05° +floor 3.835 0.002 6.930 -0.449 0.000 0.139 0.05° +_scene_ 0.073 -0.000 0.027 -5.664 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.513, 0.400, 1.198] + !! OVERLAP: table <-> floor depth=[1.513, 0.002, 1.287] + !! OVERLAP: tv_stand <-> sofa depth=[0.155, 0.660, 0.441] + !! OVERLAP: tv_stand <-> floor depth=[1.446, 0.002, 0.441] + !! OVERLAP: sofa <-> floor depth=[2.544, 0.002, 1.423] + !! OVERLAP: table <-> chair depth=[0.458, 0.712, 0.272] + !! OVERLAP: table <-> chair depth=[0.535, 0.712, 0.498] + !! OVERLAP: table <-> chair depth=[0.374, 0.712, 0.401] + !! OVERLAP: table <-> chair depth=[0.472, 0.712, 0.500] + !! OVERLAP: table <-> floor depth=[1.822, 0.002, 1.436] + !! OVERLAP: table <-> floor depth=[2.007, 0.002, 0.931] + !! OVERLAP: table <-> floor depth=[1.252, 0.002, 1.091] + !! OVERLAP: chair <-> floor depth=[0.458, 0.002, 0.554] + !! OVERLAP: chair <-> floor depth=[0.535, 0.002, 0.552] + !! OVERLAP: chair <-> floor depth=[0.419, 0.002, 0.401] + !! OVERLAP: chair <-> floor depth=[0.472, 0.002, 0.434] + !! OVERLAP: table <-> floor depth=[0.441, 0.002, 0.446] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0093, Room Outer Loss: 0.1472, Walkable Loss: 2.1867 (Center Penalty: 0.6935, C1 Heatmap: 0.8573, C2 Repulsion: 4.0368), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.291 0.850 0.516 -1.605 0.001 -1.497 90.05° +table 0.490 0.299 0.490 0.003 -0.001 -2.282 -89.91° +lamp 0.540 0.714 0.544 0.161 2.053 -2.135 0.03° +lamp 0.916 0.911 0.981 0.990 1.748 2.107 0.02° +sofa 2.546 0.774 1.210 1.795 0.001 -1.985 -89.79° +table 0.519 0.760 0.538 -0.124 0.001 2.815 -0.01° +chair 0.594 0.903 0.629 -0.334 0.001 1.999 89.93° +chair 0.446 0.983 0.501 -0.396 -0.002 3.208 90.00° +chair 0.500 0.795 0.583 1.612 0.003 2.146 -90.15° +chair 0.507 0.978 0.569 1.615 0.001 3.026 -90.14° +table 1.329 0.443 0.999 1.385 -0.000 -0.412 -89.89° +floor 5.671 -0.004 7.094 0.467 -0.000 0.321 -0.03° +_scene_ 0.069 -0.000 0.023 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.909, -0.004, 0.516] + !! OVERLAP: table <-> floor depth=[0.490, -0.004, 0.490] + !! OVERLAP: sofa <-> floor depth=[2.546, -0.004, 1.210] + !! OVERLAP: table <-> chair depth=[0.211, 0.760, 0.126] + !! OVERLAP: table <-> floor depth=[0.519, -0.004, 0.538] + !! OVERLAP: chair <-> floor depth=[0.594, -0.004, 0.629] + !! OVERLAP: chair <-> floor depth=[0.446, -0.004, 0.501] + !! OVERLAP: chair <-> floor depth=[0.500, -0.004, 0.583] + !! OVERLAP: chair <-> floor depth=[0.507, -0.004, 0.569] + !! OVERLAP: table <-> floor depth=[1.329, -0.004, 0.999] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0183, Room Outer Loss: 0.0632, Walkable Loss: 3.2293 (Center Penalty: 1.3565, C1 Heatmap: 0.8861, C2 Repulsion: 5.8199), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.664 0.608 0.756 1.799 -0.001 1.438 -90.10° +tv_stand 2.341 0.545 0.397 -1.413 0.003 0.239 90.00° +table 1.656 1.898 0.615 0.462 -0.001 -0.630 -179.89° +table 0.791 0.516 0.638 1.735 0.002 -1.614 -0.05° +sofa 1.907 0.833 0.872 1.784 -0.001 -0.183 -90.01° +chair 0.722 0.996 0.855 0.898 0.004 0.691 -110.26° +floor 5.451 -0.004 5.178 0.144 0.002 -0.135 -0.04° +_scene_ 0.074 0.040 0.220 -5.344 0.011 -5.425 -59.02° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.664, -0.004, 0.756] + !! OVERLAP: tv_stand <-> floor depth=[2.339, -0.004, 0.397] + !! OVERLAP: table <-> sofa depth=[0.459, 0.833, 0.297] + !! OVERLAP: table <-> floor depth=[1.656, -0.004, 0.615] + !! OVERLAP: table <-> floor depth=[0.791, -0.004, 0.638] + !! OVERLAP: sofa <-> floor depth=[1.907, -0.004, 0.872] + !! OVERLAP: chair <-> floor depth=[0.722, -0.004, 0.855] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0010, Room Outer Loss: 1.1513, Walkable Loss: 2.9540 (Center Penalty: 1.1169, C1 Heatmap: 0.8349, C2 Repulsion: 5.8457), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.043 0.987 1.062 1.458 -0.001 1.747 -90.01° +table 0.954 0.715 0.978 -0.299 0.001 1.669 -0.07° +tv_stand 2.139 0.820 0.438 -1.297 0.003 0.789 89.97° +table 1.107 0.593 0.553 0.724 -0.001 -0.955 90.05° +chair 0.464 0.710 0.478 0.315 0.001 -0.380 90.08° +chair 0.460 0.641 0.469 0.430 0.001 -1.439 -0.02° +chair 0.572 0.618 0.466 1.771 -0.001 -0.733 179.95° +chair 0.497 0.723 0.503 1.602 0.001 -1.781 0.08° +cabinet 0.877 1.132 0.327 0.018 -0.001 -2.959 -0.02° +lamp 0.739 0.910 0.600 0.008 1.829 1.249 -0.03° +lamp 0.289 1.104 0.322 1.115 1.762 -1.288 0.01° +floor 3.807 -0.003 7.363 0.123 0.000 0.611 -0.05° +_scene_ 0.072 0.001 0.020 -5.668 -0.006 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.589, -0.003, 1.062] + !! OVERLAP: table <-> floor depth=[0.954, -0.003, 0.978] + !! OVERLAP: tv_stand <-> floor depth=[1.554, -0.003, 0.438] + !! OVERLAP: table <-> chair depth=[0.460, 0.593, 0.028] + !! OVERLAP: table <-> floor depth=[1.107, -0.003, 0.553] + !! OVERLAP: chair <-> floor depth=[0.464, -0.003, 0.478] + !! OVERLAP: chair <-> floor depth=[0.460, -0.003, 0.469] + !! OVERLAP: chair <-> floor depth=[0.541, -0.003, 0.466] + !! OVERLAP: chair <-> floor depth=[0.497, -0.003, 0.503] + !! OVERLAP: cabinet <-> floor depth=[0.877, -0.003, 0.276] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0432, Room Outer Loss: 0.0000, Walkable Loss: 3.8386 (Center Penalty: 1.5130, C1 Heatmap: 0.9280, C2 Repulsion: 7.9162), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.056 0.852 1.698 1.090 -0.001 -0.643 0.02° +table 1.362 0.499 0.576 0.593 0.000 -0.317 -0.02° +shelf 0.328 2.182 0.337 3.497 -0.005 -1.008 0.01° +cabinet 0.766 1.166 0.308 -1.325 0.004 1.392 179.97° +table 1.362 0.715 0.755 -3.140 0.001 -0.523 90.04° +chair 0.575 0.787 0.524 -3.448 0.002 -0.517 89.99° +chair 0.572 0.771 0.570 -3.506 0.002 -1.210 89.82° +chair 0.581 0.717 0.606 -2.105 -0.002 -0.340 -90.02° +chair 0.676 0.670 0.679 -2.075 0.002 -1.131 -89.90° +lamp 0.761 0.875 0.781 1.155 1.761 -0.082 -0.01° +lamp 0.880 0.930 0.875 -3.042 1.700 -0.595 0.01° +floor 7.843 -0.003 3.182 -0.035 -0.000 -0.240 -0.04° +_scene_ 0.067 -0.000 0.018 -5.678 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.362, 0.499, 0.576] + !! OVERLAP: sofa <-> floor depth=[3.056, -0.003, 1.698] + !! OVERLAP: table <-> floor depth=[1.362, -0.003, 0.576] + !! OVERLAP: shelf <-> floor depth=[0.328, -0.003, 0.337] + !! OVERLAP: cabinet <-> floor depth=[0.766, -0.003, 0.113] + !! OVERLAP: table <-> chair depth=[0.575, 0.715, 0.524] + !! OVERLAP: table <-> floor depth=[1.362, -0.003, 0.755] + !! OVERLAP: chair <-> floor depth=[0.575, -0.003, 0.524] + !! OVERLAP: chair <-> floor depth=[0.572, -0.003, 0.570] + !! OVERLAP: chair <-> floor depth=[0.581, -0.003, 0.606] + !! OVERLAP: chair <-> floor depth=[0.676, -0.003, 0.679] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8028, Walkable Loss: 3.2191 (Center Penalty: 1.7077, C1 Heatmap: 1.0070, C2 Repulsion: 3.5286), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.690 2.645 0.469 0.104 0.002 1.952 -179.84° +sofa 2.090 0.969 0.951 0.926 0.006 -1.154 -90.05° +table 1.111 0.685 1.232 0.833 0.000 0.750 0.02° +table 1.115 0.479 0.976 -0.130 0.000 -1.064 -99.25° +lamp 0.536 0.484 0.389 0.473 2.387 0.334 -0.04° +floor 3.359 -0.004 4.736 0.111 -0.000 -0.140 0.03° +_scene_ 0.068 0.000 0.016 -5.679 -0.006 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[3.359, -0.004, 0.469] + !! OVERLAP: sofa <-> table depth=[0.546, 0.479, 0.873] + !! OVERLAP: sofa <-> floor depth=[1.909, -0.004, 0.951] + !! OVERLAP: table <-> floor depth=[1.111, -0.004, 1.232] + !! OVERLAP: table <-> floor depth=[1.115, -0.004, 0.976] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0201, Room Outer Loss: 0.0000, Walkable Loss: 4.2482 (Center Penalty: 0.9637, C1 Heatmap: 1.0497, C2 Repulsion: 12.2234), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.348 0.732 1.031 0.239 -0.000 -2.485 0.01° +chair 0.502 0.965 0.555 1.058 0.002 -3.024 0.01° +chair 0.504 0.963 0.548 1.393 0.000 -1.656 -179.87° +chair 0.489 1.010 0.561 0.937 -0.000 -1.805 -179.96° +chair 0.492 1.000 0.498 0.693 -0.000 -3.113 0.02° +lamp 0.757 0.887 0.739 0.020 1.823 1.537 -0.03° +sofa 2.160 0.918 0.850 -1.890 0.004 1.637 89.91° +chair 0.757 0.801 0.725 -0.193 0.001 2.948 -178.35° +chair 0.833 0.839 0.869 0.233 0.001 3.355 -158.47° +table 1.480 0.381 0.921 -0.046 -0.000 1.576 90.03° +table 0.507 0.635 0.495 -1.772 -0.000 0.172 0.01° +table 0.534 0.550 0.527 -1.843 -0.001 3.295 0.07° +chair 0.489 0.515 0.525 -0.264 0.000 0.506 0.02° +table 1.278 0.737 0.324 -2.412 0.002 -1.508 90.01° +lamp 0.953 1.008 0.972 0.305 1.762 -2.077 -90.08° +floor 5.368 -0.000 8.108 -0.678 -0.000 0.265 -0.09° +_scene_ 0.070 0.000 0.019 -5.671 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.502, 0.732, 0.254] + !! OVERLAP: table <-> chair depth=[0.489, 0.732, 0.116] + !! OVERLAP: table <-> chair depth=[0.492, 0.732, 0.137] + !! OVERLAP: table <-> floor depth=[2.348, -0.000, 1.031] + !! OVERLAP: chair <-> chair depth=[0.132, 0.965, 0.438] + !! OVERLAP: chair <-> floor depth=[0.502, -0.000, 0.555] + !! OVERLAP: chair <-> chair depth=[0.039, 0.963, 0.406] + !! OVERLAP: chair <-> floor depth=[0.504, -0.000, 0.548] + !! OVERLAP: chair <-> floor depth=[0.489, -0.000, 0.561] + !! OVERLAP: chair <-> floor depth=[0.492, -0.000, 0.498] + !! OVERLAP: sofa <-> floor depth=[2.160, -0.000, 0.850] + !! OVERLAP: chair <-> chair depth=[0.369, 0.801, 0.390] + !! OVERLAP: chair <-> floor depth=[0.757, -0.000, 0.725] + !! OVERLAP: chair <-> floor depth=[0.833, -0.000, 0.869] + !! OVERLAP: table <-> floor depth=[1.480, -0.000, 0.921] + !! OVERLAP: table <-> floor depth=[0.507, -0.000, 0.495] + !! OVERLAP: table <-> floor depth=[0.534, -0.000, 0.527] + !! OVERLAP: chair <-> floor depth=[0.489, -0.000, 0.525] + !! OVERLAP: table <-> floor depth=[1.278, -0.000, 0.324] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0074, Room Outer Loss: 0.0000, Walkable Loss: 4.9948 (Center Penalty: 1.0576, C1 Heatmap: 1.3124, C2 Repulsion: 14.4363), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.520 0.931 0.608 1.686 0.001 -1.667 0.02° +chair 0.626 0.882 0.619 2.378 -0.001 -1.581 0.03° +chair 0.489 0.930 0.567 1.904 0.001 0.035 -90.05° +chair 0.458 0.890 0.559 2.600 0.001 0.083 -90.08° +chair 0.496 0.791 0.499 -2.520 0.001 -0.393 89.83° +sofa 2.519 0.802 0.812 -1.639 0.001 1.402 -179.87° +table 1.085 0.530 0.936 0.136 0.001 1.285 0.03° +table 1.291 0.532 1.051 -2.815 0.001 0.991 -0.05° +table 1.252 0.475 1.167 -1.064 -0.001 -1.031 -0.03° +table 1.198 0.634 1.067 2.225 0.000 -0.605 0.08° +table 1.383 1.557 0.356 1.276 -0.001 1.567 -90.15° +table 1.207 0.495 1.036 -1.732 0.001 0.206 -90.48° +lamp 0.367 0.438 0.362 -1.446 2.143 -0.417 0.02° +lamp 0.775 0.759 0.395 2.057 1.911 -0.228 0.02° +floor 6.699 -0.004 4.197 -0.065 0.000 0.197 0.01° +_scene_ 0.068 0.001 0.036 -5.639 -0.003 -5.688 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.520, -0.004, 0.539] + !! OVERLAP: chair <-> floor depth=[0.626, -0.004, 0.619] + !! OVERLAP: chair <-> table depth=[0.489, 0.634, 0.177] + !! OVERLAP: chair <-> floor depth=[0.489, -0.004, 0.567] + !! OVERLAP: chair <-> table depth=[0.453, 0.634, 0.125] + !! OVERLAP: chair <-> floor depth=[0.458, -0.004, 0.559] + !! OVERLAP: chair <-> table depth=[0.063, 0.495, 0.168] + !! OVERLAP: chair <-> floor depth=[0.496, -0.004, 0.499] + !! OVERLAP: sofa <-> table depth=[0.027, 0.530, 0.757] + !! OVERLAP: sofa <-> table depth=[0.729, 0.532, 0.520] + !! OVERLAP: sofa <-> floor depth=[2.519, -0.004, 0.812] + !! OVERLAP: table <-> table depth=[0.094, 0.530, 0.356] + !! OVERLAP: table <-> floor depth=[1.085, -0.004, 0.936] + !! OVERLAP: table <-> table depth=[0.165, 0.495, 0.259] + !! OVERLAP: table <-> floor depth=[1.245, -0.004, 1.051] + !! OVERLAP: table <-> floor depth=[1.252, -0.004, 1.167] + !! OVERLAP: table <-> floor depth=[1.198, -0.004, 1.067] + !! OVERLAP: table <-> floor depth=[1.383, -0.004, 0.356] + !! OVERLAP: table <-> floor depth=[1.207, -0.004, 1.036] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7833 (Center Penalty: 2.1873, C1 Heatmap: 0.8418, C2 Repulsion: 4.6129), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.201 0.858 0.916 0.342 -0.000 -1.327 -0.05° +table 1.386 0.890 0.723 0.668 0.002 0.025 -0.04° +table 0.522 0.573 0.510 -1.386 0.000 -1.439 -0.24° +chair 0.871 0.808 0.807 -1.629 0.002 -0.329 64.26° +table 0.633 0.515 0.517 1.981 0.003 -1.533 0.03° +chair 0.731 0.400 0.362 1.958 -0.002 0.087 -89.67° +lamp 0.649 0.889 0.630 0.475 1.812 0.090 -0.06° +tv_stand 1.913 0.525 0.375 0.938 0.003 1.666 179.86° +floor 5.182 -0.001 3.752 -0.020 0.002 -0.007 0.00° +_scene_ 0.070 0.001 0.017 -5.671 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.201, -0.001, 0.916] + !! OVERLAP: table <-> floor depth=[1.386, -0.001, 0.723] + !! OVERLAP: table <-> floor depth=[0.522, -0.001, 0.510] + !! OVERLAP: chair <-> floor depth=[0.871, -0.001, 0.807] + !! OVERLAP: table <-> floor depth=[0.633, -0.001, 0.517] + !! OVERLAP: chair <-> floor depth=[0.731, -0.001, 0.362] + !! OVERLAP: tv_stand <-> floor depth=[1.913, -0.001, 0.375] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.1022, Room Outer Loss: 0.0020, Walkable Loss: 5.8488 (Center Penalty: 1.7629, C1 Heatmap: 1.0891, C2 Repulsion: 16.0728), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.659 0.432 0.736 0.300 -0.001 1.240 -0.05° +sofa 2.255 0.781 0.896 -0.851 0.000 1.027 90.00° +table 1.579 0.754 1.539 0.779 -0.001 -1.082 -0.02° +chair 0.530 0.914 0.584 1.270 0.000 -1.728 -89.83° +chair 0.532 1.007 0.581 1.022 -0.001 -0.435 -179.96° +chair 0.676 1.011 0.698 0.283 0.000 -0.562 179.95° +chair 0.702 1.013 0.798 -0.070 0.001 -1.682 87.49° +chair 0.708 0.932 0.770 0.743 -0.000 -0.521 179.96° +chair 0.704 0.965 0.812 0.702 0.001 -2.022 -0.21° +bookshelf 0.433 1.317 0.255 -1.695 0.003 1.983 89.97° +floor 3.850 -0.001 6.210 -0.013 -0.001 -0.116 0.08° +_scene_ 0.066 0.002 0.018 -5.660 -0.004 -5.700 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.306, 0.432, 0.603] + !! OVERLAP: table <-> floor depth=[0.659, -0.001, 0.736] + !! OVERLAP: sofa <-> floor depth=[2.214, -0.001, 0.896] + !! OVERLAP: table <-> chair depth=[0.530, 0.754, 0.415] + !! OVERLAP: table <-> chair depth=[0.532, 0.754, 0.414] + !! OVERLAP: table <-> chair depth=[0.631, 0.754, 0.599] + !! OVERLAP: table <-> chair depth=[0.291, 0.754, 0.568] + !! OVERLAP: table <-> chair depth=[0.708, 0.754, 0.594] + !! OVERLAP: table <-> chair depth=[0.704, 0.754, 0.235] + !! OVERLAP: table <-> floor depth=[1.579, -0.001, 1.539] + !! OVERLAP: chair <-> chair depth=[0.049, 0.914, 0.404] + !! OVERLAP: chair <-> floor depth=[0.530, -0.001, 0.584] + !! OVERLAP: chair <-> chair depth=[0.342, 0.932, 0.581] + !! OVERLAP: chair <-> floor depth=[0.532, -0.001, 0.581] + !! OVERLAP: chair <-> chair depth=[0.231, 0.932, 0.693] + !! OVERLAP: chair <-> floor depth=[0.676, -0.001, 0.698] + !! OVERLAP: chair <-> floor depth=[0.702, -0.001, 0.798] + !! OVERLAP: chair <-> floor depth=[0.708, -0.001, 0.770] + !! OVERLAP: chair <-> floor depth=[0.704, -0.001, 0.812] + !! OVERLAP: bookshelf <-> floor depth=[0.433, -0.001, 0.255] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0113, Room Outer Loss: 0.5755, Walkable Loss: 5.7087 (Center Penalty: 0.8566, C1 Heatmap: 1.2931, C2 Repulsion: 19.0882), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.533 0.581 0.498 0.284 0.001 1.431 179.98° +table 0.409 0.559 0.411 -2.565 -0.002 1.332 -179.95° +table 0.930 0.423 1.017 -1.545 0.001 0.210 -0.06° +sofa 2.112 0.984 0.922 -1.158 0.002 1.293 179.95° +chair 0.893 0.739 1.085 -0.963 0.000 0.343 -90.22° +chair 0.824 0.802 0.838 -3.571 0.000 0.520 89.82° +table 1.876 0.771 1.192 2.021 0.001 0.711 -0.03° +chair 0.544 0.894 0.590 1.854 0.001 0.020 -0.01° +chair 0.469 0.953 0.511 2.259 -0.000 -0.243 0.03° +chair 0.532 0.973 0.553 3.088 -0.002 0.072 -0.00° +chair 0.475 0.859 0.528 1.971 0.003 1.364 179.94° +chair 0.484 0.919 0.494 2.598 -0.001 1.499 179.97° +chair 0.434 0.971 0.490 3.036 -0.001 1.580 -179.90° +tv_stand 2.387 0.769 0.389 -2.052 0.000 -1.718 0.10° +lamp 0.398 0.943 0.370 -1.298 1.580 0.036 -0.02° +lamp 0.349 1.166 0.303 2.809 0.930 0.624 -0.01° +table 1.473 1.692 0.324 2.768 -0.001 -1.591 -0.07° +floor 7.394 -0.005 3.899 -0.414 0.001 -0.138 -0.05° +_scene_ 0.068 -0.001 0.022 -5.669 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.533, -0.005, 0.498] + !! OVERLAP: table <-> floor depth=[0.409, -0.005, 0.411] + !! OVERLAP: table <-> chair depth=[0.330, 0.423, 0.918] + !! OVERLAP: table <-> floor depth=[0.930, -0.005, 1.017] + !! OVERLAP: sofa <-> chair depth=[0.893, 0.739, 0.053] + !! OVERLAP: sofa <-> floor depth=[2.112, -0.005, 0.922] + !! OVERLAP: chair <-> floor depth=[0.893, -0.005, 1.085] + !! OVERLAP: chair <-> floor depth=[0.824, -0.005, 0.838] + !! OVERLAP: table <-> chair depth=[0.544, 0.771, 0.201] + !! OVERLAP: table <-> chair depth=[0.138, 0.771, 0.234] + !! OVERLAP: table <-> chair depth=[0.475, 0.771, 0.207] + !! OVERLAP: table <-> chair depth=[0.484, 0.771, 0.055] + !! OVERLAP: table <-> lamp depth=[0.325, 0.040, 0.303] + !! OVERLAP: table <-> floor depth=[1.876, -0.005, 1.192] + !! OVERLAP: chair <-> chair depth=[0.101, 0.894, 0.288] + !! OVERLAP: chair <-> floor depth=[0.544, -0.005, 0.590] + !! OVERLAP: chair <-> floor depth=[0.469, -0.005, 0.511] + !! OVERLAP: chair <-> floor depth=[0.462, -0.005, 0.553] + !! OVERLAP: chair <-> floor depth=[0.475, -0.005, 0.528] + !! OVERLAP: chair <-> chair depth=[0.021, 0.919, 0.410] + !! OVERLAP: chair <-> floor depth=[0.484, -0.005, 0.494] + !! OVERLAP: chair <-> floor depth=[0.434, -0.005, 0.476] + !! OVERLAP: tv_stand <-> floor depth=[2.387, -0.005, 0.389] + !! OVERLAP: table <-> floor depth=[1.251, -0.005, 0.324] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0820, Walkable Loss: 3.8669 (Center Penalty: 2.5097, C1 Heatmap: 0.7929, C2 Repulsion: 3.6138), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.759 0.919 0.768 -0.071 1.759 0.055 -0.02° +chair 0.975 0.762 0.888 -1.600 -0.002 0.287 116.95° +sofa 2.591 0.955 0.991 -0.631 0.001 -1.219 0.01° +table 0.815 0.482 0.619 1.271 0.002 -1.406 -0.03° +table 0.789 0.532 0.741 1.945 -0.002 0.035 -79.03° +table 0.834 0.419 1.176 -0.378 -0.001 0.459 -0.07° +floor 4.626 -0.000 3.601 -0.004 -0.000 -0.014 -0.04° +_scene_ 0.070 0.018 0.048 -5.620 -0.004 -5.635 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.975, -0.000, 0.888] + !! OVERLAP: sofa <-> floor depth=[2.591, -0.000, 0.991] + !! OVERLAP: table <-> floor depth=[0.815, -0.000, 0.619] + !! OVERLAP: table <-> floor depth=[0.758, -0.000, 0.741] + !! OVERLAP: table <-> floor depth=[0.834, -0.000, 1.176] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0692, Walkable Loss: 4.8304 (Center Penalty: 1.1579, C1 Heatmap: 1.1235, C2 Repulsion: 13.8687), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.177 0.880 0.821 -1.391 0.003 -1.798 90.01° +chair 0.909 0.856 0.899 0.239 -0.001 -3.855 -15.12° +table 1.290 0.364 0.773 0.287 0.003 -1.724 89.92° +cabinet 0.815 1.892 0.372 1.806 0.000 3.627 -89.89° +table 2.131 0.843 1.109 0.069 0.000 1.988 -0.02° +chair 0.523 0.804 0.567 0.023 0.002 1.275 0.04° +chair 0.504 0.829 0.566 0.911 0.002 1.817 -90.20° +chair 0.485 0.799 0.563 0.662 0.002 2.810 -90.18° +chair 0.518 0.805 0.513 -0.167 -0.003 2.651 179.87° +chair 0.599 0.829 0.621 -0.958 0.001 2.760 89.91° +chair 0.600 0.795 0.578 -1.019 0.001 1.613 89.96° +tv_stand 1.886 0.468 0.382 1.542 -0.003 -2.282 -89.90° +table 0.544 0.482 0.562 -1.267 0.004 -0.409 90.07° +table 0.462 0.459 0.470 -1.434 0.004 -3.736 89.59° +chair 0.759 0.873 0.791 -0.152 -0.003 -0.765 177.14° +lamp 0.478 0.679 0.456 0.028 1.844 -2.138 -0.06° +lamp 0.620 0.364 0.455 0.318 2.169 1.917 -0.02° +floor 4.989 -0.004 8.285 -0.038 -0.002 -0.385 0.03° +_scene_ 0.070 0.003 0.020 -5.670 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.056, 0.364, 0.723] + !! OVERLAP: sofa <-> floor depth=[2.177, -0.004, 0.821] + !! OVERLAP: chair <-> floor depth=[0.909, -0.004, 0.899] + !! OVERLAP: table <-> tv_stand depth=[0.333, 0.364, 0.019] + !! OVERLAP: table <-> floor depth=[1.290, -0.004, 0.773] + !! OVERLAP: cabinet <-> floor depth=[0.815, -0.004, 0.316] + !! OVERLAP: table <-> chair depth=[0.523, 0.804, 0.124] + !! OVERLAP: table <-> chair depth=[0.476, 0.829, 0.566] + !! OVERLAP: table <-> chair depth=[0.485, 0.799, 0.014] + !! OVERLAP: table <-> chair depth=[0.518, 0.805, 0.148] + !! OVERLAP: table <-> chair depth=[0.338, 0.829, 0.093] + !! OVERLAP: table <-> chair depth=[0.278, 0.795, 0.468] + !! OVERLAP: table <-> floor depth=[2.131, -0.004, 1.109] + !! OVERLAP: chair <-> floor depth=[0.523, -0.004, 0.567] + !! OVERLAP: chair <-> floor depth=[0.504, -0.004, 0.566] + !! OVERLAP: chair <-> floor depth=[0.485, -0.004, 0.563] + !! OVERLAP: chair <-> floor depth=[0.518, -0.004, 0.513] + !! OVERLAP: chair <-> floor depth=[0.599, -0.004, 0.621] + !! OVERLAP: chair <-> floor depth=[0.600, -0.004, 0.578] + !! OVERLAP: tv_stand <-> floor depth=[1.858, -0.004, 0.382] + !! OVERLAP: table <-> floor depth=[0.544, -0.004, 0.562] + !! OVERLAP: table <-> floor depth=[0.462, -0.004, 0.470] + !! OVERLAP: chair <-> floor depth=[0.759, -0.004, 0.791] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0108, Room Outer Loss: 0.0000, Walkable Loss: 6.2861 (Center Penalty: 0.6476, C1 Heatmap: 1.1507, C2 Repulsion: 23.5894), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.188 0.897 0.799 -1.755 0.001 2.256 89.87° +chair 1.084 0.769 1.080 -0.563 -0.001 3.840 179.99° +table 1.481 0.464 1.092 -0.320 0.003 2.322 90.01° +table 0.554 0.703 0.459 -1.808 0.003 3.673 89.96° +table 0.598 0.543 0.534 -1.843 0.001 1.047 90.02° +table 0.548 0.470 0.467 -1.932 0.003 3.397 89.96° +table 2.183 0.767 0.921 -1.154 -0.000 -2.311 0.02° +chair 0.551 1.053 0.652 -1.968 -0.001 -3.221 -0.19° +chair 0.529 1.205 0.562 -0.976 -0.003 -2.959 -0.31° +chair 0.502 1.129 0.604 -0.368 0.002 -2.267 180.00° +chair 0.627 1.120 0.669 -2.112 -0.001 -1.809 -179.86° +chair 0.547 1.159 0.602 -0.835 -0.002 -1.766 -179.99° +table 1.987 0.790 0.820 -1.477 0.003 -0.826 0.03° +table 0.559 0.495 0.409 -2.133 0.001 -0.185 90.06° +table 0.833 0.945 0.461 -1.252 -0.002 -3.764 -0.02° +chair 0.724 0.457 0.539 -0.702 -0.001 0.999 -0.01° +lamp 0.928 0.986 0.938 -0.487 1.772 2.108 0.01° +lamp 0.373 0.610 0.370 -0.854 2.161 0.170 90.08° +lamp 0.539 0.213 0.503 1.248 2.483 0.037 -0.05° +lamp 0.469 0.586 0.475 -1.538 2.292 -1.979 -0.01° +lamp 0.861 0.781 0.732 0.188 2.201 -3.882 90.06° +floor 5.400 0.003 9.769 -0.695 0.002 0.246 -0.34° +_scene_ 0.071 -0.000 0.025 -5.661 -0.005 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.400, 0.464, 0.799] + !! OVERLAP: sofa <-> floor depth=[2.188, 0.003, 0.799] + !! OVERLAP: chair <-> floor depth=[1.084, 0.003, 1.080] + !! OVERLAP: table <-> floor depth=[1.481, 0.003, 1.092] + !! OVERLAP: table <-> table depth=[0.426, 0.470, 0.187] + !! OVERLAP: table <-> floor depth=[0.554, 0.003, 0.459] + !! OVERLAP: table <-> floor depth=[0.598, 0.003, 0.534] + !! OVERLAP: table <-> floor depth=[0.548, 0.003, 0.467] + !! OVERLAP: table <-> chair depth=[0.529, 0.767, 0.094] + !! OVERLAP: table <-> chair depth=[0.502, 0.767, 0.604] + !! OVERLAP: table <-> chair depth=[0.447, 0.767, 0.293] + !! OVERLAP: table <-> chair depth=[0.547, 0.767, 0.217] + !! OVERLAP: table <-> floor depth=[2.183, 0.003, 0.921] + !! OVERLAP: chair <-> floor depth=[0.551, 0.003, 0.652] + !! OVERLAP: chair <-> floor depth=[0.529, 0.003, 0.562] + !! OVERLAP: chair <-> chair depth=[0.058, 1.129, 0.101] + !! OVERLAP: chair <-> floor depth=[0.502, 0.003, 0.604] + !! OVERLAP: chair <-> floor depth=[0.627, 0.003, 0.669] + !! OVERLAP: chair <-> floor depth=[0.547, 0.003, 0.602] + !! OVERLAP: table <-> floor depth=[1.987, 0.003, 0.820] + !! OVERLAP: table <-> floor depth=[0.559, 0.003, 0.409] + !! OVERLAP: table <-> floor depth=[0.833, 0.003, 0.461] + !! OVERLAP: chair <-> floor depth=[0.724, 0.003, 0.539] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.2694, Room Outer Loss: 0.0000, Walkable Loss: 2.8962 (Center Penalty: 1.7458, C1 Heatmap: 0.9235, C2 Repulsion: 2.0579), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 3.320 0.102 2.975 -0.059 -0.000 0.821 -0.11° +chair 0.508 0.770 0.544 -0.337 -0.002 -0.577 0.03° +chair 0.426 0.781 0.457 -1.363 0.002 -0.826 0.01° +floor 4.708 -0.001 5.951 -0.007 0.000 0.011 -0.02° +_scene_ 0.044 0.005 0.013 -5.655 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.508, 0.102, 0.362] + !! OVERLAP: table <-> chair depth=[0.426, 0.102, 0.069] + !! OVERLAP: table <-> floor depth=[3.320, -0.001, 2.975] + !! OVERLAP: chair <-> floor depth=[0.508, -0.001, 0.544] + !! OVERLAP: chair <-> floor depth=[0.426, -0.001, 0.457] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0545, Room Outer Loss: 0.2845, Walkable Loss: 2.9905 (Center Penalty: 1.6293, C1 Heatmap: 0.5933, C2 Repulsion: 4.4330), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.792 1.086 0.902 -1.075 0.002 0.624 45.79° +tv_stand 1.307 0.432 0.351 0.997 -0.001 0.807 -90.06° +table 0.495 0.777 0.489 -1.045 -0.001 2.425 0.03° +cabinet 0.900 1.009 0.335 1.047 0.004 2.190 -89.94° +lamp 0.513 0.651 0.511 -0.199 2.268 0.870 -0.01° +lamp 0.993 0.862 1.031 -0.610 1.778 -2.503 -89.90° +lamp 1.018 0.933 1.014 -0.888 1.941 -2.307 -0.03° +table 1.538 0.586 1.128 -0.859 -0.002 0.459 -0.01° +chair 0.595 0.937 0.597 -0.861 0.001 -0.703 0.11° +chair 0.668 0.867 0.678 -0.504 0.000 2.192 179.99° +floor 3.298 0.002 7.330 -0.144 -0.000 -0.149 0.02° +_scene_ 0.070 0.001 0.023 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.792, 0.586, 0.849] + !! OVERLAP: chair <-> floor depth=[0.792, 0.002, 0.902] + !! OVERLAP: tv_stand <-> floor depth=[1.161, 0.002, 0.351] + !! OVERLAP: table <-> chair depth=[0.040, 0.777, 0.350] + !! OVERLAP: table <-> floor depth=[0.495, 0.002, 0.489] + !! OVERLAP: cabinet <-> floor depth=[0.900, 0.002, 0.335] + !! OVERLAP: lamp <-> lamp depth=[0.728, 0.734, 0.827] + !! OVERLAP: table <-> floor depth=[1.538, 0.002, 1.128] + !! OVERLAP: chair <-> floor depth=[0.595, 0.002, 0.597] + !! OVERLAP: chair <-> floor depth=[0.668, 0.002, 0.678] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0275, Room Outer Loss: 0.0234, Walkable Loss: 3.3125 (Center Penalty: 2.3529, C1 Heatmap: 0.6790, C2 Repulsion: 2.0818), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.834 0.704 1.072 -1.578 -0.001 0.324 89.84° +sofa 2.349 0.877 0.957 1.501 0.001 0.350 -90.02° +chair 0.570 0.996 0.596 -0.197 0.000 0.270 -89.91° +chair 0.486 0.868 0.474 -1.880 -0.000 0.877 89.89° +lamp 0.818 0.784 0.744 0.405 1.887 -0.230 -0.02° +lamp 0.621 0.724 0.609 -1.473 1.991 0.525 0.02° +floor 5.683 0.002 2.638 -0.086 -0.000 0.109 -0.01° +_scene_ 0.078 0.001 0.024 -5.666 -0.004 -5.707 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.486, 0.704, 0.221] + !! OVERLAP: table <-> floor depth=[1.834, 0.002, 1.072] + !! OVERLAP: sofa <-> floor depth=[2.349, 0.002, 0.957] + !! OVERLAP: chair <-> floor depth=[0.570, 0.002, 0.596] + !! OVERLAP: chair <-> floor depth=[0.486, 0.002, 0.474] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.0000, Walkable Loss: 5.8351 (Center Penalty: 3.5346, C1 Heatmap: 0.8481, C2 Repulsion: 8.1104), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.323 0.734 0.897 0.246 -0.001 -0.047 -90.05° +chair 0.520 0.883 0.492 -1.441 -0.001 0.337 89.92° +chair 0.550 0.905 0.613 -1.315 0.002 -0.576 89.90° +chair 0.486 0.952 0.538 1.071 -0.000 0.298 -89.99° +chair 0.516 0.896 0.536 1.296 0.002 -0.876 -90.07° +cabinet 3.152 2.460 0.453 0.651 0.001 1.404 -179.83° +lamp 0.111 0.984 0.130 0.050 1.117 -0.550 -0.05° +lamp 0.127 0.920 0.181 -0.090 1.205 0.310 -90.17° +floor 4.205 -0.001 3.142 0.035 -0.000 -0.025 -0.01° +_scene_ 0.069 0.001 0.023 -5.674 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.486, 0.734, 0.373] + !! OVERLAP: table <-> floor depth=[2.323, -0.001, 0.897] + !! OVERLAP: chair <-> floor depth=[0.520, -0.001, 0.492] + !! OVERLAP: chair <-> floor depth=[0.550, -0.001, 0.613] + !! OVERLAP: chair <-> floor depth=[0.486, -0.001, 0.538] + !! OVERLAP: chair <-> floor depth=[0.516, -0.001, 0.536] + !! OVERLAP: cabinet <-> floor depth=[3.062, -0.001, 0.368] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0600, Room Outer Loss: 0.0000, Walkable Loss: 5.4456 (Center Penalty: 4.0170, C1 Heatmap: 0.4164, C2 Repulsion: 5.4775), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.433 0.786 1.073 0.031 -0.001 0.136 90.00° +chair 0.559 0.798 0.546 0.639 0.000 0.632 -179.95° +chair 0.497 0.804 0.541 -0.679 -0.002 0.315 175.04° +chair 0.491 0.804 0.549 0.400 0.002 -0.677 0.03° +chair 0.625 0.771 0.637 -0.473 0.002 -0.621 -0.02° +lamp 1.216 1.093 1.194 -0.274 1.579 0.131 0.06° +floor 3.860 -0.001 2.572 -0.005 0.000 0.013 -0.06° +_scene_ 0.066 0.001 0.027 -5.674 -0.004 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.388, 0.786, 0.313] + !! OVERLAP: table <-> chair depth=[0.255, 0.786, 0.541] + !! OVERLAP: table <-> chair depth=[0.525, 0.771, 0.098] + !! OVERLAP: table <-> floor depth=[1.433, -0.001, 1.073] + !! OVERLAP: chair <-> floor depth=[0.559, -0.001, 0.546] + !! OVERLAP: chair <-> floor depth=[0.497, -0.001, 0.541] + !! OVERLAP: chair <-> floor depth=[0.491, -0.001, 0.549] + !! OVERLAP: chair <-> floor depth=[0.625, -0.001, 0.637] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0269, Room Outer Loss: 1.6898, Walkable Loss: 6.2801 (Center Penalty: 3.1201, C1 Heatmap: 0.9242, C2 Repulsion: 12.1035), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.404 0.722 1.091 -0.304 -0.001 -0.450 -179.95° +chair 0.549 0.867 0.613 -0.260 0.002 0.634 -179.94° +chair 0.521 0.858 0.473 0.616 0.003 0.727 -128.93° +chair 0.508 0.904 0.566 0.378 -0.001 -0.792 -45.00° +chair 0.545 0.913 0.539 -0.214 0.000 -0.972 0.05° +chair 0.467 0.851 0.483 -1.129 0.001 0.453 136.16° +cabinet 2.365 2.518 0.406 -2.388 -0.005 0.008 89.87° +cabinet 1.747 2.155 0.343 1.601 0.004 -0.572 -90.06° +chair 0.546 0.833 0.523 -1.146 0.004 -0.789 53.45° +cabinet 1.990 2.247 0.365 1.468 0.002 0.490 -90.18° +lamp 0.331 0.540 0.265 -0.450 2.334 -0.166 0.01° +floor 4.767 -0.000 4.289 -0.164 -0.000 -0.062 -0.01° +_scene_ 0.067 0.001 0.023 -5.673 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.274, 0.722, 0.486] + !! OVERLAP: table <-> chair depth=[0.545, 0.722, 0.292] + !! OVERLAP: table <-> chair depth=[0.133, 0.722, 0.468] + !! OVERLAP: table <-> floor depth=[1.404, -0.000, 1.091] + !! OVERLAP: chair <-> floor depth=[0.549, -0.000, 0.613] + !! OVERLAP: chair <-> cabinet depth=[0.404, 0.858, 0.182] + !! OVERLAP: chair <-> floor depth=[0.521, -0.000, 0.473] + !! OVERLAP: chair <-> floor depth=[0.508, -0.000, 0.566] + !! OVERLAP: chair <-> floor depth=[0.545, -0.000, 0.539] + !! OVERLAP: chair <-> floor depth=[0.467, -0.000, 0.483] + !! OVERLAP: cabinet <-> floor depth=[1.342, -0.000, 0.406] + !! OVERLAP: cabinet <-> floor depth=[1.492, -0.000, 0.343] + !! OVERLAP: chair <-> floor depth=[0.546, -0.000, 0.523] + !! OVERLAP: cabinet <-> floor depth=[1.747, -0.000, 0.365] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0180, Room Outer Loss: 0.0000, Walkable Loss: 4.4658 (Center Penalty: 2.7920, C1 Heatmap: 0.5618, C2 Repulsion: 6.1224), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.461 0.701 0.465 -0.771 0.002 -1.220 68.80° +table 2.724 0.981 0.847 -0.116 0.001 -0.189 89.97° +chair 0.467 0.729 0.487 -0.935 0.000 -0.209 90.00° +chair 0.486 0.722 0.506 -0.915 0.000 0.868 118.30° +chair 0.488 0.721 0.511 0.621 0.004 0.822 -133.80° +chair 0.499 0.765 0.494 0.553 0.001 -0.016 -90.60° +chair 0.408 0.748 0.432 0.435 -0.002 -1.166 -60.24° +floor 4.125 -0.006 4.693 0.076 0.000 0.234 -0.04° +_scene_ 0.092 -0.005 0.080 -5.581 -0.001 -5.643 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.461, -0.006, 0.465] + !! OVERLAP: table <-> chair depth=[0.467, 0.729, 0.487] + !! OVERLAP: table <-> chair depth=[0.499, 0.765, 0.494] + !! OVERLAP: table <-> floor depth=[2.724, -0.006, 0.847] + !! OVERLAP: chair <-> floor depth=[0.467, -0.006, 0.487] + !! OVERLAP: chair <-> floor depth=[0.486, -0.006, 0.506] + !! OVERLAP: chair <-> floor depth=[0.488, -0.006, 0.511] + !! OVERLAP: chair <-> floor depth=[0.499, -0.006, 0.494] + !! OVERLAP: chair <-> floor depth=[0.408, -0.006, 0.432] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0323, Room Outer Loss: 0.0515, Walkable Loss: 2.7899 (Center Penalty: 1.5700, C1 Heatmap: 0.4267, C2 Repulsion: 4.3927), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.965 1.471 0.360 1.736 0.001 1.663 -179.96° +table 1.564 0.731 1.008 -1.263 -0.002 -0.740 0.02° +chair 0.481 0.911 0.530 -1.727 0.001 -1.442 0.01° +chair 0.503 0.907 0.602 -0.490 0.003 -1.214 0.06° +chair 0.526 0.860 0.583 -1.894 0.001 -0.425 89.77° +chair 0.545 0.906 0.536 -0.792 0.007 0.001 -152.68° +lamp 1.167 0.725 0.787 -0.729 2.003 -0.387 -0.03° +floor 5.066 0.006 4.026 0.050 0.001 -0.264 -0.04° +_scene_ 0.071 0.002 0.022 -5.673 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.965, 0.006, 0.266] + !! OVERLAP: table <-> chair depth=[0.481, 0.731, 0.067] + !! OVERLAP: table <-> chair depth=[0.260, 0.731, 0.330] + !! OVERLAP: table <-> chair depth=[0.414, 0.731, 0.480] + !! OVERLAP: table <-> chair depth=[0.545, 0.731, 0.031] + !! OVERLAP: table <-> floor depth=[1.564, 0.006, 1.008] + !! OVERLAP: chair <-> floor depth=[0.481, 0.006, 0.530] + !! OVERLAP: chair <-> floor depth=[0.503, 0.006, 0.602] + !! OVERLAP: chair <-> floor depth=[0.526, 0.006, 0.583] + !! OVERLAP: chair <-> floor depth=[0.545, 0.006, 0.536] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0233, Room Outer Loss: 0.0000, Walkable Loss: 5.1708 (Center Penalty: 3.4590, C1 Heatmap: 0.4895, C2 Repulsion: 6.6011), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.329 0.725 1.351 -0.197 0.004 0.455 89.83° +chair 0.498 0.740 0.422 0.845 -0.000 -0.479 -90.17° +chair 0.504 0.829 0.524 0.675 -0.001 0.369 -90.05° +chair 0.587 0.796 0.594 -0.161 0.007 1.337 179.99° +chair 0.537 0.752 0.568 -0.900 0.001 0.408 89.97° +chair 0.547 0.772 0.540 -0.757 0.002 -0.185 90.01° +chair 0.652 0.811 0.602 -0.048 0.001 -1.185 0.06° +lamp 0.970 0.716 1.002 -0.085 2.219 0.031 -0.02° +floor 3.347 -0.006 3.962 -0.075 0.002 0.055 -0.00° +_scene_ 0.068 0.000 0.049 -5.640 0.000 -5.690 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.044, 0.725, 0.524] + !! OVERLAP: table <-> chair depth=[0.587, 0.725, 0.091] + !! OVERLAP: table <-> chair depth=[0.230, 0.725, 0.568] + !! OVERLAP: table <-> chair depth=[0.378, 0.725, 0.305] + !! OVERLAP: table <-> floor depth=[1.329, -0.006, 1.351] + !! OVERLAP: chair <-> floor depth=[0.498, -0.006, 0.422] + !! OVERLAP: chair <-> floor depth=[0.504, -0.006, 0.524] + !! OVERLAP: chair <-> floor depth=[0.587, -0.006, 0.594] + !! OVERLAP: chair <-> floor depth=[0.537, -0.006, 0.568] + !! OVERLAP: chair <-> floor depth=[0.547, -0.006, 0.540] + !! OVERLAP: chair <-> floor depth=[0.652, -0.006, 0.602] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0009, Room Outer Loss: 0.0000, Walkable Loss: 3.4693 (Center Penalty: 1.9438, C1 Heatmap: 0.3390, C2 Repulsion: 6.2714), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.229 0.795 0.846 0.842 -0.001 0.818 -0.01° +chair 0.528 0.778 0.552 0.592 0.001 0.237 0.03° +chair 0.502 0.842 0.536 1.005 0.003 0.194 -0.02° +chair 0.452 0.739 0.380 0.969 0.001 1.742 179.95° +chair 0.471 0.800 0.514 0.483 0.002 1.591 179.99° +bookshelf 0.978 1.216 0.325 -0.645 0.003 0.924 90.01° +lamp 0.856 1.048 0.874 0.652 1.797 1.083 -0.05° +lamp 0.458 0.300 0.449 -1.411 2.328 -2.123 -0.12° +lamp 0.622 0.486 0.170 0.699 1.942 -1.621 -0.01° +floor 3.050 -0.002 4.674 -0.058 0.002 0.013 0.05° +_scene_ 0.064 0.001 0.016 -5.669 -0.004 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.528, 0.778, 0.118] + !! OVERLAP: table <-> chair depth=[0.502, 0.795, 0.066] + !! OVERLAP: table <-> floor depth=[1.229, -0.002, 0.846] + !! OVERLAP: chair <-> chair depth=[0.102, 0.778, 0.501] + !! OVERLAP: chair <-> floor depth=[0.528, -0.002, 0.552] + !! OVERLAP: chair <-> floor depth=[0.502, -0.002, 0.536] + !! OVERLAP: chair <-> floor depth=[0.452, -0.002, 0.380] + !! OVERLAP: chair <-> floor depth=[0.471, -0.002, 0.514] + !! OVERLAP: bookshelf <-> floor depth=[0.978, -0.002, 0.325] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0222, Room Outer Loss: 0.0000, Walkable Loss: 1.9784 (Center Penalty: 0.5981, C1 Heatmap: 0.3853, C2 Repulsion: 5.3603), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.194 0.727 0.929 1.256 -0.002 -2.804 90.11° +chair 0.483 0.924 0.473 0.468 -0.001 -2.787 89.71° +lamp 0.821 1.089 0.892 0.883 1.664 -2.692 -89.96° +chair 0.412 1.007 0.508 1.487 0.002 -3.001 -90.00° +chair 0.545 0.934 0.542 0.283 0.002 -2.186 89.88° +chair 0.444 0.914 0.461 1.493 0.001 -2.050 -89.86° +table 1.506 1.097 0.473 -0.959 0.005 0.423 -0.04° +shelf 0.841 1.869 0.378 -0.833 0.000 -1.129 0.10° +lamp 0.282 0.473 0.267 0.236 2.440 0.947 -0.06° +floor 3.970 -0.009 7.972 0.081 -0.001 -0.744 0.01° +_scene_ 0.074 -0.000 0.019 -5.670 -0.005 -5.705 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.051, 0.727, 0.473] + !! OVERLAP: table <-> chair depth=[0.412, 0.727, 0.508] + !! OVERLAP: table <-> floor depth=[1.194, -0.009, 0.929] + !! OVERLAP: chair <-> floor depth=[0.483, -0.009, 0.473] + !! OVERLAP: chair <-> floor depth=[0.412, -0.009, 0.508] + !! OVERLAP: chair <-> floor depth=[0.545, -0.009, 0.542] + !! OVERLAP: chair <-> floor depth=[0.444, -0.009, 0.461] + !! OVERLAP: table <-> floor depth=[1.506, -0.009, 0.473] + !! OVERLAP: shelf <-> floor depth=[0.841, -0.009, 0.378] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0224, Room Outer Loss: 0.3298, Walkable Loss: 4.7315 (Center Penalty: 3.6643, C1 Heatmap: 0.3918, C2 Repulsion: 3.7691), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.598 0.776 1.033 -0.053 -0.001 0.481 -0.03° +chair 0.309 0.481 0.351 -0.263 0.000 -0.577 -0.01° +chair 0.359 0.454 0.344 0.429 0.000 -0.637 0.03° +chair 0.372 0.592 0.380 -0.348 0.003 0.919 179.92° +chair 0.418 0.611 0.446 0.638 0.002 0.807 179.95° +cabinet 1.153 1.109 0.340 -1.614 -0.000 -0.292 89.99° +lamp 1.918 0.990 0.435 0.021 1.775 -0.014 -0.04° +floor 3.845 -0.001 3.585 -0.004 -0.000 0.008 0.01° +_scene_ 0.070 0.001 0.020 -5.668 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.372, 0.592, 0.269] + !! OVERLAP: table <-> chair depth=[0.317, 0.611, 0.414] + !! OVERLAP: table <-> floor depth=[1.598, -0.001, 1.033] + !! OVERLAP: chair <-> floor depth=[0.309, -0.001, 0.351] + !! OVERLAP: chair <-> floor depth=[0.359, -0.001, 0.344] + !! OVERLAP: chair <-> floor depth=[0.372, -0.001, 0.380] + !! OVERLAP: chair <-> floor depth=[0.418, -0.001, 0.446] + !! OVERLAP: cabinet <-> floor depth=[0.889, -0.001, 0.340] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0412, Room Outer Loss: 0.1181, Walkable Loss: 5.0504 (Center Penalty: 3.5671, C1 Heatmap: 0.4446, C2 Repulsion: 5.6377), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.812 2.054 0.345 1.365 -0.005 0.971 -90.19° +lamp 0.536 0.944 0.532 -0.634 1.674 -0.064 -0.01° +chair 0.506 0.790 0.537 0.344 0.001 -0.487 0.01° +chair 0.540 0.769 0.545 -0.594 -0.001 -0.539 0.05° +table 1.379 0.709 1.197 -0.030 -0.001 -0.126 0.15° +chair 0.616 0.828 0.575 -0.586 0.001 0.708 -179.99° +chair 0.513 0.858 0.517 0.064 0.000 0.857 179.98° +floor 3.773 0.004 2.604 -0.109 -0.001 0.009 -0.07° +_scene_ 0.068 -0.000 0.022 -5.671 -0.003 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.812, 0.004, 0.345] + !! OVERLAP: chair <-> table depth=[0.506, 0.709, 0.506] + !! OVERLAP: chair <-> floor depth=[0.506, 0.004, 0.537] + !! OVERLAP: chair <-> table depth=[0.395, 0.709, 0.458] + !! OVERLAP: chair <-> floor depth=[0.540, 0.004, 0.545] + !! OVERLAP: table <-> chair depth=[0.441, 0.709, 0.052] + !! OVERLAP: table <-> floor depth=[1.379, 0.004, 1.197] + !! OVERLAP: chair <-> floor depth=[0.616, 0.004, 0.575] + !! OVERLAP: chair <-> floor depth=[0.513, 0.004, 0.517] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.0939, Room Outer Loss: 0.0000, Walkable Loss: 7.9692 (Center Penalty: 4.1542, C1 Heatmap: 0.8759, C2 Repulsion: 15.5709), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.156 0.882 0.238 0.023 1.529 -0.205 90.06° +table 1.416 0.642 1.361 -0.316 -0.000 0.049 0.08° +chair 0.543 1.026 0.589 0.740 0.002 0.344 -104.85° +chair 1.015 1.045 0.651 -0.003 0.004 1.499 179.99° +chair 0.642 1.033 0.681 0.714 0.000 -0.071 -96.66° +chair 0.506 1.037 0.592 0.649 -0.002 -0.691 -77.54° +chair 0.552 1.047 0.695 -0.849 -0.002 0.302 114.61° +chair 0.679 1.097 0.948 -0.798 0.002 -0.038 75.60° +chair 0.672 1.013 0.702 -0.767 0.000 -0.443 89.99° +chair 0.645 1.014 0.611 -0.188 -0.001 -1.577 -0.21° +table 1.327 0.648 0.333 -0.046 0.002 -2.052 -0.02° +floor 2.615 -0.001 5.710 0.002 -0.001 -0.063 0.00° +_scene_ 0.124 -0.009 0.116 -5.616 -0.004 -5.661 -57.17° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.451, 0.642, 0.695] + !! OVERLAP: table <-> chair depth=[0.566, 0.642, 0.948] + !! OVERLAP: table <-> chair depth=[0.593, 0.642, 0.540] + !! OVERLAP: table <-> floor depth=[1.416, -0.001, 1.361] + !! OVERLAP: chair <-> chair depth=[0.543, 1.026, 0.220] + !! OVERLAP: chair <-> floor depth=[0.543, -0.001, 0.589] + !! OVERLAP: chair <-> floor depth=[1.015, -0.001, 0.651] + !! OVERLAP: chair <-> chair depth=[0.506, 1.033, 0.017] + !! OVERLAP: chair <-> floor depth=[0.642, -0.001, 0.681] + !! OVERLAP: chair <-> floor depth=[0.506, -0.001, 0.592] + !! OVERLAP: chair <-> chair depth=[0.552, 1.047, 0.481] + !! OVERLAP: chair <-> floor depth=[0.552, -0.001, 0.695] + !! OVERLAP: chair <-> chair depth=[0.645, 1.013, 0.419] + !! OVERLAP: chair <-> floor depth=[0.679, -0.001, 0.948] + !! OVERLAP: chair <-> floor depth=[0.672, -0.001, 0.702] + !! OVERLAP: chair <-> floor depth=[0.645, -0.001, 0.611] + !! OVERLAP: table <-> floor depth=[1.327, -0.001, 0.333] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0309, Room Outer Loss: 0.0438, Walkable Loss: 3.9419 (Center Penalty: 2.9919, C1 Heatmap: 0.3986, C2 Repulsion: 3.1557), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.304 0.798 1.300 -0.237 -0.001 -0.608 90.02° +chair 0.468 1.051 0.561 -0.617 -0.001 0.718 -179.96° +chair 0.506 0.928 0.549 0.373 0.008 0.727 179.95° +chair 0.462 0.836 0.490 1.256 -0.000 0.357 -179.94° +chair 0.483 0.855 0.586 1.000 0.002 -0.835 -0.00° +chair 0.452 0.872 0.546 0.015 0.002 -0.860 0.06° +lamp 0.656 0.944 0.624 0.221 1.659 -0.145 0.02° +floor 3.780 0.002 2.710 0.016 0.002 -0.005 -0.02° +_scene_ 0.060 0.002 0.013 -5.669 -0.005 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.452, 0.798, 0.546] + !! OVERLAP: table <-> floor depth=[1.304, 0.002, 1.300] + !! OVERLAP: chair <-> floor depth=[0.468, 0.002, 0.561] + !! OVERLAP: chair <-> floor depth=[0.506, 0.002, 0.549] + !! OVERLAP: chair <-> floor depth=[0.462, 0.002, 0.490] + !! OVERLAP: chair <-> floor depth=[0.483, 0.002, 0.586] + !! OVERLAP: chair <-> floor depth=[0.452, 0.002, 0.546] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0618, Room Outer Loss: 0.3324, Walkable Loss: 3.5153 (Center Penalty: 1.7497, C1 Heatmap: 0.6041, C2 Repulsion: 6.4114), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.399 0.495 0.404 -1.010 0.003 0.799 179.92° +shelf 0.378 0.856 0.270 -0.967 -0.000 -1.217 0.11° +chair 0.434 0.846 0.443 1.718 -0.001 0.986 -179.92° +chair 0.502 0.843 0.512 0.845 0.004 0.993 179.92° +chair 0.520 0.847 0.595 1.458 0.001 -0.490 -0.06° +chair 0.511 0.830 0.574 0.958 0.001 -0.396 -0.03° +table 2.176 0.804 1.026 0.919 0.000 0.332 -89.82° +lamp 0.383 0.697 0.294 1.401 1.931 0.713 -0.04° +lamp 0.583 0.840 0.547 0.352 1.693 -0.551 -0.07° +floor 3.706 -0.004 3.489 -0.003 -0.001 -0.004 -0.01° +_scene_ 0.069 0.001 0.019 -5.669 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.399, -0.004, 0.404] + !! OVERLAP: shelf <-> floor depth=[0.378, -0.004, 0.270] + !! OVERLAP: chair <-> table depth=[0.434, 0.804, 0.081] + !! OVERLAP: chair <-> floor depth=[0.349, -0.004, 0.443] + !! OVERLAP: chair <-> table depth=[0.502, 0.804, 0.108] + !! OVERLAP: chair <-> floor depth=[0.502, -0.004, 0.512] + !! OVERLAP: chair <-> chair depth=[0.016, 0.830, 0.490] + !! OVERLAP: chair <-> floor depth=[0.520, -0.004, 0.595] + !! OVERLAP: chair <-> table depth=[0.511, 0.804, 0.072] + !! OVERLAP: chair <-> floor depth=[0.511, -0.004, 0.574] + !! OVERLAP: table <-> floor depth=[2.019, -0.004, 1.026] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0094, Room Outer Loss: 0.0000, Walkable Loss: 3.5855 (Center Penalty: 2.2290, C1 Heatmap: 0.5627, C2 Repulsion: 4.5319), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.030 0.740 0.799 -0.314 0.000 0.806 -0.04° +chair 0.519 0.835 0.549 -1.007 0.001 0.046 0.01° +chair 0.590 0.810 0.605 0.382 0.001 0.025 0.08° +chair 0.516 0.861 0.494 -0.657 0.001 1.413 179.98° +chair 0.484 0.818 0.487 0.307 0.003 1.370 179.92° +table 1.401 0.811 0.573 -0.480 0.002 -1.620 0.01° +lamp 1.082 0.651 1.201 0.099 2.055 1.033 0.01° +floor 3.511 0.002 3.801 -0.008 0.002 -0.012 -0.04° +_scene_ 0.076 0.002 0.024 -5.665 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.516, 0.740, 0.039] + !! OVERLAP: table <-> chair depth=[0.484, 0.740, 0.079] + !! OVERLAP: table <-> floor depth=[2.030, 0.002, 0.799] + !! OVERLAP: chair <-> floor depth=[0.519, 0.002, 0.549] + !! OVERLAP: chair <-> floor depth=[0.590, 0.002, 0.605] + !! OVERLAP: chair <-> floor depth=[0.516, 0.002, 0.494] + !! OVERLAP: chair <-> floor depth=[0.484, 0.002, 0.487] + !! OVERLAP: table <-> floor depth=[1.401, 0.002, 0.573] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0365, Room Outer Loss: 0.0000, Walkable Loss: 3.1200 (Center Penalty: 1.9227, C1 Heatmap: 0.4152, C2 Repulsion: 4.3261), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.737 0.780 0.975 0.525 0.006 -0.513 -0.04° +lamp 0.923 0.787 0.906 0.807 1.995 -1.004 0.86° +chair 0.518 1.035 0.605 -0.281 0.001 -1.311 89.85° +chair 0.598 1.011 0.607 -0.280 0.000 -0.332 90.03° +chair 0.467 1.024 0.542 1.398 -0.001 -1.140 -82.00° +chair 0.405 1.001 0.563 1.493 0.007 -0.142 -90.12° +floor 3.346 -0.001 4.030 0.372 -0.002 -0.229 -0.06° +_scene_ 0.063 0.000 0.021 -5.667 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.362, 0.780, 0.607] + !! OVERLAP: table <-> chair depth=[0.229, 0.780, 0.132] + !! OVERLAP: table <-> chair depth=[0.103, 0.780, 0.397] + !! OVERLAP: table <-> floor depth=[1.737, -0.001, 0.975] + !! OVERLAP: chair <-> floor depth=[0.518, -0.001, 0.605] + !! OVERLAP: chair <-> floor depth=[0.598, -0.001, 0.607] + !! OVERLAP: chair <-> floor depth=[0.467, -0.001, 0.542] + !! OVERLAP: chair <-> floor depth=[0.405, -0.001, 0.563] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0389, Room Outer Loss: 0.0000, Walkable Loss: 5.0968 (Center Penalty: 3.5487, C1 Heatmap: 0.4783, C2 Repulsion: 5.8276), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.425 0.745 1.003 -0.175 0.001 -0.657 -0.00° +chair 0.487 0.928 0.533 0.613 0.002 -0.021 -179.61° +chair 0.527 0.844 0.572 -0.374 0.001 0.050 -179.99° +chair 0.564 0.867 0.600 0.507 0.002 -1.206 0.09° +chair 0.475 0.910 0.481 -0.240 -0.000 -1.056 0.05° +table 1.576 1.216 0.420 0.106 0.003 1.289 -179.90° +lamp 1.051 1.021 0.659 -0.024 1.794 -0.423 0.01° +floor 2.542 0.000 3.101 -0.003 -0.000 0.001 -0.02° +_scene_ 0.060 0.001 0.019 -5.664 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.168, 0.745, 0.131] + !! OVERLAP: table <-> chair depth=[0.527, 0.745, 0.080] + !! OVERLAP: table <-> chair depth=[0.313, 0.745, 0.252] + !! OVERLAP: table <-> chair depth=[0.475, 0.745, 0.343] + !! OVERLAP: table <-> floor depth=[1.425, 0.000, 1.003] + !! OVERLAP: chair <-> floor depth=[0.487, 0.000, 0.533] + !! OVERLAP: chair <-> floor depth=[0.527, 0.000, 0.572] + !! OVERLAP: chair <-> floor depth=[0.564, 0.000, 0.600] + !! OVERLAP: chair <-> floor depth=[0.475, 0.000, 0.481] + !! OVERLAP: table <-> floor depth=[1.576, 0.000, 0.420] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0268, Room Outer Loss: 0.0000, Walkable Loss: 3.3483 (Center Penalty: 1.4358, C1 Heatmap: 0.8259, C2 Repulsion: 6.2588), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.112 0.768 0.953 1.078 -0.001 -1.059 -0.06° +chair 0.603 0.955 0.563 1.682 0.003 -1.785 -0.02° +chair 0.590 0.897 0.638 0.830 0.001 -0.464 179.97° +cabinet 1.544 2.008 0.487 0.675 0.004 1.336 179.91° +chair 0.545 0.971 0.569 1.976 0.000 -0.766 179.98° +chair 0.629 0.979 0.529 0.707 0.000 -1.637 -0.03° +lamp 0.601 0.365 0.611 0.200 2.167 -0.953 -0.03° +cabinet 1.342 1.758 0.476 -2.363 -0.004 -0.973 0.02° +tv_stand 1.600 0.331 0.298 -2.250 0.002 1.368 -180.00° +chair 0.464 0.532 0.455 -0.393 -0.001 0.882 179.90° +floor 6.646 -0.002 4.026 -0.130 0.000 -0.247 -0.05° +_scene_ 0.070 0.001 0.024 -5.670 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.603, 0.768, 0.032] + !! OVERLAP: table <-> chair depth=[0.590, 0.768, 0.200] + !! OVERLAP: table <-> chair depth=[0.431, 0.768, 0.468] + !! OVERLAP: table <-> chair depth=[0.629, 0.768, 0.163] + !! OVERLAP: table <-> floor depth=[2.112, -0.002, 0.953] + !! OVERLAP: chair <-> floor depth=[0.603, -0.002, 0.563] + !! OVERLAP: chair <-> floor depth=[0.590, -0.002, 0.638] + !! OVERLAP: cabinet <-> floor depth=[1.544, -0.002, 0.487] + !! OVERLAP: chair <-> floor depth=[0.545, -0.002, 0.569] + !! OVERLAP: chair <-> floor depth=[0.629, -0.002, 0.529] + !! OVERLAP: cabinet <-> floor depth=[1.342, -0.002, 0.476] + !! OVERLAP: tv_stand <-> floor depth=[1.600, -0.002, 0.298] + !! OVERLAP: chair <-> floor depth=[0.464, -0.002, 0.455] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0596, Room Outer Loss: 0.0000, Walkable Loss: 3.4042 (Center Penalty: 2.3935, C1 Heatmap: 0.4151, C2 Repulsion: 3.3934), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.559 0.793 1.474 -0.496 0.004 -0.225 90.02° +chair 0.505 0.714 0.552 0.872 0.000 0.645 -90.96° +chair 0.417 0.808 0.490 0.974 0.004 -0.426 -90.32° +chair 0.443 0.778 0.500 -0.868 -0.001 0.385 90.03° +chair 0.437 0.699 0.403 -0.922 -0.007 -0.359 80.58° +lamp 0.766 0.943 0.750 0.636 1.966 -0.447 -0.04° +floor 3.594 -0.002 2.892 0.014 0.001 0.006 -0.05° +_scene_ 0.076 0.001 0.033 -5.655 -0.003 -5.694 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.443, 0.778, 0.377] + !! OVERLAP: table <-> chair depth=[0.437, 0.699, 0.403] + !! OVERLAP: table <-> floor depth=[1.559, -0.002, 1.474] + !! OVERLAP: chair <-> floor depth=[0.505, -0.002, 0.552] + !! OVERLAP: chair <-> floor depth=[0.417, -0.002, 0.490] + !! OVERLAP: chair <-> floor depth=[0.443, -0.002, 0.500] + !! OVERLAP: chair <-> floor depth=[0.437, -0.002, 0.403] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0361, Room Outer Loss: 0.0000, Walkable Loss: 3.8282 (Center Penalty: 2.0556, C1 Heatmap: 0.5881, C2 Repulsion: 6.5107), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.659 1.033 0.691 -0.481 0.004 -1.223 64.54° +chair 0.613 1.032 0.637 -0.568 -0.001 -0.388 90.00° +chair 0.522 1.028 0.576 0.983 0.001 -0.357 -89.88° +chair 0.447 1.085 0.557 0.989 -0.001 -1.098 -90.04° +table 1.290 0.745 1.227 0.201 -0.002 -0.873 89.99° +table 1.811 0.842 0.402 -0.160 0.002 1.485 179.90° +chair 0.478 0.625 0.551 1.078 -0.001 1.042 -179.93° +lamp 1.007 0.838 0.982 -0.029 1.816 -0.722 -0.01° +floor 3.579 -0.001 3.768 0.115 0.001 -0.038 -0.00° +_scene_ 0.064 0.002 0.020 -5.664 -0.003 -5.706 -57.21° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.292, 0.745, 0.609] + !! OVERLAP: chair <-> floor depth=[0.659, -0.001, 0.691] + !! OVERLAP: chair <-> table depth=[0.182, 0.745, 0.446] + !! OVERLAP: chair <-> floor depth=[0.613, -0.001, 0.637] + !! OVERLAP: chair <-> table depth=[0.124, 0.745, 0.386] + !! OVERLAP: chair <-> floor depth=[0.522, -0.001, 0.576] + !! OVERLAP: chair <-> table depth=[0.081, 0.745, 0.557] + !! OVERLAP: chair <-> floor depth=[0.447, -0.001, 0.557] + !! OVERLAP: table <-> floor depth=[1.290, -0.001, 1.227] + !! OVERLAP: table <-> floor depth=[1.811, -0.001, 0.402] + !! OVERLAP: chair <-> floor depth=[0.478, -0.001, 0.551] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0428, Room Outer Loss: 0.0000, Walkable Loss: 4.0715 (Center Penalty: 2.7327, C1 Heatmap: 0.4904, C2 Repulsion: 4.7323), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.859 0.916 0.361 0.629 0.002 -1.506 -0.04° +table 2.447 0.722 0.967 0.102 -0.000 0.884 -179.99° +chair 0.347 0.478 0.362 -1.035 0.001 -0.041 90.01° +chair 0.350 0.489 0.372 0.105 0.000 0.112 -0.03° +chair 0.373 0.511 0.446 0.173 0.001 1.182 -179.88° +chair 0.429 0.521 0.411 -0.775 0.000 0.951 90.02° +chair 0.374 0.571 0.412 0.907 -0.000 0.492 -89.97° +lamp 1.817 0.618 1.867 -0.093 2.242 0.862 0.01° +floor 3.427 -0.003 3.853 -0.004 0.001 -0.015 -0.02° +_scene_ 0.065 0.002 0.019 -5.667 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.859, -0.003, 0.361] + !! OVERLAP: table <-> chair depth=[0.373, 0.511, 0.409] + !! OVERLAP: table <-> chair depth=[0.429, 0.521, 0.411] + !! OVERLAP: table <-> chair depth=[0.374, 0.571, 0.296] + !! OVERLAP: table <-> floor depth=[2.447, -0.003, 0.967] + !! OVERLAP: chair <-> floor depth=[0.347, -0.003, 0.362] + !! OVERLAP: chair <-> floor depth=[0.350, -0.003, 0.372] + !! OVERLAP: chair <-> floor depth=[0.373, -0.003, 0.446] + !! OVERLAP: chair <-> floor depth=[0.429, -0.003, 0.411] + !! OVERLAP: chair <-> floor depth=[0.374, -0.003, 0.412] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0639, Room Outer Loss: 0.0000, Walkable Loss: 4.5325 (Center Penalty: 2.3878, C1 Heatmap: 0.8464, C2 Repulsion: 7.3378), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.960 0.611 0.233 -0.693 2.068 0.296 0.04° +chair 0.595 0.746 0.602 -0.844 0.001 -0.576 0.01° +chair 0.511 0.426 0.419 0.765 0.002 -1.492 0.00° +chair 0.623 0.818 0.640 -0.109 0.001 -0.352 -0.19° +cabinet 1.912 1.899 0.252 -2.032 0.006 0.040 89.89° +table 2.515 0.742 1.403 -0.605 -0.001 0.389 0.05° +chair 0.562 0.740 0.514 0.140 0.002 0.857 -129.38° +chair 0.578 0.773 0.582 -0.665 0.000 1.260 179.88° +floor 5.778 -0.002 3.972 -0.609 -0.001 -0.083 0.04° +_scene_ 0.061 0.000 0.018 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.595, 0.742, 0.037] + !! OVERLAP: chair <-> floor depth=[0.595, -0.002, 0.602] + !! OVERLAP: chair <-> floor depth=[0.511, -0.002, 0.419] + !! OVERLAP: chair <-> table depth=[0.623, 0.742, 0.281] + !! OVERLAP: chair <-> floor depth=[0.623, -0.002, 0.640] + !! OVERLAP: cabinet <-> table depth=[0.786, 0.742, 0.252] + !! OVERLAP: cabinet <-> floor depth=[1.912, -0.002, 0.252] + !! OVERLAP: table <-> chair depth=[0.562, 0.738, 0.490] + !! OVERLAP: table <-> chair depth=[0.578, 0.742, 0.121] + !! OVERLAP: table <-> floor depth=[2.515, -0.002, 1.403] + !! OVERLAP: chair <-> floor depth=[0.562, -0.002, 0.514] + !! OVERLAP: chair <-> floor depth=[0.578, -0.002, 0.582] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.0000, Walkable Loss: 5.1347 (Center Penalty: 3.7443, C1 Heatmap: 0.4203, C2 Repulsion: 5.2708), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.773 0.752 0.824 -0.149 -0.000 0.139 -89.84° +chair 0.576 1.045 0.609 0.561 0.002 -0.388 -89.97° +chair 0.623 1.043 0.670 0.744 0.002 0.526 -90.22° +chair 0.592 0.937 0.613 -0.847 0.002 -0.257 90.01° +chair 0.613 0.998 0.674 -0.952 0.003 0.666 90.04° +lamp 0.723 1.139 0.738 0.158 1.604 0.144 89.92° +floor 2.801 0.000 3.176 -0.012 0.002 0.003 -0.04° +_scene_ 0.068 0.004 0.023 -5.668 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.465, 0.752, 0.190] + !! OVERLAP: table <-> chair depth=[0.306, 0.752, 0.360] + !! OVERLAP: table <-> chair depth=[0.484, 0.752, 0.323] + !! OVERLAP: table <-> chair depth=[0.390, 0.752, 0.222] + !! OVERLAP: table <-> floor depth=[1.773, 0.000, 0.824] + !! OVERLAP: chair <-> floor depth=[0.576, 0.000, 0.609] + !! OVERLAP: chair <-> floor depth=[0.623, 0.000, 0.670] + !! OVERLAP: chair <-> floor depth=[0.592, 0.000, 0.613] + !! OVERLAP: chair <-> floor depth=[0.613, 0.000, 0.674] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0311, Room Outer Loss: 0.0000, Walkable Loss: 4.3813 (Center Penalty: 3.2127, C1 Heatmap: 0.4199, C2 Repulsion: 4.1632), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.652 0.738 1.017 -0.139 0.001 -0.338 -0.00° +chair 0.640 0.982 0.665 -0.774 0.001 0.392 179.99° +chair 0.546 0.971 0.595 -1.042 -0.001 -0.841 0.05° +chair 0.494 1.005 0.555 0.208 0.003 0.673 179.76° +chair 0.573 0.930 0.600 0.328 0.001 -0.862 -0.03° +lamp 0.243 0.991 0.193 -0.216 1.613 -0.272 -0.04° +floor 3.217 -0.005 2.749 -0.049 0.000 0.055 -0.08° +_scene_ 0.067 -0.000 0.024 -5.669 -0.004 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.511, 0.738, 0.112] + !! OVERLAP: table <-> chair depth=[0.196, 0.738, 0.303] + !! OVERLAP: table <-> chair depth=[0.573, 0.738, 0.285] + !! OVERLAP: table <-> floor depth=[1.652, -0.005, 1.017] + !! OVERLAP: chair <-> floor depth=[0.640, -0.005, 0.665] + !! OVERLAP: chair <-> floor depth=[0.546, -0.005, 0.595] + !! OVERLAP: chair <-> floor depth=[0.494, -0.005, 0.555] + !! OVERLAP: chair <-> floor depth=[0.573, -0.005, 0.600] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 0.0000, Walkable Loss: 5.2780 (Center Penalty: 4.1133, C1 Heatmap: 0.3750, C2 Repulsion: 4.3237), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.159 0.708 0.912 0.081 -0.001 0.064 90.00° +chair 0.436 0.634 0.383 0.674 0.003 0.607 -90.08° +chair 0.384 0.660 0.400 0.835 -0.000 -0.367 -89.87° +chair 0.365 0.623 0.326 -0.577 0.002 0.541 89.92° +chair 0.447 0.549 0.445 -0.477 0.001 -0.226 90.00° +lamp 0.654 0.844 0.644 0.075 1.910 -0.225 90.02° +floor 2.413 -0.002 2.435 -0.015 0.001 -0.051 0.01° +_scene_ 0.070 0.001 0.028 -5.668 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.436, 0.634, 0.104] + !! OVERLAP: table <-> chair depth=[0.384, 0.660, 0.225] + !! OVERLAP: table <-> chair depth=[0.365, 0.623, 0.142] + !! OVERLAP: table <-> chair depth=[0.447, 0.549, 0.388] + !! OVERLAP: table <-> floor depth=[2.159, -0.002, 0.912] + !! OVERLAP: chair <-> floor depth=[0.436, -0.002, 0.383] + !! OVERLAP: chair <-> floor depth=[0.384, -0.002, 0.400] + !! OVERLAP: chair <-> floor depth=[0.365, -0.002, 0.326] + !! OVERLAP: chair <-> floor depth=[0.447, -0.002, 0.445] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0219, Room Outer Loss: 0.0584, Walkable Loss: 2.7511 (Center Penalty: 1.5606, C1 Heatmap: 0.4095, C2 Repulsion: 4.3146), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.366 0.724 0.965 -0.476 -0.001 -1.179 -90.15° +chair 0.442 0.911 0.503 0.015 0.003 -0.753 179.89° +chair 0.417 0.929 0.425 0.284 -0.004 -1.761 -33.49° +chair 0.526 0.983 0.574 -0.921 -0.001 -1.731 0.03° +chair 0.437 0.882 0.465 -1.060 0.004 -0.572 116.00° +bookshelf 1.358 2.290 0.325 0.854 -0.000 1.117 -90.16° +lamp 0.505 0.902 0.370 0.013 1.745 1.171 -0.04° +lamp 0.621 1.151 0.603 -0.162 1.756 -1.406 0.01° +floor 3.098 -0.003 4.662 -0.025 0.000 0.001 -0.01° +_scene_ 0.067 0.001 0.017 -5.671 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.413, 0.724, 0.308] + !! OVERLAP: table <-> chair depth=[0.132, 0.724, 0.112] + !! OVERLAP: table <-> chair depth=[0.500, 0.724, 0.217] + !! OVERLAP: table <-> chair depth=[0.317, 0.724, 0.107] + !! OVERLAP: table <-> floor depth=[1.366, -0.003, 0.965] + !! OVERLAP: chair <-> floor depth=[0.442, -0.003, 0.503] + !! OVERLAP: chair <-> floor depth=[0.417, -0.003, 0.425] + !! OVERLAP: chair <-> floor depth=[0.526, -0.003, 0.574] + !! OVERLAP: chair <-> floor depth=[0.437, -0.003, 0.465] + !! OVERLAP: bookshelf <-> floor depth=[1.349, -0.003, 0.325] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0146, Room Outer Loss: 0.0000, Walkable Loss: 3.3666 (Center Penalty: 2.0978, C1 Heatmap: 0.4361, C2 Repulsion: 4.5994), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.474 0.932 0.526 -0.614 0.001 -0.877 0.03° +chair 0.489 0.919 0.485 0.629 -0.000 -0.452 -69.90° +chair 0.457 0.916 0.502 0.621 0.002 0.990 -136.19° +chair 0.459 0.959 0.535 -0.694 0.001 0.931 179.84° +chair 0.557 0.970 0.586 -1.453 0.003 -0.374 65.55° +table 1.827 0.762 0.928 -0.143 0.000 0.199 -0.02° +floor 4.268 -0.005 5.193 0.224 0.002 0.317 -0.06° +_scene_ 0.141 -0.005 0.166 -5.380 -0.003 -5.455 -58.16° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.474, -0.005, 0.526] + !! OVERLAP: chair <-> table depth=[0.386, 0.762, 0.055] + !! OVERLAP: chair <-> floor depth=[0.489, -0.005, 0.485] + !! OVERLAP: chair <-> floor depth=[0.457, -0.005, 0.502] + !! OVERLAP: chair <-> floor depth=[0.459, -0.005, 0.535] + !! OVERLAP: chair <-> floor depth=[0.557, -0.005, 0.586] + !! OVERLAP: table <-> floor depth=[1.827, -0.005, 0.928] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0107, Room Outer Loss: 0.0000, Walkable Loss: 2.3898 (Center Penalty: 0.8253, C1 Heatmap: 0.4580, C2 Repulsion: 5.9907), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.229 0.760 0.698 -1.028 0.003 1.635 -0.03° +chair 0.598 0.858 0.616 -1.210 -0.000 1.108 137.76° +chair 0.457 0.809 0.479 -0.309 -0.001 1.099 -156.63° +chair 0.547 0.829 0.569 0.433 0.002 1.060 -135.97° +chair 0.547 0.775 0.541 -1.229 0.003 -0.825 14.87° +chair 0.507 0.796 0.518 -0.592 -0.009 -1.293 -9.44° +chair 0.538 0.803 0.517 0.244 -0.004 -1.068 -42.06° +chair 0.547 0.813 0.643 0.877 0.001 0.091 -77.63° +chair 0.492 0.819 0.537 -1.959 0.003 0.142 104.53° +floor 6.126 -0.005 6.991 -0.675 -0.000 0.285 -0.05° +_scene_ 1.062 0.403 1.861 -2.427 0.005 -2.772 -82.52° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.598, 0.760, 0.130] + !! OVERLAP: table <-> chair depth=[0.124, 0.760, 0.053] + !! OVERLAP: table <-> floor depth=[1.229, -0.005, 0.698] + !! OVERLAP: chair <-> floor depth=[0.598, -0.005, 0.616] + !! OVERLAP: chair <-> floor depth=[0.457, -0.005, 0.479] + !! OVERLAP: chair <-> floor depth=[0.547, -0.005, 0.569] + !! OVERLAP: chair <-> floor depth=[0.547, -0.005, 0.541] + !! OVERLAP: chair <-> floor depth=[0.507, -0.005, 0.518] + !! OVERLAP: chair <-> floor depth=[0.538, -0.005, 0.517] + !! OVERLAP: chair <-> floor depth=[0.547, -0.005, 0.643] + !! OVERLAP: chair <-> floor depth=[0.492, -0.005, 0.537] + !! OVERLAP: floor <-> _scene_ depth=[1.062, -0.005, 1.369] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0052, Room Outer Loss: 0.0000, Walkable Loss: 6.2104 (Center Penalty: 3.7037, C1 Heatmap: 0.4526, C2 Repulsion: 10.7231), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.216 0.738 1.115 -0.187 0.007 -0.122 89.98° +chair 0.520 0.952 0.603 -0.322 0.001 -0.925 0.05° +chair 0.547 0.903 0.520 0.116 -0.000 -1.092 0.11° +chair 0.498 0.924 0.517 -0.378 0.001 0.876 179.92° +chair 0.422 0.884 0.484 0.236 0.004 0.794 179.93° +chair 0.521 0.985 0.573 -1.092 -0.001 -0.226 90.02° +chair 0.447 0.960 0.531 0.989 -0.001 -0.064 -89.96° +lamp 0.701 1.143 0.510 0.025 1.445 -0.214 0.02° +floor 3.425 -0.002 3.321 0.011 0.001 -0.027 -0.01° +_scene_ 0.068 -0.004 0.074 -5.602 0.001 -5.644 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.520, 0.738, 0.056] + !! OVERLAP: table <-> floor depth=[1.216, -0.002, 1.115] + !! OVERLAP: chair <-> chair depth=[0.096, 0.903, 0.394] + !! OVERLAP: chair <-> floor depth=[0.520, -0.002, 0.603] + !! OVERLAP: chair <-> floor depth=[0.547, -0.002, 0.520] + !! OVERLAP: chair <-> floor depth=[0.498, -0.002, 0.517] + !! OVERLAP: chair <-> floor depth=[0.422, -0.002, 0.484] + !! OVERLAP: chair <-> floor depth=[0.521, -0.002, 0.573] + !! OVERLAP: chair <-> floor depth=[0.447, -0.002, 0.531] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0478, Room Outer Loss: 0.0000, Walkable Loss: 6.0068 (Center Penalty: 3.9278, C1 Heatmap: 0.5666, C2 Repulsion: 8.1285), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.068 0.776 1.163 0.096 0.005 -0.027 0.01° +chair 0.566 0.962 0.585 -0.746 0.003 0.655 90.02° +chair 0.446 0.973 0.520 0.745 0.001 0.428 -90.09° +chair 0.468 0.928 0.519 0.840 0.002 -0.298 -77.52° +chair 0.480 0.973 0.562 -0.764 -0.000 -0.270 89.80° +chair 0.568 0.973 0.560 0.031 0.000 1.056 179.90° +chair 0.560 1.002 0.557 -0.033 0.001 -1.074 0.09° +lamp 0.421 0.775 0.381 -0.031 2.133 -0.048 -0.04° +floor 2.772 -0.004 3.607 -0.035 0.001 0.003 0.00° +_scene_ 0.070 -0.001 0.037 -5.650 -0.005 -5.688 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.475, 0.776, 0.192] + !! OVERLAP: table <-> chair depth=[0.446, 0.776, 0.386] + !! OVERLAP: table <-> chair depth=[0.468, 0.776, 0.519] + !! OVERLAP: table <-> chair depth=[0.414, 0.776, 0.562] + !! OVERLAP: table <-> floor depth=[2.068, -0.004, 1.163] + !! OVERLAP: chair <-> floor depth=[0.566, -0.004, 0.585] + !! OVERLAP: chair <-> floor depth=[0.446, -0.004, 0.520] + !! OVERLAP: chair <-> floor depth=[0.468, -0.004, 0.519] + !! OVERLAP: chair <-> floor depth=[0.480, -0.004, 0.562] + !! OVERLAP: chair <-> floor depth=[0.568, -0.004, 0.560] + !! OVERLAP: chair <-> floor depth=[0.560, -0.004, 0.557] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0394, Room Outer Loss: 0.0000, Walkable Loss: 5.9132 (Center Penalty: 3.8119, C1 Heatmap: 0.4888, C2 Repulsion: 8.5511), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.628 0.762 1.019 -0.303 0.001 -0.183 -0.01° +chair 0.445 0.973 0.545 -1.009 -0.001 0.240 90.05° +chair 0.614 0.960 0.585 0.533 0.000 0.421 -102.82° +chair 0.574 1.000 0.630 0.674 -0.001 -0.352 -76.83° +chair 0.513 0.978 0.561 -1.111 0.004 -0.339 63.20° +chair 0.600 0.869 0.576 -0.265 0.004 1.151 -179.97° +chair 0.652 0.937 0.618 -0.282 -0.000 -1.138 0.04° +lamp 0.414 0.543 0.454 -0.085 2.223 -0.143 0.05° +floor 2.852 -0.007 3.090 -0.064 0.002 -0.010 0.01° +_scene_ 0.070 -0.001 0.033 -5.659 -0.004 -5.699 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.330, 0.762, 0.359] + !! OVERLAP: table <-> chair depth=[0.286, 0.762, 0.198] + !! OVERLAP: table <-> chair depth=[0.124, 0.762, 0.630] + !! OVERLAP: table <-> chair depth=[0.262, 0.762, 0.561] + !! OVERLAP: table <-> floor depth=[1.628, -0.007, 1.019] + !! OVERLAP: chair <-> floor depth=[0.445, -0.007, 0.545] + !! OVERLAP: chair <-> floor depth=[0.614, -0.007, 0.585] + !! OVERLAP: chair <-> floor depth=[0.574, -0.007, 0.630] + !! OVERLAP: chair <-> floor depth=[0.513, -0.007, 0.561] + !! OVERLAP: chair <-> floor depth=[0.600, -0.007, 0.576] + !! OVERLAP: chair <-> floor depth=[0.652, -0.007, 0.618] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0665, Room Outer Loss: 1.7031, Walkable Loss: 4.1786 (Center Penalty: 1.7023, C1 Heatmap: 0.9687, C2 Repulsion: 8.5068), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.588 1.338 0.267 -1.623 0.000 -0.900 89.97° +chair 0.585 0.979 0.624 0.487 0.001 -1.021 0.03° +chair 0.542 0.998 0.615 1.393 0.001 -1.018 0.07° +chair 0.510 0.986 0.584 0.739 0.000 0.747 -179.96° +chair 0.491 0.959 0.563 1.642 0.002 0.608 -179.99° +table 1.522 0.724 1.034 1.028 -0.002 -0.078 0.04° +table 1.798 0.744 0.517 -1.238 0.007 -0.586 90.05° +cabinet 2.539 2.107 0.470 -1.537 0.000 0.199 89.93° +lamp 0.860 0.851 0.860 0.672 2.302 -0.156 -0.02° +floor 4.036 -0.001 3.484 0.061 0.000 0.045 -0.03° +_scene_ 0.072 -0.000 0.023 -5.671 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[1.308, 0.744, 0.079] + !! OVERLAP: table <-> floor depth=[1.129, -0.001, 0.267] + !! OVERLAP: chair <-> floor depth=[0.585, -0.001, 0.624] + !! OVERLAP: chair <-> floor depth=[0.542, -0.001, 0.615] + !! OVERLAP: chair <-> floor depth=[0.510, -0.001, 0.584] + !! OVERLAP: chair <-> table depth=[0.392, 0.724, 0.112] + !! OVERLAP: chair <-> floor depth=[0.491, -0.001, 0.563] + !! OVERLAP: table <-> floor depth=[1.522, -0.001, 1.034] + !! OVERLAP: table <-> floor depth=[1.619, -0.001, 0.517] + !! OVERLAP: cabinet <-> floor depth=[1.690, -0.001, 0.470] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.1343, Room Outer Loss: 0.0000, Walkable Loss: 4.7809 (Center Penalty: 3.5580, C1 Heatmap: 0.4322, C2 Repulsion: 4.3859), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.636 0.736 1.169 0.468 0.002 -0.268 89.78° +chair 0.536 0.891 0.552 0.568 0.001 0.852 -179.93° +chair 0.489 0.849 0.566 0.834 0.000 -0.850 0.08° +chair 0.506 0.853 0.565 -0.378 0.001 0.837 179.87° +chair 0.505 0.815 0.557 -0.164 0.001 -0.795 -0.04° +lamp 1.128 1.004 1.199 0.497 1.603 -0.704 -0.03° +lamp 1.194 0.904 1.189 0.102 1.640 0.765 0.02° +lamp 1.487 0.898 1.493 0.439 1.648 -0.348 0.03° +floor 3.826 -0.003 2.662 -0.022 0.001 -0.018 -0.08° +_scene_ 0.070 -0.001 0.024 -5.671 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.489, 0.736, 0.287] + !! OVERLAP: table <-> chair depth=[0.439, 0.736, 0.337] + !! OVERLAP: table <-> floor depth=[1.636, -0.003, 1.169] + !! OVERLAP: chair <-> floor depth=[0.536, -0.003, 0.552] + !! OVERLAP: chair <-> floor depth=[0.489, -0.003, 0.566] + !! OVERLAP: chair <-> floor depth=[0.506, -0.003, 0.565] + !! OVERLAP: chair <-> floor depth=[0.505, -0.003, 0.557] + !! OVERLAP: lamp <-> lamp depth=[1.128, 0.898, 0.990] + !! OVERLAP: lamp <-> lamp depth=[1.003, 0.893, 0.227] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0308, Room Outer Loss: 0.0317, Walkable Loss: 5.2946 (Center Penalty: 3.3402, C1 Heatmap: 0.5424, C2 Repulsion: 7.6030), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.704 0.784 0.421 -0.224 0.002 1.360 179.98° +table 1.568 0.758 1.009 0.093 0.001 -0.249 -90.07° +chair 0.505 0.875 0.587 -0.047 0.001 -0.996 0.02° +chair 0.490 0.888 0.507 -0.837 0.001 -1.043 0.02° +chair 0.445 0.905 0.514 -0.020 0.001 0.608 -179.97° +chair 0.533 0.862 0.556 -0.716 0.005 0.680 -179.98° +lamp 1.958 0.890 0.110 -0.184 1.974 -0.464 -0.06° +floor 2.406 0.001 3.502 0.003 0.001 0.046 -0.03° +_scene_ 0.055 0.003 0.006 -5.674 -0.008 -5.722 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.704, 0.001, 0.421] + !! OVERLAP: table <-> chair depth=[0.505, 0.758, 0.052] + !! OVERLAP: table <-> floor depth=[1.568, 0.001, 1.009] + !! OVERLAP: chair <-> floor depth=[0.505, 0.001, 0.587] + !! OVERLAP: chair <-> floor depth=[0.490, 0.001, 0.507] + !! OVERLAP: chair <-> floor depth=[0.445, 0.001, 0.514] + !! OVERLAP: chair <-> floor depth=[0.533, 0.001, 0.556] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0183, Room Outer Loss: 0.0000, Walkable Loss: 3.9626 (Center Penalty: 2.7909, C1 Heatmap: 0.4668, C2 Repulsion: 3.9914), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.627 0.770 1.304 0.628 0.001 0.201 -0.09° +chair 0.593 0.928 0.608 -0.761 0.000 -0.682 13.60° +chair 0.565 1.061 0.598 0.503 0.001 -0.687 0.08° +chair 0.539 0.938 0.614 -0.190 -0.000 0.933 179.83° +chair 0.522 0.966 0.533 0.723 0.004 0.911 -179.92° +lamp 0.904 0.955 0.898 0.131 1.794 -0.150 -0.00° +floor 3.008 -0.004 3.117 -0.011 0.002 -0.038 -0.04° +_scene_ 0.074 0.005 0.041 -5.653 -0.005 -5.700 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.565, 0.770, 0.063] + !! OVERLAP: table <-> chair depth=[0.265, 0.770, 0.227] + !! OVERLAP: table <-> chair depth=[0.522, 0.770, 0.209] + !! OVERLAP: table <-> floor depth=[1.627, -0.004, 1.304] + !! OVERLAP: chair <-> floor depth=[0.593, -0.004, 0.608] + !! OVERLAP: chair <-> floor depth=[0.565, -0.004, 0.598] + !! OVERLAP: chair <-> floor depth=[0.539, -0.004, 0.614] + !! OVERLAP: chair <-> floor depth=[0.522, -0.004, 0.533] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0468, Room Outer Loss: 0.0000, Walkable Loss: 5.7214 (Center Penalty: 3.6561, C1 Heatmap: 0.5349, C2 Repulsion: 8.1873), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.915 0.754 1.143 -0.319 -0.001 -0.343 -0.01° +chair 0.538 0.774 0.505 -1.069 0.018 -0.742 57.05° +chair 0.542 0.779 0.586 -0.051 0.000 -0.943 0.04° +chair 0.493 0.741 0.532 0.728 0.001 -0.732 -63.18° +chair 0.548 0.715 0.528 -0.770 0.002 0.515 147.73° +chair 0.540 0.739 0.508 0.629 0.002 0.195 -120.08° +chair 0.535 0.766 0.559 -0.246 0.001 0.819 179.94° +lamp 0.466 0.957 0.378 0.053 1.766 -0.034 -0.02° +floor 3.532 -0.004 3.353 0.003 -0.000 -0.005 -0.04° +_scene_ 0.062 0.009 0.024 -5.668 -0.006 -5.712 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.477, 0.745, 0.425] + !! OVERLAP: table <-> chair depth=[0.542, 0.754, 0.264] + !! OVERLAP: table <-> chair depth=[0.157, 0.741, 0.448] + !! OVERLAP: table <-> chair depth=[0.279, 0.739, 0.287] + !! OVERLAP: table <-> floor depth=[1.915, -0.004, 1.143] + !! OVERLAP: chair <-> floor depth=[0.538, -0.004, 0.505] + !! OVERLAP: chair <-> floor depth=[0.542, -0.004, 0.586] + !! OVERLAP: chair <-> floor depth=[0.493, -0.004, 0.532] + !! OVERLAP: chair <-> chair depth=[0.017, 0.715, 0.239] + !! OVERLAP: chair <-> floor depth=[0.548, -0.004, 0.528] + !! OVERLAP: chair <-> floor depth=[0.540, -0.004, 0.508] + !! OVERLAP: chair <-> floor depth=[0.535, -0.004, 0.559] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0131, Room Outer Loss: 0.0000, Walkable Loss: 4.8532 (Center Penalty: 3.2346, C1 Heatmap: 0.4382, C2 Repulsion: 6.3403), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.457 0.809 1.328 0.259 0.002 -0.018 89.72° +chair 0.456 0.747 0.515 0.978 0.003 0.420 -89.89° +chair 0.441 0.671 0.441 1.088 0.000 -0.518 -90.07° +chair 0.519 0.719 0.501 0.237 0.002 1.147 179.93° +chair 0.452 0.667 0.422 -0.811 0.001 -0.351 89.98° +chair 0.536 0.669 0.516 -0.867 -0.000 0.615 90.01° +chair 0.474 0.676 0.480 0.361 0.002 -1.090 0.04° +lamp 0.648 0.803 0.647 -0.329 1.971 -0.293 -0.02° +floor 3.344 -0.004 3.780 0.001 -0.000 -0.018 -0.02° +_scene_ 0.057 0.001 0.020 -5.660 -0.004 -5.703 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.237, 0.747, 0.483] + !! OVERLAP: table <-> chair depth=[0.119, 0.671, 0.385] + !! OVERLAP: table <-> floor depth=[1.457, -0.004, 1.328] + !! OVERLAP: chair <-> floor depth=[0.456, -0.004, 0.515] + !! OVERLAP: chair <-> floor depth=[0.441, -0.004, 0.441] + !! OVERLAP: chair <-> floor depth=[0.519, -0.004, 0.501] + !! OVERLAP: chair <-> floor depth=[0.452, -0.004, 0.422] + !! OVERLAP: chair <-> floor depth=[0.536, -0.004, 0.516] + !! OVERLAP: chair <-> floor depth=[0.474, -0.004, 0.480] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.0000, Walkable Loss: 3.2336 (Center Penalty: 1.6944, C1 Heatmap: 0.4676, C2 Repulsion: 5.8255), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.651 0.891 0.635 0.310 1.930 -0.616 90.06° +table 1.925 1.272 0.362 -0.083 0.001 1.501 -179.80° +chair 0.454 0.583 0.482 -0.774 0.000 -0.648 89.88° +table 1.458 0.778 0.829 -0.067 0.000 -0.902 90.08° +chair 0.441 0.665 0.459 -0.748 0.004 -1.351 90.02° +chair 0.441 0.654 0.462 0.888 0.001 -0.980 -90.14° +chair 0.435 0.688 0.490 0.693 0.003 -1.357 -89.97° +floor 2.822 -0.004 4.338 -0.036 0.000 -0.156 0.01° +_scene_ 0.068 0.001 0.019 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.925, -0.004, 0.362] + !! OVERLAP: chair <-> table depth=[0.249, 0.583, 0.402] + !! OVERLAP: chair <-> floor depth=[0.454, -0.004, 0.482] + !! OVERLAP: table <-> chair depth=[0.268, 0.665, 0.195] + !! OVERLAP: table <-> chair depth=[0.186, 0.688, 0.205] + !! OVERLAP: table <-> floor depth=[1.458, -0.004, 0.829] + !! OVERLAP: chair <-> floor depth=[0.441, -0.004, 0.459] + !! OVERLAP: chair <-> chair depth=[0.243, 0.654, 0.099] + !! OVERLAP: chair <-> floor depth=[0.441, -0.004, 0.462] + !! OVERLAP: chair <-> floor depth=[0.435, -0.004, 0.490] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0060, Room Outer Loss: 0.0257, Walkable Loss: 5.5168 (Center Penalty: 3.0138, C1 Heatmap: 0.5747, C2 Repulsion: 10.2165), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.503 0.699 0.489 -0.950 -0.002 1.118 169.10° +table 1.529 0.848 0.882 -0.547 0.006 0.332 -179.98° +chair 0.506 0.684 0.462 -0.403 -0.000 1.034 179.56° +chair 0.507 0.698 0.432 0.191 0.006 0.954 -146.37° +chair 0.470 0.711 0.488 0.157 -0.000 -0.898 -0.04° +chair 0.452 0.636 0.414 -0.400 -0.001 -1.017 0.02° +chair 0.537 0.694 0.489 -1.039 0.000 -0.995 0.04° +chair 0.472 0.657 0.468 0.783 0.000 0.056 -90.15° +chair 0.525 0.683 0.511 -1.348 0.000 0.146 89.98° +table 1.575 0.784 0.339 1.914 0.001 0.805 -90.07° +lamp 0.686 0.945 0.694 -0.440 1.839 0.179 -0.08° +floor 5.484 -0.003 3.754 -0.113 0.000 0.104 0.02° +_scene_ 0.063 0.003 0.049 -5.626 -0.003 -5.696 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.503, -0.003, 0.489] + !! OVERLAP: table <-> chair depth=[0.280, 0.698, 0.035] + !! OVERLAP: table <-> chair depth=[0.226, 0.683, 0.510] + !! OVERLAP: table <-> floor depth=[1.529, -0.003, 0.882] + !! OVERLAP: chair <-> floor depth=[0.506, -0.003, 0.462] + !! OVERLAP: chair <-> floor depth=[0.507, -0.003, 0.432] + !! OVERLAP: chair <-> floor depth=[0.470, -0.003, 0.488] + !! OVERLAP: chair <-> floor depth=[0.452, -0.003, 0.414] + !! OVERLAP: chair <-> floor depth=[0.537, -0.003, 0.489] + !! OVERLAP: chair <-> floor depth=[0.472, -0.003, 0.468] + !! OVERLAP: chair <-> floor depth=[0.525, -0.003, 0.511] + !! OVERLAP: table <-> floor depth=[1.503, -0.003, 0.339] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0079, Room Outer Loss: 0.4954, Walkable Loss: 5.3835 (Center Penalty: 2.8130, C1 Heatmap: 0.5626, C2 Repulsion: 10.6018), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.483 0.623 0.422 -0.970 0.001 0.885 179.81° +table 1.366 0.705 0.822 -0.814 0.001 -0.224 -0.05° +chair 0.576 0.643 0.428 -0.296 0.001 0.982 -179.99° +chair 0.537 0.650 0.507 0.084 0.001 1.038 -179.97° +chair 0.403 0.614 0.441 -0.099 0.000 -0.715 0.04° +chair 0.452 0.538 0.466 -0.519 0.001 -0.838 -0.01° +chair 0.463 0.639 0.451 -0.989 0.001 -0.894 0.02° +chair 0.512 0.655 0.516 0.636 0.002 0.041 -89.95° +chair 0.526 0.682 0.478 -1.425 -0.000 0.094 89.95° +table 1.716 0.822 0.480 1.967 0.001 0.930 -89.97° +lamp 0.726 0.763 0.743 -0.661 1.749 0.173 -0.05° +floor 4.754 -0.003 3.586 -0.096 0.000 -0.088 0.05° +_scene_ 0.105 -0.007 0.102 -5.623 -0.002 -5.651 -57.18° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.483, -0.003, 0.422] + !! OVERLAP: table <-> chair depth=[0.170, 0.614, 0.141] + !! OVERLAP: table <-> chair depth=[0.452, 0.538, 0.030] + !! OVERLAP: table <-> chair depth=[0.334, 0.682, 0.332] + !! OVERLAP: table <-> floor depth=[1.366, -0.003, 0.822] + !! OVERLAP: chair <-> chair depth=[0.177, 0.643, 0.411] + !! OVERLAP: chair <-> floor depth=[0.576, -0.003, 0.428] + !! OVERLAP: chair <-> floor depth=[0.537, -0.003, 0.507] + !! OVERLAP: chair <-> chair depth=[0.008, 0.538, 0.330] + !! OVERLAP: chair <-> floor depth=[0.403, -0.003, 0.441] + !! OVERLAP: chair <-> floor depth=[0.452, -0.003, 0.466] + !! OVERLAP: chair <-> floor depth=[0.463, -0.003, 0.451] + !! OVERLAP: chair <-> floor depth=[0.512, -0.003, 0.516] + !! OVERLAP: chair <-> floor depth=[0.526, -0.003, 0.478] + !! OVERLAP: table <-> floor depth=[1.173, -0.003, 0.480] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.7665, Walkable Loss: 5.2392 (Center Penalty: 3.6332, C1 Heatmap: 0.4579, C2 Repulsion: 6.1981), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.378 1.141 0.401 -1.740 0.000 -0.333 90.00° +lamp 1.387 1.157 0.517 -0.214 1.737 0.084 0.02° +table 1.449 0.754 1.016 -0.214 -0.005 0.134 0.00° +chair 0.508 0.915 0.545 -0.393 0.000 -0.729 0.03° +chair 0.536 0.926 0.527 0.391 0.000 -0.794 0.05° +chair 0.437 0.923 0.471 -0.430 0.001 0.867 179.73° +chair 0.417 0.890 0.483 0.338 0.001 0.914 179.94° +floor 3.016 -0.005 3.023 -0.002 0.001 0.003 -0.06° +_scene_ 0.091 0.007 0.068 -5.642 -0.004 -5.668 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.459, -0.005, 0.401] + !! OVERLAP: table <-> chair depth=[0.437, 0.754, 0.010] + !! OVERLAP: table <-> floor depth=[1.449, -0.005, 1.016] + !! OVERLAP: chair <-> floor depth=[0.508, -0.005, 0.545] + !! OVERLAP: chair <-> floor depth=[0.536, -0.005, 0.527] + !! OVERLAP: chair <-> floor depth=[0.437, -0.005, 0.471] + !! OVERLAP: chair <-> floor depth=[0.417, -0.005, 0.483] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0232, Room Outer Loss: 0.4858, Walkable Loss: 6.0398 (Center Penalty: 3.6948, C1 Heatmap: 0.5771, C2 Repulsion: 9.4163), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.381 0.860 0.540 0.905 -0.001 -1.266 -89.96° +chair 0.539 0.904 0.568 -0.695 0.001 -1.149 0.02° +table 1.390 0.694 1.247 -0.328 -0.002 -0.429 0.00° +chair 0.461 0.844 0.479 0.054 0.003 -1.055 0.03° +chair 0.439 0.842 0.486 -0.530 0.001 0.866 -179.99° +chair 0.474 0.871 0.516 -0.075 0.002 0.756 179.93° +cabinet 1.219 1.050 0.406 -1.291 0.002 0.404 89.99° +lamp 0.738 0.770 0.752 -0.228 1.635 0.027 0.03° +lamp 0.991 0.845 0.818 -0.514 1.833 -0.129 -0.02° +floor 2.879 -0.000 3.674 -0.002 0.002 -0.062 -0.03° +_scene_ 0.066 0.001 0.017 -5.676 -0.005 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.153, 0.694, 0.056] + !! OVERLAP: table <-> chair depth=[0.070, 0.844, 0.298] + !! OVERLAP: table <-> floor depth=[1.224, -0.000, 0.540] + !! OVERLAP: chair <-> table depth=[0.539, 0.694, 0.188] + !! OVERLAP: chair <-> floor depth=[0.539, -0.000, 0.568] + !! OVERLAP: table <-> chair depth=[0.461, 0.694, 0.237] + !! OVERLAP: table <-> floor depth=[1.390, -0.000, 1.247] + !! OVERLAP: chair <-> floor depth=[0.461, -0.000, 0.479] + !! OVERLAP: chair <-> chair depth=[0.002, 0.842, 0.391] + !! OVERLAP: chair <-> floor depth=[0.439, -0.000, 0.486] + !! OVERLAP: chair <-> floor depth=[0.474, -0.000, 0.516] + !! OVERLAP: cabinet <-> floor depth=[0.760, -0.000, 0.406] + !! OVERLAP: lamp <-> lamp depth=[0.579, 0.610, 0.629] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0375, Room Outer Loss: 0.0000, Walkable Loss: 5.9004 (Center Penalty: 3.8504, C1 Heatmap: 0.5187, C2 Repulsion: 8.1751), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.330 0.717 1.009 -0.071 -0.001 0.328 -179.93° +chair 0.466 0.662 0.496 -1.089 0.001 0.155 90.06° +chair 0.477 0.640 0.474 0.760 0.000 0.247 -90.02° +chair 0.438 0.598 0.459 -0.455 0.000 -0.673 0.03° +chair 0.456 0.584 0.428 -0.040 0.001 -0.728 0.03° +chair 0.394 0.544 0.405 0.215 -0.001 0.959 179.89° +chair 0.400 0.531 0.388 -0.318 0.001 1.028 179.92° +lamp 0.775 0.626 0.768 -0.352 2.102 0.177 -0.03° +floor 3.508 -0.008 2.905 -0.009 -0.000 -0.028 -0.05° +_scene_ 0.064 0.004 0.037 -5.630 -0.004 -5.681 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.380, 0.662, 0.496] + !! OVERLAP: table <-> chair depth=[0.477, 0.640, 0.474] + !! OVERLAP: table <-> chair depth=[0.394, 0.544, 0.077] + !! OVERLAP: table <-> floor depth=[2.330, -0.008, 1.009] + !! OVERLAP: chair <-> floor depth=[0.466, -0.008, 0.496] + !! OVERLAP: chair <-> floor depth=[0.477, -0.008, 0.474] + !! OVERLAP: chair <-> chair depth=[0.033, 0.584, 0.389] + !! OVERLAP: chair <-> floor depth=[0.438, -0.008, 0.459] + !! OVERLAP: chair <-> floor depth=[0.456, -0.008, 0.428] + !! OVERLAP: chair <-> floor depth=[0.394, -0.008, 0.405] + !! OVERLAP: chair <-> floor depth=[0.400, -0.008, 0.388] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.6099 (Center Penalty: 3.2368, C1 Heatmap: 0.1953, C2 Repulsion: 1.0843), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.450 0.858 0.334 -1.065 -0.006 0.665 128.50° +chair 0.488 0.863 0.502 -0.074 -0.002 0.781 -101.47° +chair 0.552 0.859 0.533 0.322 -0.002 -0.418 -48.66° +chair 0.625 0.874 0.700 -0.817 -0.000 -0.505 -0.00° +lamp 0.972 1.048 1.024 -0.036 1.700 -0.155 0.02° +table 0.472 1.213 0.429 1.291 0.001 -1.393 -89.98° +floor 3.434 -0.002 3.839 -0.008 0.001 -0.027 -0.01° +_scene_ 0.072 0.001 0.022 -5.671 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.450, -0.002, 0.334] + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.502] + !! OVERLAP: chair <-> floor depth=[0.552, -0.002, 0.533] + !! OVERLAP: chair <-> floor depth=[0.625, -0.002, 0.700] + !! OVERLAP: table <-> floor depth=[0.472, -0.002, 0.429] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0753, Room Outer Loss: 0.0000, Walkable Loss: 4.5112 (Center Penalty: 2.9095, C1 Heatmap: 0.5185, C2 Repulsion: 5.9349), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.905 1.982 0.331 0.852 0.002 1.440 -90.04° +table 1.618 0.730 1.200 -0.495 -0.001 -0.461 89.96° +chair 0.582 0.985 0.616 -0.758 -0.001 -1.517 0.18° +chair 0.410 0.915 0.487 -0.108 0.000 -1.278 -89.94° +chair 0.522 0.928 0.594 -1.115 0.000 -0.344 89.99° +chair 0.538 0.947 0.592 -0.184 -0.001 0.166 -179.92° +lamp 1.664 0.713 0.110 0.080 2.169 -0.594 -0.02° +floor 2.752 -0.002 4.160 -0.012 0.001 -0.014 0.02° +_scene_ 0.065 -0.001 0.025 -5.664 -0.003 -5.711 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.905, -0.002, 0.331] + !! OVERLAP: table <-> chair depth=[0.410, 0.730, 0.026] + !! OVERLAP: table <-> chair depth=[0.449, 0.730, 0.594] + !! OVERLAP: table <-> chair depth=[0.538, 0.730, 0.269] + !! OVERLAP: table <-> floor depth=[1.618, -0.002, 1.200] + !! OVERLAP: chair <-> floor depth=[0.582, -0.002, 0.616] + !! OVERLAP: chair <-> floor depth=[0.410, -0.002, 0.487] + !! OVERLAP: chair <-> floor depth=[0.522, -0.002, 0.594] + !! OVERLAP: chair <-> floor depth=[0.538, -0.002, 0.592] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0245, Room Outer Loss: 0.4584, Walkable Loss: 3.6883 (Center Penalty: 2.2344, C1 Heatmap: 0.5253, C2 Repulsion: 5.1686), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.634 1.720 0.255 -1.619 0.008 0.317 89.86° +table 1.595 0.745 1.124 0.523 -0.003 -0.178 0.03° +chair 0.593 0.920 0.608 -0.116 0.000 -0.804 -0.00° +chair 0.530 0.979 0.557 0.709 0.001 -0.904 0.01° +chair 0.527 0.930 0.584 -0.036 0.002 0.717 179.99° +chair 0.534 0.881 0.568 0.969 -0.001 0.534 -179.94° +floor 4.111 -0.003 3.602 -0.002 0.000 -0.021 0.03° +_scene_ 0.066 -0.001 0.030 -5.666 -0.003 -5.705 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.256, -0.003, 0.255] + !! OVERLAP: table <-> chair depth=[0.455, 0.745, 0.239] + !! OVERLAP: table <-> chair depth=[0.530, 0.745, 0.115] + !! OVERLAP: table <-> chair depth=[0.534, 0.745, 0.135] + !! OVERLAP: table <-> floor depth=[1.595, -0.003, 1.124] + !! OVERLAP: chair <-> floor depth=[0.593, -0.003, 0.608] + !! OVERLAP: chair <-> floor depth=[0.530, -0.003, 0.557] + !! OVERLAP: chair <-> floor depth=[0.527, -0.003, 0.584] + !! OVERLAP: chair <-> floor depth=[0.534, -0.003, 0.568] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0451, Room Outer Loss: 0.0000, Walkable Loss: 3.5032 (Center Penalty: 1.2844, C1 Heatmap: 0.5775, C2 Repulsion: 8.7840), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.370 0.756 1.340 0.287 0.001 1.249 -0.02° +chair 0.533 0.754 0.553 0.400 0.001 1.834 179.90° +chair 0.473 0.747 0.517 0.634 0.002 1.736 -179.96° +chair 0.528 0.748 0.595 0.257 0.001 0.454 0.02° +chair 0.523 0.792 0.575 0.888 -0.000 0.237 -0.00° +chair 0.488 0.751 0.463 -0.610 0.002 1.100 102.11° +chair 0.421 0.770 0.503 1.382 0.004 1.117 -89.91° +table 1.395 0.760 0.436 -1.625 0.000 -0.317 89.83° +lamp 0.337 0.657 0.346 0.376 1.936 1.552 0.00° +floor 5.568 -0.005 5.636 0.036 0.000 0.581 -0.07° +_scene_ 0.062 0.000 0.021 -5.669 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.533, 0.754, 0.361] + !! OVERLAP: table <-> chair depth=[0.473, 0.747, 0.441] + !! OVERLAP: table <-> chair depth=[0.528, 0.748, 0.173] + !! OVERLAP: table <-> chair depth=[0.031, 0.751, 0.463] + !! OVERLAP: table <-> floor depth=[1.370, -0.005, 1.340] + !! OVERLAP: chair <-> chair depth=[0.268, 0.747, 0.437] + !! OVERLAP: chair <-> floor depth=[0.533, -0.005, 0.553] + !! OVERLAP: chair <-> floor depth=[0.473, -0.005, 0.517] + !! OVERLAP: chair <-> floor depth=[0.528, -0.005, 0.595] + !! OVERLAP: chair <-> floor depth=[0.523, -0.005, 0.575] + !! OVERLAP: chair <-> floor depth=[0.488, -0.005, 0.463] + !! OVERLAP: chair <-> floor depth=[0.421, -0.005, 0.503] + !! OVERLAP: table <-> floor depth=[1.395, -0.005, 0.436] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0402, Room Outer Loss: 0.0000, Walkable Loss: 4.8707 (Center Penalty: 3.6831, C1 Heatmap: 0.3868, C2 Repulsion: 4.3908), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.700 0.734 1.084 0.250 -0.002 -0.143 0.02° +chair 0.565 0.878 0.609 -0.595 -0.003 0.583 133.13° +chair 0.538 0.956 0.594 0.477 0.001 0.629 178.89° +chair 0.483 0.933 0.506 -0.208 -0.002 -0.864 14.21° +chair 0.396 0.948 0.473 0.709 -0.002 -0.685 -70.79° +lamp 0.342 0.688 0.431 0.062 1.926 0.019 -0.09° +floor 2.539 -0.006 2.729 -0.010 0.000 0.001 -0.03° +_scene_ 0.066 -0.001 0.021 -5.664 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.287, 0.734, 0.120] + !! OVERLAP: table <-> chair depth=[0.538, 0.734, 0.067] + !! OVERLAP: table <-> chair depth=[0.483, 0.734, 0.074] + !! OVERLAP: table <-> chair depth=[0.396, 0.734, 0.236] + !! OVERLAP: table <-> floor depth=[1.700, -0.006, 1.084] + !! OVERLAP: chair <-> floor depth=[0.565, -0.006, 0.609] + !! OVERLAP: chair <-> floor depth=[0.538, -0.006, 0.594] + !! OVERLAP: chair <-> floor depth=[0.483, -0.006, 0.506] + !! OVERLAP: chair <-> floor depth=[0.396, -0.006, 0.473] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0151, Walkable Loss: 3.2694 (Center Penalty: 2.5655, C1 Heatmap: 0.3186, C2 Repulsion: 2.2450), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.478 0.748 0.831 -0.031 0.002 -0.857 0.08° +chair 0.434 0.876 0.482 -1.244 0.003 -0.417 75.49° +chair 0.483 0.845 0.527 -0.427 -0.000 0.669 -179.91° +chair 0.494 0.815 0.519 0.267 -0.002 0.977 179.95° +table 0.703 1.239 0.293 0.999 0.007 -0.708 -89.98° +lamp 0.540 0.420 0.532 -0.121 2.210 -0.294 -0.02° +floor 3.003 -0.002 3.610 -0.013 0.001 0.036 0.02° +_scene_ 0.069 0.002 0.023 -5.672 -0.004 -5.723 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.061, 0.748, 0.293] + !! OVERLAP: table <-> floor depth=[1.478, -0.002, 0.831] + !! OVERLAP: chair <-> floor depth=[0.434, -0.002, 0.482] + !! OVERLAP: chair <-> floor depth=[0.483, -0.002, 0.527] + !! OVERLAP: chair <-> floor depth=[0.494, -0.002, 0.519] + !! OVERLAP: table <-> floor depth=[0.703, -0.002, 0.293] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0102, Room Outer Loss: 0.0000, Walkable Loss: 4.7845 (Center Penalty: 2.6972, C1 Heatmap: 0.6166, C2 Repulsion: 7.9699), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.506 0.906 0.554 -1.008 0.001 0.204 89.92° +chair 0.501 0.918 0.546 -0.902 0.000 0.749 90.02° +chair 0.487 0.927 0.512 0.853 -0.001 0.054 -90.03° +chair 0.483 0.861 0.512 0.924 -0.001 0.704 -89.86° +chair 0.461 0.900 0.496 0.240 -0.000 1.636 -179.99° +chair 0.466 0.883 0.483 0.036 -0.000 -1.084 0.09° +table 1.886 0.614 0.533 -0.077 0.001 -1.839 -0.06° +table 1.432 0.741 1.161 -0.252 0.003 0.610 90.11° +lamp 1.018 0.833 0.639 0.108 1.807 0.466 89.85° +floor 3.388 -0.003 4.770 -0.014 0.000 0.125 -0.02° +_scene_ 0.074 0.006 0.046 -5.637 -0.005 -5.690 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.397, 0.906, 0.005] + !! OVERLAP: chair <-> table depth=[0.212, 0.741, 0.452] + !! OVERLAP: chair <-> floor depth=[0.506, -0.003, 0.554] + !! OVERLAP: chair <-> table depth=[0.316, 0.741, 0.546] + !! OVERLAP: chair <-> floor depth=[0.501, -0.003, 0.546] + !! OVERLAP: chair <-> floor depth=[0.487, -0.003, 0.512] + !! OVERLAP: chair <-> floor depth=[0.483, -0.003, 0.512] + !! OVERLAP: chair <-> floor depth=[0.461, -0.003, 0.496] + !! OVERLAP: chair <-> floor depth=[0.466, -0.003, 0.483] + !! OVERLAP: table <-> floor depth=[1.886, -0.003, 0.533] + !! OVERLAP: table <-> floor depth=[1.432, -0.003, 1.161] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0041, Room Outer Loss: 1.1145, Walkable Loss: 5.7708 (Center Penalty: 3.6018, C1 Heatmap: 0.6804, C2 Repulsion: 8.1232), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.159 0.597 1.181 -0.690 0.003 0.161 90.03° +cabinet 2.490 2.685 0.331 -1.521 0.004 -0.360 89.98° +cabinet 0.612 1.087 0.443 1.296 0.001 -0.349 -89.95° +cabinet 0.632 0.921 0.486 1.419 0.002 -1.729 -90.14° +chair 0.462 0.746 0.481 -1.110 0.001 -0.306 90.08° +chair 0.498 0.779 0.515 0.588 0.001 -0.689 -89.89° +chair 0.506 0.758 0.507 0.571 0.001 0.446 -90.24° +chair 0.447 0.728 0.454 -1.059 0.001 0.701 90.02° +chair 0.446 0.737 0.466 -0.361 0.005 1.387 160.04° +chair 0.393 0.704 0.399 -0.257 0.001 -1.278 0.03° +lamp 0.313 0.905 0.282 -0.135 1.625 0.736 0.01° +lamp 0.219 0.992 0.219 0.006 1.657 0.221 0.01° +lamp 0.282 0.755 0.308 0.932 1.827 -0.255 -0.01° +floor 3.781 -0.001 4.647 0.048 0.001 0.040 -0.02° +_scene_ 0.062 0.002 0.017 -5.673 -0.005 -5.719 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> cabinet depth=[0.994, 0.597, 0.235] + !! OVERLAP: table <-> chair depth=[0.390, 0.597, 0.363] + !! OVERLAP: table <-> chair depth=[0.434, 0.597, 0.278] + !! OVERLAP: table <-> floor depth=[1.159, -0.001, 1.181] + !! OVERLAP: cabinet <-> chair depth=[0.462, 0.746, 0.331] + !! OVERLAP: cabinet <-> floor depth=[1.567, -0.001, 0.331] + !! OVERLAP: cabinet <-> floor depth=[0.612, -0.001, 0.443] + !! OVERLAP: cabinet <-> floor depth=[0.632, -0.001, 0.486] + !! OVERLAP: chair <-> floor depth=[0.462, -0.001, 0.481] + !! OVERLAP: chair <-> floor depth=[0.498, -0.001, 0.515] + !! OVERLAP: chair <-> floor depth=[0.506, -0.001, 0.507] + !! OVERLAP: chair <-> floor depth=[0.447, -0.001, 0.454] + !! OVERLAP: chair <-> floor depth=[0.446, -0.001, 0.466] + !! OVERLAP: chair <-> floor depth=[0.393, -0.001, 0.399] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0570, Room Outer Loss: 0.0000, Walkable Loss: 3.7193 (Center Penalty: 2.5308, C1 Heatmap: 0.4436, C2 Repulsion: 4.1677), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.365 1.309 0.326 0.722 0.002 1.297 -179.82° +table 1.121 0.825 1.205 -0.618 0.009 -0.523 89.96° +chair 0.506 0.804 0.534 -0.745 -0.000 -0.812 0.11° +chair 0.503 0.830 0.532 -0.772 -0.002 0.203 133.73° +chair 0.453 0.804 0.485 0.833 0.001 -0.521 0.05° +chair 0.505 0.829 0.553 0.822 0.001 -0.012 -90.11° +lamp 0.821 0.948 0.867 0.424 1.748 -0.334 -0.03° +floor 3.701 -0.001 2.864 0.004 0.001 -0.008 -0.01° +_scene_ 0.070 0.001 0.022 -5.672 -0.003 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.365, -0.001, 0.291] + !! OVERLAP: table <-> chair depth=[0.506, 0.804, 0.534] + !! OVERLAP: table <-> chair depth=[0.503, 0.817, 0.143] + !! OVERLAP: table <-> floor depth=[1.121, -0.001, 1.205] + !! OVERLAP: chair <-> floor depth=[0.506, -0.001, 0.534] + !! OVERLAP: chair <-> floor depth=[0.503, -0.001, 0.532] + !! OVERLAP: chair <-> chair depth=[0.453, 0.804, 0.010] + !! OVERLAP: chair <-> floor depth=[0.453, -0.001, 0.485] + !! OVERLAP: chair <-> floor depth=[0.505, -0.001, 0.553] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5768 (Center Penalty: 1.9467, C1 Heatmap: 0.4397, C2 Repulsion: 1.3918), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.860 1.277 0.377 -1.439 0.002 0.667 89.91° +table 1.481 1.030 0.667 1.259 -0.000 0.428 -90.01° +table 1.593 0.753 1.081 -0.165 0.001 -0.148 90.02° +floor 4.025 -0.002 3.719 0.030 -0.000 0.104 -0.05° +_scene_ -0.027 0.077 0.044 -5.315 0.054 -5.455 -59.54° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.860, -0.002, 0.377] + !! OVERLAP: table <-> table depth=[0.114, 0.753, 0.298] + !! OVERLAP: table <-> floor depth=[1.481, -0.002, 0.667] + !! OVERLAP: table <-> floor depth=[1.593, -0.002, 1.081] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7278 (Center Penalty: 1.7577, C1 Heatmap: 0.6603, C2 Repulsion: 7.2095), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.497 0.820 0.521 -1.000 0.001 0.517 90.00° +chair 0.545 0.847 0.596 -1.160 0.001 1.418 90.02° +chair 0.465 0.821 0.499 0.619 0.000 0.625 -90.07° +chair 0.505 0.804 0.561 0.609 0.005 1.471 -90.03° +chair 0.488 0.843 0.497 -0.203 0.006 2.108 -179.97° +chair 0.501 0.801 0.498 -0.077 -0.001 -0.386 0.18° +table 1.975 0.640 0.664 -0.034 -0.000 -1.811 -0.08° +table 1.728 0.732 1.073 -0.155 -0.001 0.966 89.90° +lamp 0.811 0.904 0.793 -0.102 1.853 1.011 -0.03° +floor 4.110 -0.004 5.710 -0.014 0.000 0.490 -0.02° +_scene_ 0.063 0.002 0.025 -5.651 -0.003 -5.699 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.266, 0.732, 0.349] + !! OVERLAP: chair <-> floor depth=[0.497, -0.004, 0.521] + !! OVERLAP: chair <-> table depth=[0.132, 0.732, 0.382] + !! OVERLAP: chair <-> floor depth=[0.545, -0.004, 0.596] + !! OVERLAP: chair <-> table depth=[0.323, 0.732, 0.446] + !! OVERLAP: chair <-> floor depth=[0.465, -0.004, 0.499] + !! OVERLAP: chair <-> table depth=[0.353, 0.732, 0.312] + !! OVERLAP: chair <-> floor depth=[0.505, -0.004, 0.561] + !! OVERLAP: chair <-> floor depth=[0.488, -0.004, 0.497] + !! OVERLAP: chair <-> floor depth=[0.501, -0.004, 0.498] + !! OVERLAP: table <-> floor depth=[1.975, -0.004, 0.664] + !! OVERLAP: table <-> floor depth=[1.728, -0.004, 1.073] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0256, Room Outer Loss: 0.0000, Walkable Loss: 5.7297 (Center Penalty: 3.3697, C1 Heatmap: 0.5573, C2 Repulsion: 9.5710), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.025 0.976 0.954 -0.117 -0.004 -0.615 -90.60° +chair 0.455 0.741 0.427 -0.872 0.000 0.830 138.37° +chair 0.477 0.740 0.477 0.046 0.001 0.945 179.98° +chair 0.479 0.729 0.459 0.703 0.005 0.825 -115.77° +chair 0.508 0.757 0.456 0.710 -0.001 -0.699 -39.17° +chair 0.482 0.733 0.447 -0.258 0.000 -1.050 0.11° +chair 0.473 0.730 0.493 -0.941 0.001 -0.617 44.05° +chair 0.405 0.806 0.519 1.137 0.009 0.146 -90.33° +chair 0.563 0.734 0.537 -1.276 -0.001 0.072 90.04° +lamp 0.544 0.918 0.515 -0.112 1.717 0.019 -0.03° +floor 4.686 -0.003 3.717 -0.061 -0.000 0.094 0.01° +_scene_ 0.079 -0.006 0.120 -5.564 0.002 -5.588 -57.62° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.440, 0.757, 0.456] + !! OVERLAP: table <-> chair depth=[0.482, 0.733, 0.266] + !! OVERLAP: table <-> chair depth=[0.424, 0.730, 0.493] + !! OVERLAP: table <-> chair depth=[0.135, 0.734, 0.057] + !! OVERLAP: table <-> floor depth=[2.025, -0.003, 0.954] + !! OVERLAP: chair <-> floor depth=[0.455, -0.003, 0.427] + !! OVERLAP: chair <-> floor depth=[0.477, -0.003, 0.477] + !! OVERLAP: chair <-> floor depth=[0.479, -0.003, 0.459] + !! OVERLAP: chair <-> floor depth=[0.508, -0.003, 0.456] + !! OVERLAP: chair <-> floor depth=[0.482, -0.003, 0.447] + !! OVERLAP: chair <-> floor depth=[0.473, -0.003, 0.493] + !! OVERLAP: chair <-> floor depth=[0.405, -0.003, 0.519] + !! OVERLAP: chair <-> floor depth=[0.563, -0.003, 0.537] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0291, Room Outer Loss: 0.0000, Walkable Loss: 4.4505 (Center Penalty: 2.0864, C1 Heatmap: 0.7295, C2 Repulsion: 8.9027), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.220 0.768 0.696 1.268 -0.002 -0.633 -89.81° +table 1.933 0.766 1.139 -0.862 -0.001 0.730 90.03° +chair 0.550 0.720 0.496 -1.621 -0.001 -0.252 89.82° +chair 0.526 0.740 0.505 -0.750 0.001 -0.675 -0.01° +chair 0.467 0.757 0.501 -1.573 0.003 0.963 179.92° +chair 0.516 0.766 0.532 -0.653 0.003 0.932 -179.98° +table 1.329 0.854 0.437 -1.051 0.003 -1.331 0.00° +lamp 0.349 0.761 0.313 -0.863 1.986 0.105 -0.02° +chair 0.572 0.707 0.515 0.325 0.000 -0.525 -56.66° +chair 0.512 0.724 0.495 0.423 0.002 0.943 -114.77° +floor 5.535 -0.003 3.734 -0.106 -0.001 0.121 -0.07° +_scene_ 0.067 0.001 0.025 -5.670 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.220, -0.003, 0.696] + !! OVERLAP: table <-> chair depth=[0.467, 0.757, 0.501] + !! OVERLAP: table <-> chair depth=[0.516, 0.763, 0.532] + !! OVERLAP: table <-> floor depth=[1.933, -0.003, 1.139] + !! OVERLAP: chair <-> floor depth=[0.550, -0.003, 0.496] + !! OVERLAP: chair <-> floor depth=[0.526, -0.003, 0.505] + !! OVERLAP: chair <-> floor depth=[0.467, -0.003, 0.501] + !! OVERLAP: chair <-> floor depth=[0.516, -0.003, 0.532] + !! OVERLAP: table <-> floor depth=[1.329, -0.003, 0.437] + !! OVERLAP: chair <-> floor depth=[0.572, -0.003, 0.515] + !! OVERLAP: chair <-> floor depth=[0.512, -0.003, 0.495] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.0059, Walkable Loss: 3.1851 (Center Penalty: 1.6930, C1 Heatmap: 0.5062, C2 Repulsion: 5.4359), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.942 0.786 0.379 -1.424 0.001 1.826 179.90° +cabinet 0.788 1.072 0.295 1.215 0.005 -1.209 -89.96° +cabinet 0.772 1.067 0.364 1.360 0.002 -0.110 -89.91° +table 2.008 0.740 0.783 -0.417 0.001 -0.906 89.98° +chair 0.500 0.820 0.471 0.363 0.003 -0.483 -90.14° +lamp 0.381 1.369 0.381 -0.590 1.569 -0.784 125.74° +chair 0.419 0.854 0.456 0.116 0.003 -1.246 -90.05° +chair 0.420 0.874 0.398 -1.425 0.002 -1.269 89.99° +chair 0.428 0.898 0.500 -1.331 0.003 -0.459 89.99° +floor 4.034 -0.003 4.548 -0.364 0.001 -0.014 0.02° +_scene_ 0.069 0.001 0.027 -5.673 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.942, -0.003, 0.379] + !! OVERLAP: cabinet <-> floor depth=[0.788, -0.003, 0.295] + !! OVERLAP: cabinet <-> floor depth=[0.678, -0.003, 0.364] + !! OVERLAP: table <-> chair depth=[0.474, 0.740, 0.203] + !! OVERLAP: table <-> chair depth=[0.419, 0.740, 0.280] + !! OVERLAP: table <-> chair depth=[0.207, 0.740, 0.228] + !! OVERLAP: table <-> chair depth=[0.304, 0.740, 0.195] + !! OVERLAP: table <-> floor depth=[2.008, -0.003, 0.783] + !! OVERLAP: chair <-> floor depth=[0.500, -0.003, 0.471] + !! OVERLAP: chair <-> floor depth=[0.419, -0.003, 0.456] + !! OVERLAP: chair <-> floor depth=[0.420, -0.003, 0.398] + !! OVERLAP: chair <-> floor depth=[0.428, -0.003, 0.500] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0468, Room Outer Loss: 0.0000, Walkable Loss: 3.6886 (Center Penalty: 1.4392, C1 Heatmap: 0.8472, C2 Repulsion: 7.8582), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.215 0.758 0.966 -0.747 0.002 -0.886 -89.99° +chair 0.473 0.840 0.530 -0.880 0.003 -0.146 -179.89° +chair 0.536 0.808 0.559 -0.598 0.001 -1.444 -0.01° +chair 0.578 0.818 0.555 -1.316 0.001 -1.347 0.04° +chair 0.455 0.869 0.527 -1.211 0.001 0.028 179.94° +table 1.085 0.969 0.359 1.125 0.003 -1.427 -90.17° +lamp 0.857 0.928 0.792 -0.783 1.817 -1.169 -0.03° +table 2.140 0.738 0.807 -0.358 0.001 1.875 179.87° +chair 0.476 0.456 0.562 0.733 0.001 1.040 -0.02° +floor 3.803 -0.001 5.213 -0.145 -0.001 0.058 -0.01° +_scene_ 0.069 0.002 0.024 -5.674 -0.005 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.473, 0.758, 0.008] + !! OVERLAP: table <-> chair depth=[0.536, 0.758, 0.204] + !! OVERLAP: table <-> chair depth=[0.578, 0.758, 0.299] + !! OVERLAP: table <-> floor depth=[2.215, -0.001, 0.966] + !! OVERLAP: chair <-> chair depth=[0.133, 0.840, 0.354] + !! OVERLAP: chair <-> floor depth=[0.473, -0.001, 0.530] + !! OVERLAP: chair <-> floor depth=[0.536, -0.001, 0.559] + !! OVERLAP: chair <-> floor depth=[0.578, -0.001, 0.555] + !! OVERLAP: chair <-> floor depth=[0.455, -0.001, 0.527] + !! OVERLAP: table <-> floor depth=[1.085, -0.001, 0.359] + !! OVERLAP: table <-> floor depth=[2.140, -0.001, 0.807] + !! OVERLAP: chair <-> floor depth=[0.476, -0.001, 0.562] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0714, Room Outer Loss: 0.0000, Walkable Loss: 3.4097 (Center Penalty: 1.7579, C1 Heatmap: 0.5722, C2 Repulsion: 5.9703), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.295 0.875 0.490 -0.560 0.004 1.277 -180.00° +chair 0.564 0.920 0.605 0.612 -0.000 -1.452 -90.08° +chair 0.556 0.918 0.562 0.727 0.001 -0.649 -90.03° +chair 0.545 0.926 0.567 -0.843 0.001 -1.304 89.91° +chair 0.530 0.916 0.585 -0.901 0.004 -0.714 89.95° +lamp 0.882 0.551 0.358 -0.230 1.829 -0.591 -89.88° +table 1.774 0.771 1.107 -0.072 -0.001 -1.004 0.04° +floor 2.909 -0.001 4.077 0.033 0.000 -0.012 -0.01° +_scene_ 0.064 -0.000 0.030 -5.658 -0.004 -5.698 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.295, -0.001, 0.490] + !! OVERLAP: chair <-> table depth=[0.484, 0.771, 0.408] + !! OVERLAP: chair <-> floor depth=[0.564, -0.001, 0.605] + !! OVERLAP: chair <-> table depth=[0.365, 0.771, 0.479] + !! OVERLAP: chair <-> floor depth=[0.556, -0.001, 0.562] + !! OVERLAP: chair <-> table depth=[0.389, 0.771, 0.536] + !! OVERLAP: chair <-> floor depth=[0.545, -0.001, 0.567] + !! OVERLAP: chair <-> table depth=[0.323, 0.771, 0.555] + !! OVERLAP: chair <-> floor depth=[0.530, -0.001, 0.585] + !! OVERLAP: table <-> floor depth=[1.774, -0.001, 1.107] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0412, Room Outer Loss: 0.0000, Walkable Loss: 5.4531 (Center Penalty: 3.5813, C1 Heatmap: 0.4901, C2 Repulsion: 7.3981), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.482 0.972 0.504 -0.279 0.001 -1.138 -0.57° +table 1.456 0.746 1.206 -0.427 -0.004 -0.344 0.01° +chair 0.475 0.968 0.544 -0.310 0.001 1.117 179.97° +chair 0.578 0.984 0.593 -1.065 0.003 -0.401 85.16° +chair 0.553 0.941 0.525 -0.962 0.000 0.330 105.53° +chair 0.488 0.993 0.530 0.567 0.001 -0.576 -89.86° +chair 0.452 0.949 0.508 0.535 0.001 0.366 -110.91° +lamp 0.822 0.861 0.762 0.041 1.787 -0.141 -0.00° +floor 3.002 -0.002 3.994 -0.005 0.000 0.021 -0.03° +_scene_ 0.063 -0.002 0.036 -5.660 -0.004 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.482, 0.746, 0.061] + !! OVERLAP: chair <-> floor depth=[0.482, -0.002, 0.504] + !! OVERLAP: table <-> chair depth=[0.379, 0.746, 0.593] + !! OVERLAP: table <-> chair depth=[0.470, 0.746, 0.191] + !! OVERLAP: table <-> floor depth=[1.456, -0.002, 1.206] + !! OVERLAP: chair <-> floor depth=[0.475, -0.002, 0.544] + !! OVERLAP: chair <-> floor depth=[0.578, -0.002, 0.593] + !! OVERLAP: chair <-> floor depth=[0.553, -0.002, 0.525] + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.530] + !! OVERLAP: chair <-> floor depth=[0.452, -0.002, 0.508] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0098, Room Outer Loss: 0.0000, Walkable Loss: 5.7662 (Center Penalty: 2.9399, C1 Heatmap: 0.8173, C2 Repulsion: 10.8626), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.996 0.757 1.106 -0.754 0.000 0.715 90.00° +chair 0.532 0.963 0.609 0.269 0.001 0.348 -179.91° +chair 0.490 0.960 0.515 0.266 0.000 -0.852 -89.68° +chair 0.568 0.938 0.550 -1.150 -0.001 -0.039 179.80° +chair 0.588 0.921 0.603 -1.008 -0.000 -1.163 0.03° +table 1.527 1.469 0.393 -1.763 0.001 0.022 89.92° +table 1.027 1.506 0.466 -1.940 -0.000 -1.062 89.97° +lamp 1.177 1.146 1.122 -0.283 1.750 -0.187 90.01° +cabinet 0.529 1.263 0.427 2.018 0.001 -1.731 0.02° +cabinet 0.538 1.202 0.380 1.431 0.001 -2.040 -0.06° +cabinet 0.587 1.206 0.307 1.063 0.001 -1.720 0.02° +cabinet 0.598 1.244 0.354 0.311 -0.001 -2.328 -0.04° +floor 5.007 0.002 4.657 -0.163 -0.000 -0.322 0.03° +_scene_ 0.070 0.000 0.025 -5.673 -0.003 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.240, 0.757, 0.490] + !! OVERLAP: table <-> chair depth=[0.568, 0.757, 0.073] + !! OVERLAP: table <-> table depth=[0.752, 0.757, 0.055] + !! OVERLAP: table <-> floor depth=[1.996, 0.002, 1.106] + !! OVERLAP: chair <-> floor depth=[0.532, 0.002, 0.609] + !! OVERLAP: chair <-> floor depth=[0.490, 0.002, 0.515] + !! OVERLAP: chair <-> table depth=[0.434, 0.938, 0.393] + !! OVERLAP: chair <-> floor depth=[0.568, 0.002, 0.550] + !! OVERLAP: chair <-> floor depth=[0.588, 0.002, 0.603] + !! OVERLAP: table <-> floor depth=[1.527, 0.002, 0.393] + !! OVERLAP: table <-> floor depth=[1.027, 0.002, 0.466] + !! OVERLAP: cabinet <-> floor depth=[0.529, 0.002, 0.427] + !! OVERLAP: cabinet <-> cabinet depth=[0.195, 1.202, 0.024] + !! OVERLAP: cabinet <-> floor depth=[0.538, 0.002, 0.380] + !! OVERLAP: cabinet <-> floor depth=[0.587, 0.002, 0.307] + !! OVERLAP: cabinet <-> floor depth=[0.598, 0.002, 0.354] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.0608, Room Outer Loss: 0.0000, Walkable Loss: 5.2191 (Center Penalty: 3.1205, C1 Heatmap: 0.5437, C2 Repulsion: 8.3179), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.899 0.714 1.066 -0.049 0.000 -0.109 0.03° +chair 0.558 0.911 0.605 -0.144 0.004 0.755 179.78° +chair 0.488 0.879 0.505 -1.113 0.002 0.792 148.20° +chair 0.509 0.901 0.559 -0.130 0.000 -0.767 0.09° +chair 0.568 0.913 0.496 -0.847 0.014 -0.660 52.89° +chair 0.588 0.937 0.590 0.516 0.003 0.884 -145.41° +chair 0.540 0.811 0.524 0.863 -0.000 -0.576 -62.34° +floor 3.664 -0.003 3.802 0.007 -0.001 -0.061 -0.10° +_scene_ 0.085 0.052 0.114 -5.143 -0.002 -5.344 -59.49° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.509, 0.714, 0.155] + !! OVERLAP: table <-> chair depth=[0.435, 0.714, 0.230] + !! OVERLAP: table <-> chair depth=[0.308, 0.714, 0.328] + !! OVERLAP: table <-> floor depth=[1.899, -0.003, 1.066] + !! OVERLAP: chair <-> floor depth=[0.558, -0.003, 0.605] + !! OVERLAP: chair <-> floor depth=[0.488, -0.003, 0.505] + !! OVERLAP: chair <-> floor depth=[0.509, -0.003, 0.559] + !! OVERLAP: chair <-> floor depth=[0.568, -0.003, 0.496] + !! OVERLAP: chair <-> floor depth=[0.588, -0.003, 0.590] + !! OVERLAP: chair <-> floor depth=[0.540, -0.003, 0.524] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.0000, Walkable Loss: 4.5558 (Center Penalty: 3.3709, C1 Heatmap: 0.4143, C2 Repulsion: 4.2676), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.096 0.765 0.563 0.369 0.001 -0.182 0.02° +chair 0.516 0.989 0.543 -0.451 0.001 -0.802 0.04° +chair 0.554 0.992 0.568 0.586 0.002 -0.770 0.09° +chair 0.601 0.969 0.669 -0.484 0.000 0.724 -179.99° +chair 0.540 1.023 0.581 0.661 -0.000 0.534 179.82° +lamp 0.663 0.790 0.341 -0.353 1.879 0.026 0.02° +floor 3.177 -0.004 3.030 0.010 0.000 0.015 -0.06° +_scene_ 0.072 0.000 0.022 -5.665 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[2.096, -0.004, 0.563] + !! OVERLAP: chair <-> floor depth=[0.516, -0.004, 0.543] + !! OVERLAP: chair <-> floor depth=[0.554, -0.004, 0.568] + !! OVERLAP: chair <-> floor depth=[0.601, -0.004, 0.669] + !! OVERLAP: chair <-> floor depth=[0.540, -0.004, 0.581] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0053, Room Outer Loss: 0.5987, Walkable Loss: 4.5410 (Center Penalty: 2.6152, C1 Heatmap: 0.5065, C2 Repulsion: 7.6032), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.677 0.687 0.756 0.088 -0.002 0.475 89.89° +chair 0.522 0.892 0.596 -0.737 0.010 0.951 89.90° +chair 0.498 0.871 0.583 -0.772 0.001 0.036 90.08° +chair 0.503 0.917 0.532 0.764 0.001 -0.050 -90.06° +chair 0.525 0.933 0.558 0.801 0.000 0.556 -89.98° +table 1.697 1.002 0.529 -1.571 0.003 0.298 89.99° +lamp 0.821 1.063 0.841 0.179 1.784 0.571 -0.02° +floor 3.671 -0.001 4.522 0.034 0.002 -0.007 -0.01° +_scene_ 0.061 0.002 0.020 -5.675 -0.005 -5.723 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.274, 0.687, 0.200] + !! OVERLAP: table <-> chair depth=[0.227, 0.687, 0.231] + !! OVERLAP: table <-> chair depth=[0.414, 0.687, 0.120] + !! OVERLAP: table <-> chair depth=[0.389, 0.687, 0.558] + !! OVERLAP: table <-> table depth=[0.028, 0.687, 0.466] + !! OVERLAP: table <-> floor depth=[1.677, -0.001, 0.756] + !! OVERLAP: chair <-> floor depth=[0.522, -0.001, 0.596] + !! OVERLAP: chair <-> table depth=[0.299, 0.871, 0.294] + !! OVERLAP: chair <-> floor depth=[0.498, -0.001, 0.583] + !! OVERLAP: chair <-> floor depth=[0.503, -0.001, 0.532] + !! OVERLAP: chair <-> floor depth=[0.525, -0.001, 0.558] + !! OVERLAP: table <-> floor depth=[1.079, -0.001, 0.529] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.1161, Room Outer Loss: 0.0662, Walkable Loss: 4.8111 (Center Penalty: 0.7750, C1 Heatmap: 1.5488, C2 Repulsion: 13.9852), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.412 0.417 1.458 1.075 0.003 -1.257 -0.10° +sofa 2.308 0.774 1.394 1.467 0.003 -1.732 -0.04° +wardrobe 1.020 2.375 0.568 -2.250 -0.000 0.998 89.73° +chair 0.635 0.860 0.648 -0.612 -0.002 -1.531 -90.16° +chair 0.584 0.897 0.649 -0.882 0.001 -1.155 89.84° +lamp 0.880 0.818 0.873 0.945 1.793 -1.111 -0.00° +chair 0.689 0.821 0.684 1.295 0.002 0.208 -152.92° +sofa 2.530 0.869 1.047 0.553 -0.001 -2.333 -0.01° +sofa 2.167 0.799 0.974 1.529 -0.002 -0.798 -90.18° +table 0.805 1.128 0.547 2.318 0.001 1.174 180.00° +cabinet 0.863 1.351 0.306 -2.113 0.002 1.715 89.71° +table 0.626 1.349 0.375 -0.627 0.001 1.834 -179.88° +floor 5.430 -0.006 5.426 0.171 -0.000 -0.443 -0.06° +_scene_ 0.071 -0.000 0.023 -5.674 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.412, 0.417, 0.951] + !! OVERLAP: table <-> sofa depth=[1.412, 0.417, 0.177] + !! OVERLAP: table <-> sofa depth=[1.336, 0.417, 0.757] + !! OVERLAP: table <-> floor depth=[1.412, -0.006, 1.458] + !! OVERLAP: sofa <-> sofa depth=[1.504, 0.774, 0.621] + !! OVERLAP: sofa <-> sofa depth=[2.167, 0.774, 0.249] + !! OVERLAP: sofa <-> floor depth=[2.308, -0.006, 1.394] + !! OVERLAP: wardrobe <-> floor depth=[0.804, -0.006, 0.568] + !! OVERLAP: chair <-> chair depth=[0.339, 0.860, 0.272] + !! OVERLAP: chair <-> sofa depth=[0.417, 0.860, 0.046] + !! OVERLAP: chair <-> floor depth=[0.635, -0.006, 0.648] + !! OVERLAP: chair <-> floor depth=[0.584, -0.006, 0.649] + !! OVERLAP: chair <-> floor depth=[0.689, -0.006, 0.684] + !! OVERLAP: sofa <-> floor depth=[2.530, -0.006, 1.047] + !! OVERLAP: sofa <-> floor depth=[2.167, -0.006, 0.974] + !! OVERLAP: table <-> floor depth=[0.805, -0.006, 0.547] + !! OVERLAP: cabinet <-> floor depth=[0.862, -0.006, 0.306] + !! OVERLAP: table <-> floor depth=[0.626, -0.006, 0.375] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.0000, Walkable Loss: 6.8488 (Center Penalty: 3.8293, C1 Heatmap: 0.6417, C2 Repulsion: 12.5303), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.038 0.739 0.872 0.197 -0.001 -0.231 -89.88° +chair 0.546 0.806 0.632 0.923 0.001 -1.091 -90.13° +chair 0.480 0.834 0.503 0.931 0.001 -0.246 -89.88° +chair 0.568 0.795 0.598 0.278 0.001 1.144 179.96° +chair 0.565 0.816 0.608 -0.631 -0.001 -0.094 90.08° +chair 0.560 0.827 0.558 -0.757 0.000 -1.031 90.12° +chair 0.581 0.812 0.599 0.182 0.001 -1.428 -0.00° +chair 0.601 0.865 0.633 -0.818 0.000 0.580 90.04° +chair 0.528 0.811 0.559 1.006 0.000 0.411 -90.00° +lamp 0.615 0.883 0.603 0.049 1.746 -0.033 0.00° +floor 3.396 -0.004 4.736 0.031 -0.001 0.052 0.00° +_scene_ 0.077 0.002 0.063 -5.641 -0.007 -5.661 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.480, 0.739, 0.503] + !! OVERLAP: table <-> chair depth=[0.474, 0.739, 0.603] + !! OVERLAP: table <-> chair depth=[0.474, 0.739, 0.074] + !! OVERLAP: table <-> floor depth=[2.038, -0.004, 0.872] + !! OVERLAP: chair <-> floor depth=[0.546, -0.004, 0.632] + !! OVERLAP: chair <-> floor depth=[0.480, -0.004, 0.503] + !! OVERLAP: chair <-> floor depth=[0.568, -0.004, 0.598] + !! OVERLAP: chair <-> floor depth=[0.565, -0.004, 0.608] + !! OVERLAP: chair <-> floor depth=[0.560, -0.004, 0.558] + !! OVERLAP: chair <-> floor depth=[0.581, -0.004, 0.599] + !! OVERLAP: chair <-> floor depth=[0.601, -0.004, 0.633] + !! OVERLAP: chair <-> floor depth=[0.528, -0.004, 0.559] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0117, Room Outer Loss: 0.0000, Walkable Loss: 5.1950 (Center Penalty: 3.8893, C1 Heatmap: 0.3041, C2 Repulsion: 5.3123), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.475 0.774 0.666 0.218 0.001 0.083 90.03° +chair 0.467 0.749 0.492 1.131 0.000 0.220 -90.01° +chair 0.510 0.854 0.545 0.796 0.006 -0.604 -90.46° +chair 0.508 0.786 0.526 -0.387 -0.000 0.040 90.08° +chair 0.507 0.735 0.558 -0.588 0.003 -0.410 90.09° +lamp 0.563 1.095 0.594 0.425 1.692 0.022 90.03° +floor 2.660 0.002 3.442 0.006 0.001 -0.008 0.01° +_scene_ 0.081 0.004 0.033 -5.656 -0.005 -5.693 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.058, 0.749, 0.442] + !! OVERLAP: table <-> chair depth=[0.386, 0.774, 0.526] + !! OVERLAP: table <-> chair depth=[0.184, 0.735, 0.119] + !! OVERLAP: table <-> floor depth=[1.475, 0.002, 0.666] + !! OVERLAP: chair <-> floor depth=[0.438, 0.002, 0.492] + !! OVERLAP: chair <-> floor depth=[0.510, 0.002, 0.545] + !! OVERLAP: chair <-> chair depth=[0.306, 0.735, 0.092] + !! OVERLAP: chair <-> floor depth=[0.508, 0.002, 0.526] + !! OVERLAP: chair <-> floor depth=[0.507, 0.002, 0.558] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0349, Room Outer Loss: 0.0000, Walkable Loss: 3.7332 (Center Penalty: 2.0031, C1 Heatmap: 0.3601, C2 Repulsion: 7.2106), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.400 0.774 0.865 -1.089 0.002 0.497 0.03° +chair 0.416 0.943 0.520 -0.454 0.001 0.992 -179.89° +chair 0.446 0.978 0.476 -0.566 0.001 0.133 -89.93° +chair 0.567 0.964 0.553 -1.613 0.002 0.690 89.94° +chair 0.476 0.990 0.484 -1.615 0.001 -0.201 -0.00° +lamp 0.726 1.183 0.574 -0.399 1.609 -0.412 0.00° +cabinet 0.636 2.013 0.391 1.115 0.004 -1.410 0.05° +lamp 0.310 0.969 0.291 -1.382 1.447 0.780 0.06° +floor 3.658 -0.002 3.449 -0.291 0.000 -0.119 0.00° +_scene_ 0.070 -0.001 0.020 -5.672 -0.003 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.273, 0.774, 0.198] + !! OVERLAP: table <-> chair depth=[0.399, 0.774, 0.306] + !! OVERLAP: table <-> chair depth=[0.460, 0.774, 0.516] + !! OVERLAP: table <-> floor depth=[1.400, -0.002, 0.865] + !! OVERLAP: chair <-> floor depth=[0.416, -0.002, 0.520] + !! OVERLAP: chair <-> floor depth=[0.446, -0.002, 0.476] + !! OVERLAP: chair <-> floor depth=[0.567, -0.002, 0.553] + !! OVERLAP: chair <-> floor depth=[0.476, -0.002, 0.484] + !! OVERLAP: cabinet <-> floor depth=[0.636, -0.002, 0.391] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0741, Room Outer Loss: 0.1947, Walkable Loss: 5.4832 (Center Penalty: 3.9574, C1 Heatmap: 0.3602, C2 Repulsion: 6.1882), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.386 0.735 1.026 -0.257 -0.002 0.011 0.01° +chair 0.530 0.925 0.578 -0.158 0.000 0.543 -179.97° +chair 0.536 0.866 0.568 -0.945 0.001 0.499 -179.99° +chair 0.625 0.973 0.564 -0.217 -0.000 -0.556 0.01° +chair 0.520 0.929 0.522 -0.918 -0.000 -0.527 0.02° +lamp 0.634 0.749 0.663 0.026 2.470 0.230 0.01° +floor 3.706 0.013 1.573 -0.056 0.001 -0.028 -0.04° +_scene_ 0.066 0.000 0.022 -5.670 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.530, 0.735, 0.270] + !! OVERLAP: table <-> chair depth=[0.274, 0.735, 0.308] + !! OVERLAP: table <-> chair depth=[0.625, 0.735, 0.228] + !! OVERLAP: table <-> chair depth=[0.293, 0.735, 0.236] + !! OVERLAP: table <-> floor depth=[1.386, 0.013, 1.026] + !! OVERLAP: chair <-> floor depth=[0.530, 0.013, 0.505] + !! OVERLAP: chair <-> floor depth=[0.536, 0.013, 0.543] + !! OVERLAP: chair <-> floor depth=[0.625, 0.013, 0.540] + !! OVERLAP: chair <-> floor depth=[0.520, 0.013, 0.522] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0415, Room Outer Loss: 0.0000, Walkable Loss: 5.1054 (Center Penalty: 2.4856, C1 Heatmap: 0.7212, C2 Repulsion: 10.2146), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.785 0.741 1.264 -0.277 -0.001 -0.138 0.05° +chair 0.484 0.798 0.516 0.543 0.005 0.706 -165.64° +chair 0.543 0.757 0.579 -0.382 0.000 0.958 160.56° +chair 0.565 0.728 0.553 -1.160 0.000 0.158 91.75° +chair 0.439 0.732 0.440 -0.413 0.000 -0.990 17.93° +chair 0.545 0.792 0.541 0.713 0.001 -0.939 -24.95° +chair 0.484 0.784 0.495 1.161 0.003 -0.132 -78.23° +cabinet 1.965 2.107 0.221 -1.406 0.003 -0.912 89.87° +floor 4.969 -0.001 3.190 0.047 -0.001 -0.031 -0.03° +_scene_ 0.074 0.002 0.037 -5.635 -0.006 -5.671 -57.46° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.314, 0.741, 0.046] + !! OVERLAP: table <-> chair depth=[0.293, 0.728, 0.553] + !! OVERLAP: table <-> chair depth=[0.175, 0.741, 0.101] + !! OVERLAP: table <-> floor depth=[1.785, -0.001, 1.264] + !! OVERLAP: chair <-> floor depth=[0.484, -0.001, 0.516] + !! OVERLAP: chair <-> floor depth=[0.543, -0.001, 0.579] + !! OVERLAP: chair <-> floor depth=[0.565, -0.001, 0.553] + !! OVERLAP: chair <-> cabinet depth=[0.210, 0.732, 0.221] + !! OVERLAP: chair <-> floor depth=[0.439, -0.001, 0.440] + !! OVERLAP: chair <-> floor depth=[0.545, -0.001, 0.541] + !! OVERLAP: chair <-> floor depth=[0.484, -0.001, 0.495] + !! OVERLAP: cabinet <-> floor depth=[1.965, -0.001, 0.221] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1875, Walkable Loss: 3.5568 (Center Penalty: 2.7350, C1 Heatmap: 0.3781, C2 Repulsion: 2.5966), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.190 0.711 0.509 0.828 0.005 -0.261 -89.82° +chair 0.497 0.733 0.607 -0.625 0.003 -0.067 58.99° +bookshelf 0.805 2.067 0.241 -0.795 0.002 1.256 -179.96° +lamp 1.128 1.271 1.139 -0.031 1.340 -0.069 0.00° +floor 2.508 -0.001 2.752 -0.004 0.001 -0.008 -0.02° +_scene_ 0.069 0.001 0.023 -5.673 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.017, -0.001, 0.509] + !! OVERLAP: chair <-> floor depth=[0.497, -0.001, 0.607] + !! OVERLAP: bookshelf <-> floor depth=[0.805, -0.001, 0.233] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.3256, Room Outer Loss: 0.5671, Walkable Loss: 3.6423 (Center Penalty: 2.6720, C1 Heatmap: 0.7841, C2 Repulsion: 1.7149), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.825 2.116 0.343 0.332 -0.001 1.343 -179.98° +lamp 0.721 1.280 0.808 -0.249 0.702 -0.429 -0.11° +desk 2.861 2.870 1.423 0.547 -0.000 -0.799 -90.00° +lamp 0.562 0.199 0.537 -0.052 2.362 -0.213 -0.05° +floor 2.799 -0.002 3.381 -0.020 0.000 -0.055 -0.02° +_scene_ 0.070 0.003 0.063 -5.665 -0.005 -5.685 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.825, -0.002, 0.343] + !! OVERLAP: lamp <-> desk depth=[0.721, 1.280, 0.746] + !! OVERLAP: desk <-> floor depth=[2.263, -0.002, 1.423] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0211, Walkable Loss: 3.3917 (Center Penalty: 2.4819, C1 Heatmap: 0.5734, C2 Repulsion: 2.2552), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.860 0.996 0.895 -0.089 1.859 -0.064 0.02° +bookshelf 0.619 2.506 0.412 1.610 -0.002 1.072 -90.25° +bookshelf 0.646 2.465 0.507 1.585 -0.002 -1.173 -90.04° +bookshelf 0.701 2.271 0.341 1.470 0.000 -0.072 -90.01° +desk 1.459 0.741 0.531 0.128 0.002 1.317 -180.00° +sofa 2.131 0.772 1.016 -0.247 0.004 -0.510 -0.07° +floor 3.900 -0.002 3.127 -0.031 -0.000 0.023 -0.08° +_scene_ 0.064 0.000 0.020 -5.665 -0.005 -5.697 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.619, -0.002, 0.412] + !! OVERLAP: bookshelf <-> floor depth=[0.646, -0.002, 0.507] + !! OVERLAP: bookshelf <-> floor depth=[0.701, -0.002, 0.341] + !! OVERLAP: desk <-> floor depth=[1.459, -0.002, 0.531] + !! OVERLAP: sofa <-> floor depth=[2.131, -0.002, 1.016] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0128, Room Outer Loss: 1.7910, Walkable Loss: 4.8872 (Center Penalty: 3.2564, C1 Heatmap: 0.7078, C2 Repulsion: 5.3226), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.914 2.722 0.193 0.893 -0.003 -0.032 -90.14° +bookshelf 2.001 2.611 0.256 1.119 -0.001 0.548 -90.09° +desk 1.622 0.903 0.710 -0.261 -0.002 0.372 89.95° +chair 0.714 0.745 0.699 0.471 -0.001 0.207 -90.13° +lamp 0.600 0.806 0.611 -0.171 2.034 0.230 -0.05° +floor 2.932 -0.001 3.120 0.006 0.001 -0.010 -0.06° +_scene_ 0.081 0.001 0.030 -5.669 -0.005 -5.698 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[1.113, 0.903, 0.049] + !! OVERLAP: bookshelf <-> chair depth=[0.714, 0.745, 0.193] + !! OVERLAP: bookshelf <-> floor depth=[2.036, -0.001, 0.193] + !! OVERLAP: bookshelf <-> desk depth=[0.431, 0.903, 0.256] + !! OVERLAP: bookshelf <-> chair depth=[0.710, 0.745, 0.136] + !! OVERLAP: bookshelf <-> floor depth=[1.354, -0.001, 0.256] + !! OVERLAP: desk <-> chair depth=[0.435, 0.745, 0.540] + !! OVERLAP: desk <-> floor depth=[1.622, -0.001, 0.710] + !! OVERLAP: chair <-> floor depth=[0.714, -0.001, 0.699] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0801, Walkable Loss: 2.5780 (Center Penalty: 2.1667, C1 Heatmap: 0.2499, C2 Repulsion: 1.0567), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.322 0.779 0.495 -1.140 0.000 0.765 179.93° +chair 0.608 0.972 0.599 -1.020 0.000 -0.018 -46.34° +bookshelf 1.159 2.107 0.215 -1.090 -0.001 -1.337 0.05° +lamp 0.957 1.224 1.147 0.179 1.478 0.008 90.02° +chair 0.491 0.581 0.570 1.059 0.001 -0.320 -89.79° +floor 3.893 -0.004 2.736 -0.063 -0.001 0.025 -0.04° +_scene_ 0.070 0.001 0.026 -5.670 -0.004 -5.706 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.322, -0.004, 0.495] + !! OVERLAP: chair <-> floor depth=[0.608, -0.004, 0.599] + !! OVERLAP: bookshelf <-> floor depth=[1.159, -0.004, 0.114] + !! OVERLAP: chair <-> floor depth=[0.491, -0.004, 0.570] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.2474 (Center Penalty: 2.8006, C1 Heatmap: 0.3171, C2 Repulsion: 0.9653), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.323 0.866 1.004 0.164 0.004 -0.354 -89.97° +bookshelf 1.793 2.498 0.480 -0.304 0.001 -1.296 0.05° +lamp 0.608 1.109 0.857 0.081 1.979 0.020 -0.03° +floor 2.322 0.011 2.960 -0.024 -0.002 -0.013 -0.10° +_scene_ 0.076 -0.015 0.103 -5.531 0.010 -5.547 -57.81° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.323, 0.011, 1.004] + !! OVERLAP: bookshelf <-> floor depth=[1.778, 0.011, 0.437] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.1595, Room Outer Loss: 1.3713, Walkable Loss: 3.7432 (Center Penalty: 2.6786, C1 Heatmap: 0.6260, C2 Repulsion: 2.8191), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.282 2.519 0.225 -1.135 -0.002 -0.362 89.91° +desk 2.118 1.676 0.607 0.061 0.000 0.194 180.00° +chair 0.620 0.737 0.642 0.069 0.002 -0.553 0.05° +floor 2.626 -0.002 3.098 -0.011 0.001 -0.024 0.00° +_scene_ 0.046 0.002 0.041 -5.618 -0.002 -5.679 -57.44° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.620, 0.737, 0.225] + !! OVERLAP: bookshelf <-> floor depth=[1.831, -0.002, 0.225] + !! OVERLAP: desk <-> floor depth=[2.118, -0.002, 0.607] + !! OVERLAP: chair <-> floor depth=[0.620, -0.002, 0.642] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.1422, Room Outer Loss: 1.0629, Walkable Loss: 3.9011 (Center Penalty: 1.7383, C1 Heatmap: 1.0771, C2 Repulsion: 6.5052), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.372 2.361 0.454 0.853 0.006 -0.561 -90.00° +chair 0.811 0.876 0.843 -0.578 -0.001 -1.672 -21.61° +desk 1.269 0.665 0.603 -0.693 0.002 -1.284 90.06° +sofa 2.317 0.929 1.217 -0.497 0.000 0.067 89.99° +table 0.678 0.452 0.816 -0.492 0.000 1.697 -0.01° +floor 3.045 -0.002 4.868 -0.009 -0.000 -0.004 0.00° +_scene_ 0.066 0.000 0.022 -5.668 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[1.495, 0.929, 0.208] + !! OVERLAP: bookshelf <-> floor depth=[2.346, -0.002, 0.454] + !! OVERLAP: chair <-> desk depth=[0.811, 0.665, 0.335] + !! OVERLAP: chair <-> floor depth=[0.811, -0.002, 0.843] + !! OVERLAP: desk <-> floor depth=[1.269, -0.002, 0.603] + !! OVERLAP: sofa <-> floor depth=[2.194, -0.002, 1.217] + !! OVERLAP: table <-> floor depth=[0.678, -0.002, 0.816] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0394, Room Outer Loss: 0.0222, Walkable Loss: 3.3705 (Center Penalty: 2.3265, C1 Heatmap: 0.6621, C2 Repulsion: 2.5716), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.617 0.487 0.713 -0.890 0.000 0.446 -0.03° +bookshelf 0.731 1.921 0.323 1.264 0.001 0.681 -90.07° +lamp 0.450 0.624 0.448 -0.161 2.164 0.076 -0.04° +desk 2.155 0.817 0.782 -0.296 -0.000 0.927 -179.97° +sofa 2.065 0.826 0.978 -0.234 0.000 -1.124 -0.01° +floor 3.183 -0.001 3.366 0.002 0.001 -0.027 -0.02° +_scene_ 0.065 0.000 0.030 -5.658 -0.004 -5.700 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.617, 0.487, 0.267] + !! OVERLAP: chair <-> floor depth=[0.617, -0.001, 0.713] + !! OVERLAP: bookshelf <-> floor depth=[0.695, -0.001, 0.323] + !! OVERLAP: desk <-> floor depth=[2.155, -0.001, 0.782] + !! OVERLAP: sofa <-> floor depth=[2.065, -0.001, 0.978] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1221, Walkable Loss: 2.2022 (Center Penalty: 1.9871, C1 Heatmap: 0.2276, C2 Repulsion: 0.1651), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.495 2.352 0.322 -1.351 0.005 0.360 89.91° +chair 0.917 0.791 0.780 0.355 -0.005 0.901 -167.36° +lamp 0.319 0.628 0.344 0.254 2.216 0.234 -0.04° +floor 3.853 -0.000 2.816 -0.079 0.001 -0.032 0.00° +_scene_ 0.054 0.001 0.068 -5.598 -0.002 -5.620 -57.47° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.401, -0.000, 0.322] + !! OVERLAP: chair <-> floor depth=[0.917, -0.000, 0.780] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.1041, Room Outer Loss: 1.1201, Walkable Loss: 4.9727 (Center Penalty: 3.6157, C1 Heatmap: 0.7376, C2 Repulsion: 3.8343), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.067 2.481 0.425 -0.972 -0.014 0.093 89.81° +bookshelf 0.659 1.979 0.424 0.794 0.003 0.955 -179.95° +chair 0.575 0.760 0.515 -0.123 0.001 -0.314 89.93° +lamp 0.683 0.361 0.666 0.051 2.248 -0.104 -0.02° +desk 2.039 0.804 1.064 0.360 -0.001 -0.211 -0.02° +floor 2.701 -0.002 2.862 0.007 0.001 -0.012 -0.03° +_scene_ 0.061 0.003 0.024 -5.673 -0.005 -5.707 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.575, 0.760, 0.063] + !! OVERLAP: bookshelf <-> desk depth=[1.221, 0.804, 0.425] + !! OVERLAP: bookshelf <-> floor depth=[1.905, -0.002, 0.425] + !! OVERLAP: bookshelf <-> floor depth=[0.659, -0.002, 0.424] + !! OVERLAP: chair <-> desk depth=[0.575, 0.760, 0.515] + !! OVERLAP: chair <-> floor depth=[0.575, -0.002, 0.515] + !! OVERLAP: desk <-> floor depth=[2.017, -0.002, 1.064] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7697, Walkable Loss: 3.4969 (Center Penalty: 2.8826, C1 Heatmap: 0.3344, C2 Repulsion: 1.7336), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.038 1.112 1.047 0.167 1.597 -0.147 -0.04° +chair 0.475 0.942 0.530 -0.709 -0.000 0.354 89.77° +desk 1.191 0.698 0.645 0.351 0.001 -0.378 -89.98° +bookshelf 2.022 2.717 0.402 -1.277 0.000 -0.250 89.96° +floor 2.982 -0.004 2.991 -0.006 0.001 -0.021 -0.03° +_scene_ 0.045 0.003 0.024 -5.542 -0.005 -5.626 -57.69° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> bookshelf depth=[0.087, 0.318, 0.402] + !! OVERLAP: chair <-> floor depth=[0.475, -0.004, 0.530] + !! OVERLAP: desk <-> floor depth=[1.191, -0.004, 0.645] + !! OVERLAP: bookshelf <-> floor depth=[1.232, -0.004, 0.402] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 2.3155, Walkable Loss: 4.1382 (Center Penalty: 2.0627, C1 Heatmap: 0.9293, C2 Repulsion: 6.6600), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.812 2.583 0.150 1.445 -0.001 1.485 -90.07° +bookshelf 3.494 2.405 0.266 1.280 0.001 -0.060 -89.90° +desk 1.329 0.879 0.533 -0.430 -0.001 1.081 179.88° +chair 0.536 0.944 0.595 0.640 0.003 0.923 -89.68° +chair 0.806 0.887 0.900 -1.405 -0.000 -1.197 37.29° +chair 0.456 0.460 0.408 -1.462 0.001 -0.180 83.24° +table 0.533 0.595 0.578 -0.529 0.001 -0.998 0.06° +lamp 0.296 0.596 0.307 -0.183 2.159 0.425 -0.05° +floor 3.816 -0.001 3.632 -0.065 0.000 0.013 -0.02° +_scene_ 0.073 0.002 0.024 -5.671 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.804, -0.001, 0.150] + !! OVERLAP: bookshelf <-> floor depth=[2.310, -0.001, 0.266] + !! OVERLAP: desk <-> floor depth=[1.329, -0.001, 0.533] + !! OVERLAP: chair <-> floor depth=[0.536, -0.001, 0.595] + !! OVERLAP: chair <-> floor depth=[0.806, -0.001, 0.900] + !! OVERLAP: chair <-> floor depth=[0.456, -0.001, 0.408] + !! OVERLAP: table <-> floor depth=[0.533, -0.001, 0.578] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.1164, Room Outer Loss: 0.3120, Walkable Loss: 4.7898 (Center Penalty: 3.5193, C1 Heatmap: 0.4691, C2 Repulsion: 4.4763), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.412 0.794 0.624 -0.303 0.001 0.407 -180.00° +chair 0.650 0.977 0.635 -0.437 0.002 0.120 18.80° +bookshelf 1.250 2.178 0.352 1.055 0.001 0.297 -90.07° +lamp 1.220 1.372 1.210 -0.056 1.510 0.040 0.03° +floor 2.761 -0.002 3.295 -0.001 0.002 -0.014 -0.02° +_scene_ 0.022 0.008 0.010 -5.617 -0.005 -5.687 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.650, 0.794, 0.342] + !! OVERLAP: desk <-> floor depth=[1.412, -0.002, 0.624] + !! OVERLAP: chair <-> floor depth=[0.650, -0.002, 0.635] + !! OVERLAP: bookshelf <-> lamp depth=[0.124, 0.266, 0.352] + !! OVERLAP: bookshelf <-> floor depth=[0.950, -0.002, 0.352] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.1916, Walkable Loss: 2.7355 (Center Penalty: 2.2408, C1 Heatmap: 0.3180, C2 Repulsion: 1.2016), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.150 0.808 0.525 -0.393 0.002 1.026 179.93° +bookshelf 0.371 1.844 0.280 1.350 0.003 0.812 179.97° +chair 0.515 0.701 0.566 -0.617 0.000 0.500 0.05° +bookshelf 2.088 1.967 0.376 -0.667 0.003 -1.024 0.09° +lamp 1.220 1.074 0.793 -0.313 2.075 0.101 0.06° +floor 3.105 -0.003 2.600 -0.049 -0.000 0.007 -0.05° +_scene_ 0.071 -0.001 0.029 -5.675 -0.004 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.515, 0.701, 0.019] + !! OVERLAP: desk <-> floor depth=[1.150, -0.003, 0.525] + !! OVERLAP: bookshelf <-> floor depth=[0.339, -0.003, 0.280] + !! OVERLAP: chair <-> floor depth=[0.515, -0.003, 0.566] + !! OVERLAP: bookshelf <-> floor depth=[1.979, -0.003, 0.376] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.0319, Room Outer Loss: 1.1851, Walkable Loss: 4.0956 (Center Penalty: 2.7669, C1 Heatmap: 0.7177, C2 Repulsion: 3.7729), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.393 0.848 0.501 0.087 -0.002 -0.543 -89.98° +bookshelf 2.967 2.552 0.404 -0.241 -0.002 1.345 -179.84° +cabinet 2.023 1.292 0.641 -0.309 -0.000 -0.736 89.97° +lamp 0.641 0.579 0.657 0.058 2.152 -0.250 -0.03° +chair 0.448 0.830 0.487 0.512 0.002 -1.508 -24.65° +floor 2.189 0.001 3.883 -0.008 0.001 -0.015 -0.01° +_scene_ 0.064 -0.000 0.020 -5.674 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> cabinet depth=[1.311, 0.848, 0.379] + !! OVERLAP: desk <-> floor depth=[1.393, 0.001, 0.501] + !! OVERLAP: bookshelf <-> floor depth=[2.189, 0.001, 0.404] + !! OVERLAP: cabinet <-> floor depth=[1.805, 0.001, 0.641] + !! OVERLAP: chair <-> floor depth=[0.448, 0.001, 0.487] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0052, Walkable Loss: 1.8861 (Center Penalty: 1.4756, C1 Heatmap: 0.3801, C2 Repulsion: 0.5318), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.519 0.822 0.508 -0.716 -0.002 -0.207 89.80° +bookshelf 1.752 2.078 0.279 -0.048 0.000 1.588 -179.97° +desk 1.559 0.755 1.000 0.644 -0.003 -0.684 -90.04° +floor 2.752 0.002 3.656 0.003 -0.000 -0.010 -0.01° +_scene_ 0.103 0.005 0.077 -5.650 -0.005 -5.684 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.519, 0.002, 0.508] + !! OVERLAP: bookshelf <-> floor depth=[1.752, 0.002, 0.279] + !! OVERLAP: desk <-> floor depth=[1.515, 0.002, 1.000] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3478, Walkable Loss: 2.6344 (Center Penalty: 2.3096, C1 Heatmap: 0.2672, C2 Repulsion: 0.5551), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.202 0.732 0.597 -0.286 0.002 -0.797 0.05° +lamp 0.633 0.750 0.204 0.011 1.928 0.291 -0.07° +bookshelf 0.625 2.003 0.356 1.321 0.001 -0.901 -89.99° +chair 0.515 0.912 0.556 -0.225 -0.001 0.754 169.83° +bookshelf 0.784 1.888 0.411 1.284 0.005 1.563 -90.03° +bookshelf 0.761 2.047 0.372 1.405 0.002 0.311 -90.08° +floor 3.047 -0.001 3.087 0.011 -0.000 0.301 -0.06° +_scene_ 0.043 0.002 0.005 -5.675 -0.007 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.202, -0.001, 0.597] + !! OVERLAP: bookshelf <-> floor depth=[0.527, -0.001, 0.356] + !! OVERLAP: chair <-> floor depth=[0.515, -0.001, 0.556] + !! OVERLAP: bookshelf <-> floor depth=[0.643, -0.001, 0.411] + !! OVERLAP: bookshelf <-> floor depth=[0.510, -0.001, 0.372] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0289, Room Outer Loss: 0.7527, Walkable Loss: 3.5743 (Center Penalty: 2.6405, C1 Heatmap: 0.4767, C2 Repulsion: 2.7623), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.596 2.458 0.317 0.746 -0.001 -0.115 -89.98° +desk 1.446 0.949 0.752 -0.626 0.007 -0.324 90.01° +chair 0.626 0.848 0.583 0.091 -0.002 -0.115 -89.88° +floor 2.703 0.001 3.231 -0.008 -0.001 -0.106 -0.05° +_scene_ 0.047 0.025 0.074 -5.216 0.008 -5.485 -57.88° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.649, 0.949, 0.317] + !! OVERLAP: bookshelf <-> chair depth=[0.626, 0.848, 0.317] + !! OVERLAP: bookshelf <-> floor depth=[1.894, 0.001, 0.317] + !! OVERLAP: desk <-> chair depth=[0.320, 0.848, 0.458] + !! OVERLAP: desk <-> floor depth=[1.446, 0.001, 0.752] + !! OVERLAP: chair <-> floor depth=[0.626, 0.001, 0.583] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.0269, Room Outer Loss: 2.5040, Walkable Loss: 3.5968 (Center Penalty: 2.0226, C1 Heatmap: 0.8796, C2 Repulsion: 4.3527), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.232 2.392 0.192 -1.133 -0.000 0.227 89.97° +bookshelf 2.605 2.242 0.305 1.108 0.001 -0.167 -90.10° +desk 2.032 0.747 0.765 -0.034 -0.001 -0.859 -0.10° +chair 0.575 0.707 0.593 -0.355 -0.001 -0.081 -179.94° +floor 2.744 -0.002 3.331 0.056 -0.000 -0.021 -0.03° +_scene_ 0.061 -0.001 0.025 -5.661 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.575, 0.707, 0.085] + !! OVERLAP: bookshelf <-> floor depth=[1.799, -0.002, 0.192] + !! OVERLAP: bookshelf <-> chair depth=[0.126, 0.707, 0.305] + !! OVERLAP: bookshelf <-> floor depth=[1.622, -0.002, 0.305] + !! OVERLAP: desk <-> floor depth=[2.032, -0.002, 0.765] + !! OVERLAP: chair <-> floor depth=[0.575, -0.002, 0.593] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.3635, Walkable Loss: 4.5309 (Center Penalty: 3.4171, C1 Heatmap: 0.2944, C2 Repulsion: 4.3912), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.993 2.076 0.309 -0.949 0.001 0.197 89.91° +bookshelf 1.121 2.134 0.316 -1.217 -0.006 -0.647 89.97° +desk 1.582 0.714 0.610 0.135 0.000 -0.435 -90.03° +chair 0.430 0.858 0.490 -0.438 0.000 -0.210 89.93° +lamp 0.598 0.477 0.574 -0.079 2.505 -0.167 -0.04° +floor 2.869 -0.001 4.306 -0.024 0.001 -0.125 0.01° +_scene_ 0.065 -0.001 0.023 -5.675 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.993, -0.001, 0.309] + !! OVERLAP: bookshelf <-> floor depth=[0.802, -0.001, 0.316] + !! OVERLAP: desk <-> chair depth=[0.430, 0.714, 0.325] + !! OVERLAP: desk <-> floor depth=[1.582, -0.001, 0.610] + !! OVERLAP: chair <-> floor depth=[0.430, -0.001, 0.490] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0143, Room Outer Loss: 0.6662, Walkable Loss: 2.9313 (Center Penalty: 2.2840, C1 Heatmap: 0.2862, C2 Repulsion: 2.0918), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.794 2.167 0.429 -1.094 0.003 1.158 -180.00° +bookshelf 0.647 2.084 0.330 -1.142 -0.003 -0.837 89.20° +bookshelf 1.264 2.100 0.250 1.237 -0.001 -0.085 -90.02° +chair 0.653 0.840 0.735 -0.736 0.001 -0.660 89.77° +lamp 0.558 0.401 0.570 0.339 2.439 0.087 -90.03° +chair 0.526 0.583 0.536 -0.045 0.000 -0.860 89.99° +floor 2.895 0.002 3.413 0.002 0.000 0.020 -0.03° +_scene_ 0.063 -0.000 0.012 -5.664 -0.005 -5.711 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.749, 0.002, 0.429] + !! OVERLAP: bookshelf <-> chair depth=[0.245, 0.840, 0.330] + !! OVERLAP: bookshelf <-> floor depth=[0.628, 0.002, 0.330] + !! OVERLAP: bookshelf <-> floor depth=[0.844, 0.002, 0.250] + !! OVERLAP: chair <-> floor depth=[0.653, 0.002, 0.735] + !! OVERLAP: chair <-> floor depth=[0.526, 0.002, 0.536] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0105, Room Outer Loss: 0.5678, Walkable Loss: 4.3722 (Center Penalty: 3.6503, C1 Heatmap: 0.3523, C2 Repulsion: 2.2004), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.117 1.719 0.368 -1.147 0.029 -0.048 90.02° +desk 1.926 0.739 0.745 0.206 -0.001 -0.133 -89.93° +chair 0.479 0.805 0.497 -0.447 0.003 0.050 89.92° +lamp 1.281 1.062 0.925 0.074 1.652 -0.142 0.02° +floor 2.428 0.002 2.726 -0.013 0.000 0.025 -0.00° +_scene_ 0.064 -0.000 0.017 -5.667 -0.003 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.168, 0.739, 0.368] + !! OVERLAP: bookshelf <-> chair depth=[0.098, 0.805, 0.334] + !! OVERLAP: bookshelf <-> floor depth=[0.638, 0.002, 0.368] + !! OVERLAP: desk <-> chair depth=[0.479, 0.739, 0.439] + !! OVERLAP: desk <-> floor depth=[1.926, 0.002, 0.745] + !! OVERLAP: chair <-> floor depth=[0.479, 0.002, 0.497] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0245, Room Outer Loss: 0.0000, Walkable Loss: 3.0984 (Center Penalty: 2.2429, C1 Heatmap: 0.4320, C2 Repulsion: 2.5497), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.526 0.749 0.541 0.456 0.002 -0.289 -0.06° +desk 1.365 1.086 0.547 0.655 0.002 0.692 179.99° +chair 0.419 0.705 0.427 -0.643 -0.001 -0.152 0.06° +bookshelf 0.924 1.350 0.327 0.481 0.001 -1.267 0.08° +bookshelf 0.676 1.061 0.402 -0.962 0.002 -1.362 0.02° +desk 1.670 1.124 0.593 -0.209 0.003 1.117 -179.94° +floor 2.748 -0.000 3.297 0.022 0.001 -0.059 -0.03° +_scene_ 0.069 0.000 0.021 -5.667 -0.003 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.526, -0.000, 0.541] + !! OVERLAP: desk <-> desk depth=[0.654, 1.086, 0.145] + !! OVERLAP: desk <-> floor depth=[1.365, -0.000, 0.547] + !! OVERLAP: chair <-> floor depth=[0.419, -0.000, 0.427] + !! OVERLAP: bookshelf <-> floor depth=[0.924, -0.000, 0.327] + !! OVERLAP: bookshelf <-> floor depth=[0.676, -0.000, 0.402] + !! OVERLAP: desk <-> floor depth=[1.670, -0.000, 0.593] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0315, Walkable Loss: 3.7405 (Center Penalty: 2.8291, C1 Heatmap: 0.5800, C2 Repulsion: 2.2367), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.515 1.016 0.587 0.104 0.003 0.707 -152.45° +desk 2.364 0.815 1.040 -0.001 0.001 -0.625 -0.03° +lamp 0.479 0.694 0.504 -0.172 1.957 0.014 -0.05° +bookshelf 1.910 2.542 0.277 -0.103 -0.001 1.446 -179.99° +floor 2.758 -0.003 3.156 0.002 0.000 0.018 -0.03° +_scene_ 0.068 -0.003 0.042 -5.655 -0.003 -5.685 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.515, -0.003, 0.587] + !! OVERLAP: desk <-> floor depth=[2.364, -0.003, 1.040] + !! OVERLAP: bookshelf <-> floor depth=[1.910, -0.003, 0.277] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.0818, Room Outer Loss: 0.0428, Walkable Loss: 4.2846 (Center Penalty: 3.4647, C1 Heatmap: 0.5131, C2 Repulsion: 2.0468), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.662 0.323 0.656 -0.051 2.486 0.135 -0.01° +bookshelf 1.646 2.068 0.288 -0.083 -0.002 -1.241 0.08° +desk 2.108 0.688 1.132 -0.032 -0.001 0.176 -89.93° +chair 0.508 0.889 0.598 0.578 0.010 -0.127 -18.46° +floor 2.610 -0.003 2.895 -0.006 -0.000 -0.002 -0.01° +_scene_ 0.049 0.009 0.027 -5.622 -0.007 -5.670 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.646, -0.003, 0.288] + !! OVERLAP: desk <-> chair depth=[0.508, 0.688, 0.562] + !! OVERLAP: desk <-> floor depth=[2.108, -0.003, 1.132] + !! OVERLAP: chair <-> floor depth=[0.508, -0.003, 0.598] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1150, Walkable Loss: 2.6508 (Center Penalty: 2.1745, C1 Heatmap: 0.4184, C2 Repulsion: 0.7077), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.648 0.314 0.628 -0.196 2.314 0.140 -0.06° +chair 0.420 0.889 0.444 1.127 0.002 -0.701 -123.95° +desk 1.473 0.772 0.547 0.005 0.001 -0.971 0.06° +bookshelf 2.548 1.890 0.412 0.100 0.002 1.208 179.95° +floor 2.483 0.000 2.904 0.001 0.001 0.027 -0.03° +_scene_ 0.088 0.001 0.038 -5.659 -0.004 -5.701 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.326, 0.000, 0.444] + !! OVERLAP: desk <-> floor depth=[1.473, 0.000, 0.547] + !! OVERLAP: bookshelf <-> floor depth=[2.417, 0.000, 0.412] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0086, Room Outer Loss: 0.2061, Walkable Loss: 4.4253 (Center Penalty: 3.5144, C1 Heatmap: 0.4304, C2 Repulsion: 2.8333), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.160 0.874 0.915 -0.266 0.001 0.216 89.95° +chair 0.578 0.763 0.580 0.529 0.001 -0.042 -89.89° +bookshelf 1.116 2.101 0.246 1.018 -0.000 0.040 -90.04° +lamp 0.541 0.295 0.534 -0.161 2.307 -0.053 0.01° +floor 2.632 -0.001 3.197 0.003 -0.000 -0.016 -0.04° +_scene_ 0.057 0.003 0.023 -5.644 -0.004 -5.700 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.575, 0.763, 0.489] + !! OVERLAP: desk <-> bookshelf depth=[0.354, 0.874, 0.246] + !! OVERLAP: desk <-> floor depth=[2.127, -0.001, 0.915] + !! OVERLAP: chair <-> bookshelf depth=[0.358, 0.763, 0.246] + !! OVERLAP: chair <-> floor depth=[0.578, -0.001, 0.580] + !! OVERLAP: bookshelf <-> floor depth=[0.859, -0.001, 0.246] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.8480 (Center Penalty: 2.4772, C1 Heatmap: 0.3301, C2 Repulsion: 0.5337), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.383 0.881 0.637 0.259 -0.001 -0.912 0.03° +chair 0.384 0.965 0.563 0.515 0.149 0.488 -179.96° +lamp 0.815 0.593 0.886 -0.005 2.071 -0.155 0.01° +floor 2.783 0.010 3.513 0.100 -0.001 -0.210 -0.11° +_scene_ 0.071 0.119 0.273 -4.604 0.098 -4.582 -62.85° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.383, 0.010, 0.637] + !! OVERLAP: chair <-> floor depth=[0.384, 0.010, 0.563] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0869, Room Outer Loss: 2.5321, Walkable Loss: 5.9109 (Center Penalty: 3.8866, C1 Heatmap: 1.0869, C2 Repulsion: 5.7738), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.448 2.659 0.189 1.082 -0.005 0.313 -89.90° +bookshelf 3.601 2.747 0.343 0.813 -0.002 0.078 -90.14° +desk 1.982 0.817 0.864 -0.245 -0.000 0.289 89.93° +chair 0.596 1.030 0.813 0.084 -0.000 -0.005 -89.80° +lamp 0.869 0.607 0.844 -0.149 2.076 0.061 -0.02° +floor 3.069 -0.001 3.078 0.003 0.001 -0.017 -0.01° +_scene_ 0.077 -0.001 0.020 -5.662 -0.003 -5.701 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[3.255, 2.659, 0.031] + !! OVERLAP: bookshelf <-> desk depth=[1.388, 0.817, 0.189] + !! OVERLAP: bookshelf <-> chair depth=[0.596, 1.030, 0.183] + !! OVERLAP: bookshelf <-> floor depth=[2.179, -0.001, 0.189] + !! OVERLAP: bookshelf <-> desk depth=[1.734, 0.817, 0.343] + !! OVERLAP: bookshelf <-> chair depth=[0.596, 1.030, 0.343] + !! OVERLAP: bookshelf <-> floor depth=[2.526, -0.001, 0.343] + !! OVERLAP: desk <-> chair depth=[0.596, 0.817, 0.545] + !! OVERLAP: desk <-> floor depth=[1.982, -0.001, 0.864] + !! OVERLAP: chair <-> floor depth=[0.596, -0.001, 0.813] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6311, Walkable Loss: 2.9201 (Center Penalty: 2.5020, C1 Heatmap: 0.3436, C2 Repulsion: 0.7156), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.369 2.426 0.454 1.073 0.001 0.299 -89.99° +lamp 1.079 0.993 1.123 -0.289 1.571 0.006 -0.01° +table 1.273 0.737 0.441 -0.451 -0.001 -0.367 0.04° +floor 3.006 0.000 3.252 0.055 -0.000 -0.047 -0.02° +_scene_ 0.111 0.011 0.151 -5.472 -0.005 -5.610 -57.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> lamp depth=[0.362, 0.140, 0.454] + !! OVERLAP: bookshelf <-> floor depth=[1.670, 0.000, 0.454] + !! OVERLAP: table <-> floor depth=[1.273, 0.000, 0.441] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.1538, Room Outer Loss: 5.1670, Walkable Loss: 4.5113 (Center Penalty: 2.1492, C1 Heatmap: 1.3409, C2 Repulsion: 6.4470), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.239 0.775 0.503 0.827 -0.000 0.091 -89.96° +chair 0.453 0.853 0.579 -0.523 -0.001 0.396 89.92° +bookshelf 3.806 2.487 0.241 -1.564 0.001 0.137 89.91° +bookshelf 3.398 2.264 0.221 -1.349 -0.000 -0.018 89.94° +bookshelf 4.461 2.512 0.325 -1.150 0.002 0.797 89.98° +lamp 1.046 0.923 0.514 0.287 1.963 0.441 -89.69° +floor 3.251 -0.002 3.227 -0.010 0.000 -0.023 -0.03° +_scene_ 0.079 0.003 0.069 -5.635 -0.002 -5.643 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.132, 0.775, 0.241] + !! OVERLAP: desk <-> bookshelf depth=[0.143, 0.775, 0.221] + !! OVERLAP: desk <-> floor depth=[1.239, -0.002, 0.503] + !! OVERLAP: chair <-> bookshelf depth=[0.453, 0.853, 0.151] + !! OVERLAP: chair <-> bookshelf depth=[0.453, 0.853, 0.052] + !! OVERLAP: chair <-> floor depth=[0.453, -0.002, 0.579] + !! OVERLAP: bookshelf <-> bookshelf depth=[3.388, 2.264, 0.076] + !! OVERLAP: bookshelf <-> floor depth=[1.975, -0.002, 0.241] + !! OVERLAP: bookshelf <-> floor depth=[1.986, -0.002, 0.221] + !! OVERLAP: bookshelf <-> floor depth=[2.717, -0.002, 0.325] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0711, Walkable Loss: 3.1146 (Center Penalty: 2.6085, C1 Heatmap: 0.3176, C2 Repulsion: 1.2603), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.186 0.809 0.552 -0.192 0.001 1.174 179.96° +bookshelf 0.366 1.848 0.326 1.410 0.000 0.585 -90.02° +chair 0.494 0.780 0.528 -0.293 0.001 0.547 0.06° +bookshelf 1.798 1.926 0.378 -0.617 -0.002 -0.948 0.07° +lamp 0.922 1.128 0.934 -0.073 1.868 -0.053 -0.00° +floor 2.989 -0.001 2.912 0.001 0.001 -0.001 -0.01° +_scene_ 0.057 0.002 0.026 -5.673 -0.004 -5.704 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.186, -0.001, 0.552] + !! OVERLAP: bookshelf <-> floor depth=[0.269, -0.001, 0.326] + !! OVERLAP: chair <-> floor depth=[0.494, -0.001, 0.528] + !! OVERLAP: bookshelf <-> floor depth=[1.775, -0.001, 0.378] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0507, Room Outer Loss: 0.6271, Walkable Loss: 3.8662 (Center Penalty: 3.2615, C1 Heatmap: 0.3177, C2 Repulsion: 1.7529), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.675 0.935 0.773 0.859 -0.007 0.004 78.30° +desk 0.919 0.731 0.673 0.253 -0.002 -0.076 -90.03° +bookshelf 1.991 2.467 0.342 -0.965 0.004 0.118 89.89° +lamp 0.971 1.259 1.050 0.022 1.537 0.123 -0.03° +floor 2.564 -0.001 2.975 0.003 -0.001 -0.057 -0.04° +_scene_ 0.059 0.000 0.036 -5.640 -0.003 -5.677 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.191, 0.731, 0.643] + !! OVERLAP: chair <-> floor depth=[0.675, -0.001, 0.773] + !! OVERLAP: desk <-> bookshelf depth=[0.237, 0.731, 0.313] + !! OVERLAP: desk <-> floor depth=[0.919, -0.001, 0.673] + !! OVERLAP: bookshelf <-> lamp depth=[0.494, 0.330, 0.342] + !! OVERLAP: bookshelf <-> floor depth=[1.310, -0.001, 0.342] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3685, Walkable Loss: 3.6446 (Center Penalty: 3.0542, C1 Heatmap: 0.3273, C2 Repulsion: 1.6425), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.344 0.847 0.787 -0.401 0.001 -0.119 -90.02° +chair 0.520 0.977 0.593 -0.971 -0.001 -0.122 0.13° +bookshelf 1.680 2.305 0.300 0.898 -0.003 -0.153 -90.24° +lamp 0.447 0.798 0.438 0.169 1.701 -0.011 -0.02° +floor 2.909 0.001 2.764 0.037 0.000 -0.004 -0.05° +_scene_ 0.066 0.003 0.026 -5.657 -0.003 -5.689 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.362, 0.847, 0.593] + !! OVERLAP: desk <-> bookshelf depth=[0.213, 0.847, 0.300] + !! OVERLAP: desk <-> floor depth=[1.344, 0.001, 0.787] + !! OVERLAP: chair <-> floor depth=[0.520, 0.001, 0.593] + !! OVERLAP: bookshelf <-> floor depth=[1.434, 0.001, 0.300] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6839 (Center Penalty: 2.2745, C1 Heatmap: 0.2634, C2 Repulsion: 0.9939), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.966 1.478 0.687 -0.066 0.001 -0.972 0.06° +chair 0.513 0.738 0.599 -0.774 -0.001 -0.319 -179.97° +lamp 0.118 0.589 0.454 0.036 1.924 -0.182 -79.60° +floor 2.227 0.020 2.728 0.011 0.001 -0.265 -0.21° +_scene_ 0.024 0.302 -0.096 -3.172 1.366 -3.052 -66.94° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.966, 0.020, 0.687] + !! OVERLAP: chair <-> floor depth=[0.513, 0.020, 0.599] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4334, Walkable Loss: 2.9289 (Center Penalty: 2.6604, C1 Heatmap: 0.1898, C2 Repulsion: 0.5835), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.044 0.710 0.520 0.127 0.007 -0.480 -89.69° +bookshelf 1.348 2.251 0.461 -0.991 0.006 -0.319 89.92° +lamp 0.582 0.636 0.601 0.020 2.353 -0.163 -0.00° +floor 2.531 0.002 2.918 -0.017 -0.000 -0.036 0.03° +_scene_ 0.000 0.117 0.039 -4.785 0.001 -4.944 -60.01° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.078, 0.710, 0.330] + !! OVERLAP: desk <-> floor depth=[1.044, 0.002, 0.520] + !! OVERLAP: bookshelf <-> floor depth=[0.965, 0.002, 0.461] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3695 (Center Penalty: 2.1223, C1 Heatmap: 0.2358, C2 Repulsion: 0.2929), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.885 1.391 0.540 -0.351 0.002 -1.267 0.06° +chair 0.577 0.883 0.636 -0.898 0.001 0.099 -179.98° +lamp 0.638 0.358 0.628 -0.135 2.289 0.214 -0.03° +floor 2.449 0.001 3.208 -0.009 -0.000 -0.008 -0.02° +_scene_ 0.094 -0.010 0.110 -5.573 0.009 -5.594 -57.54° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.825, 0.001, 0.540] + !! OVERLAP: chair <-> floor depth=[0.577, 0.001, 0.636] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0217, Room Outer Loss: 0.0866, Walkable Loss: 3.7903 (Center Penalty: 2.2736, C1 Heatmap: 0.7067, C2 Repulsion: 4.7569), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.761 2.430 0.400 0.218 0.000 1.229 180.00° +desk 1.686 0.721 0.983 0.594 -0.001 0.294 0.03° +chair 0.467 1.004 0.545 0.960 0.004 0.751 -179.96° +chair 0.562 1.024 0.586 -0.844 0.005 -1.172 63.64° +chair 0.557 0.974 0.651 1.226 0.001 -1.297 0.06° +table 0.653 0.576 0.610 0.323 0.000 -1.265 0.02° +lamp 0.503 0.750 0.498 0.130 1.887 -0.366 -0.06° +floor 3.182 -0.001 3.297 0.026 0.001 -0.035 -0.00° +_scene_ 0.068 0.000 0.023 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.761, -0.001, 0.400] + !! OVERLAP: desk <-> chair depth=[0.467, 0.721, 0.308] + !! OVERLAP: desk <-> floor depth=[1.686, -0.001, 0.983] + !! OVERLAP: chair <-> floor depth=[0.467, -0.001, 0.545] + !! OVERLAP: chair <-> floor depth=[0.562, -0.001, 0.586] + !! OVERLAP: chair <-> floor depth=[0.557, -0.001, 0.651] + !! OVERLAP: table <-> floor depth=[0.653, -0.001, 0.610] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0425, Room Outer Loss: 0.7493, Walkable Loss: 2.4236 (Center Penalty: 1.6148, C1 Heatmap: 0.4811, C2 Repulsion: 2.1196), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.725 0.777 0.775 0.251 0.003 -0.441 89.91° +bookshelf 1.120 2.634 0.339 -0.606 -0.001 -0.925 0.14° +bookshelf 0.577 2.359 0.297 1.339 0.001 -0.610 -89.92° +bookshelf 1.984 2.126 0.447 0.455 -0.000 1.319 -179.76° +floor 2.312 0.002 3.487 -0.020 0.002 -0.261 -0.09° +_scene_ 0.102 0.228 0.260 -2.842 0.008 -3.003 -79.77° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.566, 0.777, 0.073] + !! OVERLAP: desk <-> bookshelf depth=[0.062, 0.777, 0.297] + !! OVERLAP: desk <-> floor depth=[1.725, 0.002, 0.775] + !! OVERLAP: bookshelf <-> floor depth=[1.120, 0.002, 0.339] + !! OVERLAP: bookshelf <-> floor depth=[0.085, 0.002, 0.297] + !! OVERLAP: bookshelf <-> floor depth=[1.673, 0.002, 0.388] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.1011, Room Outer Loss: 0.4509, Walkable Loss: 4.8993 (Center Penalty: 2.8983, C1 Heatmap: 1.0327, C2 Repulsion: 5.8741), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.701 0.788 1.849 0.082 -0.001 -0.436 0.02° +chair 0.482 0.872 0.531 0.585 0.001 -0.658 90.00° +wardrobe 1.676 2.157 0.479 -1.064 0.002 1.266 -179.95° +wardrobe 1.127 2.342 0.703 -1.766 -0.000 -0.480 89.98° +wardrobe 1.070 2.164 0.508 1.545 0.002 -0.691 -90.16° +wardrobe 0.914 2.029 0.627 1.699 -0.001 0.583 -90.34° +lamp 0.545 0.140 0.528 0.160 2.775 -0.057 -0.09° +floor 4.028 -0.002 3.370 -0.042 0.000 -0.008 -0.05° +_scene_ 0.041 0.000 0.013 -5.667 -0.005 -5.705 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.482, 0.788, 0.531] + !! OVERLAP: desk <-> wardrobe depth=[0.066, 0.788, 0.703] + !! OVERLAP: desk <-> wardrobe depth=[0.423, 0.788, 0.508] + !! OVERLAP: desk <-> wardrobe depth=[0.190, 0.788, 0.219] + !! OVERLAP: desk <-> floor depth=[2.701, -0.002, 1.849] + !! OVERLAP: chair <-> floor depth=[0.482, -0.002, 0.531] + !! OVERLAP: wardrobe <-> floor depth=[1.676, -0.002, 0.479] + !! OVERLAP: wardrobe <-> floor depth=[0.853, -0.002, 0.703] + !! OVERLAP: wardrobe <-> floor depth=[0.963, -0.002, 0.508] + !! OVERLAP: wardrobe <-> floor depth=[0.730, -0.002, 0.627] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0954, Walkable Loss: 1.7890 (Center Penalty: 1.6202, C1 Heatmap: 0.1330, C2 Repulsion: 0.3119), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.596 0.842 0.560 -0.100 0.001 1.111 -179.93° +chair 0.700 0.839 0.736 -0.910 0.001 -0.014 0.00° +lamp 0.673 0.749 0.506 1.110 2.249 0.119 179.82° +lamp 0.413 0.723 0.428 -0.324 1.726 -0.099 -0.06° +floor 3.257 -0.004 4.273 0.538 0.000 -0.483 -0.05° +_scene_ 0.064 0.002 0.024 -5.649 -0.004 -5.686 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.596, -0.004, 0.560] + !! OVERLAP: chair <-> floor depth=[0.531, -0.004, 0.736] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.2029, Room Outer Loss: 5.4573, Walkable Loss: 5.7577 (Center Penalty: 2.7539, C1 Heatmap: 1.3225, C2 Repulsion: 9.7287), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.310 2.567 0.187 0.577 -0.001 -0.291 -90.00° +bookshelf 2.691 2.599 0.233 0.455 0.001 -0.502 -90.09° +bookshelf 2.276 2.568 0.162 0.907 -0.006 -0.131 -89.93° +bookshelf 3.141 2.546 0.338 0.798 -0.003 -0.576 -90.01° +desk 1.673 0.839 1.179 -0.438 -0.000 -0.171 89.94° +floor 1.988 -0.000 3.498 -0.173 0.052 -0.087 -0.17° +_scene_ 0.331 0.215 2.298 -3.314 -0.013 -3.010 -76.96° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[2.276, 2.563, 0.014] + !! OVERLAP: bookshelf <-> desk depth=[1.477, 0.839, 0.187] + !! OVERLAP: bookshelf <-> floor depth=[1.900, -0.000, 0.187] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.573, 2.546, 0.211] + !! OVERLAP: bookshelf <-> desk depth=[1.289, 0.839, 0.233] + !! OVERLAP: bookshelf <-> floor depth=[1.711, -0.000, 0.233] + !! OVERLAP: bookshelf <-> desk depth=[0.629, 0.839, 0.162] + !! OVERLAP: bookshelf <-> floor depth=[1.052, -0.000, 0.162] + !! OVERLAP: bookshelf <-> desk depth=[1.171, 0.839, 0.338] + !! OVERLAP: bookshelf <-> floor depth=[1.594, -0.000, 0.338] + !! OVERLAP: desk <-> floor depth=[1.565, -0.000, 1.179] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0512, Room Outer Loss: 0.1718, Walkable Loss: 2.7619 (Center Penalty: 2.3160, C1 Heatmap: 0.2922, C2 Repulsion: 1.0606), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.497 0.744 0.697 0.091 0.019 -1.300 -0.01° +chair 0.536 0.932 0.596 -0.413 0.004 -0.710 -150.79° +bookshelf 1.103 2.017 0.439 0.798 0.001 0.819 -90.20° +lamp 1.115 1.172 1.103 -0.043 1.556 0.090 -0.00° +floor 2.489 0.001 3.922 0.004 0.001 -0.010 -0.02° +_scene_ 0.065 0.001 0.023 -5.653 -0.003 -5.701 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.512, 0.744, 0.057] + !! OVERLAP: desk <-> floor depth=[1.497, 0.001, 0.697] + !! OVERLAP: chair <-> floor depth=[0.536, 0.001, 0.596] + !! OVERLAP: bookshelf <-> lamp depth=[0.268, 0.039, 0.041] + !! OVERLAP: bookshelf <-> floor depth=[1.002, 0.001, 0.439] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0366, Walkable Loss: 2.9052 (Center Penalty: 2.3130, C1 Heatmap: 0.3728, C2 Repulsion: 1.4699), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.815 0.708 0.833 -0.330 0.000 -0.431 0.05° +bookshelf 0.977 2.487 0.349 -1.096 0.001 1.325 179.98° +bookshelf 0.759 2.338 0.417 0.886 -0.001 1.251 -179.95° +bookshelf 0.521 2.238 0.252 -0.150 0.004 1.211 -179.96° +lamp 0.826 0.161 0.791 -0.403 2.524 -0.125 0.03° +floor 3.686 0.000 2.768 -0.089 0.001 0.063 -0.04° +_scene_ 0.014 -0.007 0.011 -5.629 -0.001 -5.675 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.815, 0.000, 0.833] + !! OVERLAP: bookshelf <-> floor depth=[0.977, 0.000, 0.297] + !! OVERLAP: bookshelf <-> floor depth=[0.759, 0.000, 0.405] + !! OVERLAP: bookshelf <-> floor depth=[0.521, 0.000, 0.252] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.1574, Room Outer Loss: 1.9632, Walkable Loss: 6.6789 (Center Penalty: 3.1117, C1 Heatmap: 1.3509, C2 Repulsion: 12.4322), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.898 2.135 0.281 -1.739 -0.002 0.336 89.95° +bookshelf 2.040 2.065 0.337 -0.574 0.005 0.937 -179.96° +bookshelf 1.709 2.025 0.293 -1.585 -0.001 0.387 89.94° +bookshelf 1.952 1.993 0.311 -1.489 -0.002 0.154 89.89° +bookshelf 1.651 2.037 0.373 0.538 -0.001 -0.934 0.02° +bookshelf 1.963 2.107 0.291 0.381 -0.002 -1.127 0.02° +desk 2.621 2.834 1.221 0.063 0.003 0.229 -179.89° +lamp 0.790 0.440 0.783 0.060 2.228 0.040 -0.03° +floor 3.775 0.003 3.051 -0.094 0.000 -0.007 -0.04° +_scene_ 0.124 0.304 0.653 -3.125 0.835 -1.984 -83.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[1.650, 2.025, 0.235] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.676, 1.993, 0.114] + !! OVERLAP: bookshelf <-> desk depth=[0.457, 2.135, 0.281] + !! OVERLAP: bookshelf <-> floor depth=[1.192, 0.003, 0.281] + !! OVERLAP: bookshelf <-> desk depth=[1.693, 2.065, 0.071] + !! OVERLAP: bookshelf <-> floor depth=[2.040, 0.003, 0.337] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.709, 1.993, 0.069] + !! OVERLAP: bookshelf <-> desk depth=[0.517, 2.025, 0.293] + !! OVERLAP: bookshelf <-> floor depth=[1.251, 0.003, 0.293] + !! OVERLAP: bookshelf <-> desk depth=[0.734, 1.993, 0.311] + !! OVERLAP: bookshelf <-> floor depth=[1.468, 0.003, 0.311] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.650, 2.037, 0.139] + !! OVERLAP: bookshelf <-> floor depth=[1.651, 0.003, 0.373] + !! OVERLAP: bookshelf <-> floor depth=[1.963, 0.003, 0.291] + !! OVERLAP: desk <-> floor depth=[2.621, 0.003, 1.221] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7151, Walkable Loss: 3.7407 (Center Penalty: 3.0231, C1 Heatmap: 0.3472, C2 Repulsion: 2.1993), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.929 2.347 0.321 1.167 -0.001 -0.227 -90.00° +desk 1.364 0.938 0.602 -0.251 0.000 -0.257 90.01° +chair 0.545 0.822 0.596 0.754 0.003 -0.317 -90.27° +lamp 0.457 0.600 0.432 0.089 1.922 0.046 0.02° +floor 2.925 0.001 3.201 0.012 0.001 -0.040 -0.01° +_scene_ 0.066 -0.002 0.037 -5.651 -0.005 -5.689 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.229, 0.938, 0.321] + !! OVERLAP: bookshelf <-> chair depth=[0.545, 0.822, 0.321] + !! OVERLAP: bookshelf <-> floor depth=[1.272, 0.001, 0.321] + !! OVERLAP: desk <-> floor depth=[1.364, 0.001, 0.602] + !! OVERLAP: chair <-> floor depth=[0.545, 0.001, 0.596] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 0.3926, Room Outer Loss: 1.9079, Walkable Loss: 4.0887 (Center Penalty: 2.2668, C1 Heatmap: 1.2241, C2 Repulsion: 4.2131), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.426 2.529 0.395 -0.167 -0.006 1.159 -179.97° +bookshelf 4.379 2.538 0.318 -0.257 -0.002 0.118 -179.80° +desk 2.115 0.769 0.831 0.555 0.010 0.566 179.96° +chair 0.531 0.763 0.586 -0.121 0.001 -0.937 0.01° +floor 3.053 -0.005 3.471 -0.018 0.001 -0.033 -0.03° +_scene_ 0.076 0.004 0.043 -5.671 -0.007 -5.694 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[2.049, 0.769, 0.021] + !! OVERLAP: bookshelf <-> floor depth=[3.053, -0.005, 0.395] + !! OVERLAP: bookshelf <-> desk depth=[2.115, 0.769, 0.126] + !! OVERLAP: bookshelf <-> floor depth=[3.053, -0.005, 0.318] + !! OVERLAP: desk <-> floor depth=[2.011, -0.005, 0.831] + !! OVERLAP: chair <-> floor depth=[0.531, -0.005, 0.586] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0132, Room Outer Loss: 0.2553, Walkable Loss: 3.8837 (Center Penalty: 2.8492, C1 Heatmap: 0.4580, C2 Repulsion: 3.3408), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.828 0.861 0.979 0.263 0.002 -0.748 -0.10° +bookshelf 0.785 1.977 0.277 0.855 0.000 1.398 -179.97° +bookshelf 0.991 2.182 0.325 -0.144 0.001 1.156 179.98° +chair 0.502 0.760 0.552 -0.528 -0.001 -0.139 0.06° +bookshelf 0.679 2.089 0.421 -1.576 0.000 -1.008 89.99° +bookshelf 0.777 2.136 0.282 -0.592 0.002 1.157 -179.95° +lamp 0.607 0.114 0.587 0.071 2.449 -0.149 -0.04° +floor 3.341 -0.003 2.896 -0.037 0.000 -0.007 -0.03° +_scene_ 0.084 0.061 0.168 -5.496 -0.017 -5.554 -59.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.374, 0.760, 0.156] + !! OVERLAP: desk <-> floor depth=[1.828, -0.003, 0.979] + !! OVERLAP: bookshelf <-> floor depth=[0.785, -0.003, 0.182] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.436, 2.136, 0.282] + !! OVERLAP: bookshelf <-> floor depth=[0.991, -0.003, 0.325] + !! OVERLAP: chair <-> floor depth=[0.502, -0.003, 0.552] + !! OVERLAP: bookshelf <-> floor depth=[0.471, -0.003, 0.421] + !! OVERLAP: bookshelf <-> floor depth=[0.777, -0.003, 0.282] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0932, Room Outer Loss: 0.2266, Walkable Loss: 4.4113 (Center Penalty: 3.7078, C1 Heatmap: 0.3463, C2 Repulsion: 2.1323), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.739 0.739 0.903 0.212 -0.001 -0.384 -89.82° +chair 0.606 0.872 0.667 -0.254 0.002 -0.110 89.90° +bookshelf 0.996 1.685 0.454 0.928 0.003 0.146 -90.25° +lamp 0.739 0.487 0.726 -0.078 2.236 -0.088 -0.02° +floor 2.680 -0.003 2.362 -0.021 -0.000 -0.049 -0.07° +_scene_ 0.071 -0.001 0.035 -5.638 -0.002 -5.687 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.606, 0.739, 0.512] + !! OVERLAP: desk <-> bookshelf depth=[0.651, 0.739, 0.149] + !! OVERLAP: desk <-> floor depth=[1.739, -0.003, 0.903] + !! OVERLAP: chair <-> floor depth=[0.606, -0.003, 0.667] + !! OVERLAP: bookshelf <-> floor depth=[0.889, -0.003, 0.454] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.6321 (Center Penalty: 3.0850, C1 Heatmap: 0.3227, C2 Repulsion: 1.4451), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.273 0.786 0.576 0.478 0.003 0.750 179.94° +chair 0.571 0.912 0.542 -0.170 -0.001 -0.292 9.46° +bookshelf 1.893 2.400 0.359 0.003 0.000 -1.276 0.01° +lamp 1.061 0.815 1.044 -0.013 1.963 0.109 0.01° +floor 2.636 -0.004 2.767 0.003 0.002 -0.051 -0.01° +_scene_ 0.033 0.001 0.019 -5.649 -0.004 -5.692 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.273, -0.004, 0.576] + !! OVERLAP: chair <-> floor depth=[0.571, -0.004, 0.542] + !! OVERLAP: bookshelf <-> floor depth=[1.893, -0.004, 0.338] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.3229, Room Outer Loss: 0.2422, Walkable Loss: 4.6767 (Center Penalty: 3.2829, C1 Heatmap: 0.7497, C2 Repulsion: 3.9703), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.280 0.751 0.648 -0.120 -0.002 -0.513 0.11° +chair 0.584 0.865 0.520 -0.102 0.007 0.393 -139.00° +bookshelf 2.861 2.589 0.423 0.003 -0.000 1.589 -179.98° +bookshelf 2.751 2.537 0.342 -0.027 -0.001 1.445 -180.00° +lamp 1.071 0.813 1.080 0.097 1.955 -0.112 0.01° +floor 2.900 0.001 3.452 -0.028 0.000 0.003 -0.01° +_scene_ 0.079 0.002 0.046 -5.670 -0.005 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.280, 0.001, 0.648] + !! OVERLAP: chair <-> floor depth=[0.584, 0.001, 0.520] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.751, 2.537, 0.238] + !! OVERLAP: bookshelf <-> floor depth=[2.850, 0.001, 0.352] + !! OVERLAP: bookshelf <-> floor depth=[2.751, 0.001, 0.342] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6950 (Center Penalty: 2.4161, C1 Heatmap: 0.1514, C2 Repulsion: 0.7895), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.359 1.097 0.690 0.406 0.002 0.431 -166.90° +chair 0.562 0.765 0.614 1.030 -0.001 -0.149 89.21° +lamp 0.576 0.308 0.555 -0.125 2.362 0.201 -0.02° +floor 2.851 -0.001 3.175 -0.006 0.000 -0.018 -0.01° +_scene_ 0.057 0.006 0.029 -5.648 -0.005 -5.662 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.337, 0.765, 0.072] + !! OVERLAP: desk <-> floor depth=[1.359, -0.001, 0.690] + !! OVERLAP: chair <-> floor depth=[0.562, -0.001, 0.614] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.6680, Room Outer Loss: 0.3577, Walkable Loss: 4.3000 (Center Penalty: 3.1639, C1 Heatmap: 0.6810, C2 Repulsion: 2.9564), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.514 2.151 0.862 -0.200 -0.000 -0.315 89.97° +desk 1.842 0.732 0.738 -0.153 0.003 -1.126 0.04° +chair 0.743 0.818 0.764 -0.749 0.002 -0.141 90.00° +lamp 0.574 0.382 0.604 -0.082 2.415 -0.084 -0.08° +floor 2.251 0.002 3.150 -0.006 0.001 0.014 -0.02° +_scene_ 0.077 -0.001 0.031 -5.672 -0.005 -5.706 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> chair depth=[0.743, 0.818, 0.639] + !! OVERLAP: wardrobe <-> floor depth=[2.189, 0.002, 0.862] + !! OVERLAP: desk <-> floor depth=[1.842, 0.002, 0.738] + !! OVERLAP: chair <-> floor depth=[0.743, 0.002, 0.764] +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0026, Room Outer Loss: 0.0478, Walkable Loss: 4.4185 (Center Penalty: 2.9847, C1 Heatmap: 0.6660, C2 Repulsion: 4.5048), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.891 2.781 0.349 0.697 -0.005 -1.457 0.09° +bookshelf 2.397 2.496 0.319 -0.940 -0.002 -1.332 -0.02° +desk 1.199 0.739 0.679 0.162 -0.001 0.145 179.92° +chair 0.518 0.992 0.577 0.126 0.000 -0.718 0.08° +table 1.047 0.923 0.334 1.749 0.001 -0.011 -90.04° +chair 0.810 0.927 0.887 -1.493 -0.001 1.130 173.32° +lamp 0.472 0.880 0.474 -0.126 2.100 0.253 -0.04° +floor 4.576 -0.003 3.336 -0.142 0.000 -0.017 -0.01° +_scene_ 0.066 0.001 0.019 -5.673 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[0.506, 2.496, 0.208] + !! OVERLAP: bookshelf <-> floor depth=[1.891, -0.003, 0.349] + !! OVERLAP: bookshelf <-> floor depth=[2.397, -0.003, 0.319] + !! OVERLAP: desk <-> floor depth=[1.199, -0.003, 0.679] + !! OVERLAP: chair <-> floor depth=[0.518, -0.003, 0.577] + !! OVERLAP: table <-> floor depth=[0.920, -0.003, 0.334] + !! OVERLAP: chair <-> floor depth=[0.810, -0.003, 0.887] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2663, Walkable Loss: 3.1853 (Center Penalty: 2.1075, C1 Heatmap: 0.6660, C2 Repulsion: 2.7246), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.538 0.709 0.570 0.053 2.110 -0.185 -0.05° +desk 1.574 0.761 0.572 -0.362 0.002 -1.209 -0.03° +bookshelf 3.163 1.557 0.462 0.426 -0.000 1.339 179.96° +chair 0.595 0.935 0.603 -1.237 -0.003 -0.025 135.50° +chair 0.601 0.997 0.727 1.292 -0.000 -0.705 -89.89° +table 0.540 0.707 0.514 1.402 -0.001 0.327 179.97° +floor 3.616 0.000 2.925 0.016 0.000 0.007 -0.02° +_scene_ 0.072 -0.000 0.022 -5.669 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.574, 0.000, 0.533] + !! OVERLAP: bookshelf <-> floor depth=[2.980, 0.000, 0.362] + !! OVERLAP: chair <-> floor depth=[0.595, 0.000, 0.603] + !! OVERLAP: chair <-> floor depth=[0.601, 0.000, 0.727] + !! 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