这页只把已有 GT/native articulated 数据集的逐帧 GLB 原样复制到一个新实验页，用同一套 portal 的 model-viewer GLB 加载链路显示。没有运行 Particulate，没有修改 mesh、joint、joint range 或材质。用途是验证：如果这些 GT 帧在同一展示层正常，而 HSSD 静态 mesh 运动化结果异常，则主要问题不在 portal 展示层。
样本：11 个 GT/native articulated assets，来自 PartNetMobility raw URDF、GAPartNet native URDF-tree、ArtVIP/GRScenes SDF frame 导出。
9 GT state frames · movable joints=source-manifest n/a · preview_joint=None
{
"dataset": "PartNetMobility",
"id": "3386",
"category": "Display",
"raw_source": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/3386/mobility.urdf",
"movable_joints": []
}
9 GT state frames · movable joints=source-manifest n/a · preview_joint=None
{
"dataset": "PartNetMobility",
"id": "10357",
"category": "TrashCan",
"raw_source": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/10357/mobility.urdf",
"movable_joints": []
}
9 GT state frames · movable joints=source-manifest n/a · preview_joint=None
{
"dataset": "PartNetMobility",
"id": "44826",
"category": "StorageFurniture",
"raw_source": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/44826/mobility.urdf",
"movable_joints": []
}
9 GT state frames · movable joints=source-manifest n/a · preview_joint=None
{
"dataset": "PartNetMobility",
"id": "10036",
"category": "Refrigerator",
"raw_source": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/10036/mobility.urdf",
"movable_joints": []
}
9 GT state frames · movable joints=1 · preview_joint=joint_0
{
"dataset": "GAPartNet",
"id": "major_appliances/100282",
"category": "major_appliances",
"raw_source": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100282/mobility.urdf",
"movable_joints": [
"joint_0"
]
}
9 GT state frames · movable joints=1 · preview_joint=joint_0
{
"dataset": "GAPartNet",
"id": "small_appliances/102145",
"category": "small_appliances",
"raw_source": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/102145/mobility.urdf",
"movable_joints": [
"joint_0"
]
}
9 GT state frames · movable joints=1 · preview_joint=joint_0
{
"dataset": "GAPartNet",
"id": "storage/100129",
"category": "storage",
"raw_source": "/data/250010098/raw_datasets/partnet-mobility-v0/extracted/dataset/100129/mobility.urdf",
"movable_joints": [
"joint_0"
]
}
9 GT state frames · movable joints=2 · preview_joint=None
{
"dataset": "ArtVIP_GRScenes",
"id": "household_items/basket_20",
"category": "household_items",
"raw_source": "household_items/basket_20/basket_20.sdf",
"movable_joints": [
"RevoluteJoint_basket_20_right",
"RevoluteJoint_basket_20_left"
]
}
9 GT state frames · movable joints=2 · preview_joint=None
{
"dataset": "ArtVIP_GRScenes",
"id": "large_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm",
"category": "large_furniture",
"raw_source": "large_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/BRIMNES_Cabinet_with_doors_glass_black_78x95cm.sdf",
"movable_joints": [
"RevoluteJoint_right",
"RevoluteJoint_left"
]
}
9 GT state frames · movable joints=2 · preview_joint=None
{
"dataset": "ArtVIP_GRScenes",
"id": "architectural_fixtures/grscenes_door_00b8bba3202b_068b70",
"category": "architectural_fixtures",
"raw_source": "architectural_fixtures/grscenes_door_00b8bba3202b_068b70/grscenes_door_00b8bba3202b_068b70.sdf",
"movable_joints": [
"Constraint_4e694517_960b_4ba8_9ed0_ab92ca4d63b8",
"Constraint_9b30d190_c6f1_43f0_99e2_f4eab8d82bbd"
]
}
9 GT state frames · movable joints=1 · preview_joint=None
{
"dataset": "ArtVIP_GRScenes",
"id": "major_appliances/grscenes_oven_36b88dc28f18_ba1707",
"category": "major_appliances",
"raw_source": "major_appliances/grscenes_oven_36b88dc28f18_ba1707/grscenes_oven_36b88dc28f18_ba1707.sdf",
"movable_joints": [
"Constraint_200"
]
}
| dataset | id | frames | movable joints | preview joint |
|---|---|---|---|---|
| PartNetMobility | 3386 | 9 | source-manifest n/a | |
| PartNetMobility | 10357 | 9 | source-manifest n/a | |
| PartNetMobility | 44826 | 9 | source-manifest n/a | |
| PartNetMobility | 10036 | 9 | source-manifest n/a | |
| GAPartNet | major_appliances/100282 | 9 | 1 | joint_0 |
| GAPartNet | small_appliances/102145 | 9 | 1 | joint_0 |
| GAPartNet | storage/100129 | 9 | 1 | joint_0 |
| ArtVIP_GRScenes | household_items/basket_20 | 9 | 2 | |
| ArtVIP_GRScenes | large_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm | 9 | 2 | |
| ArtVIP_GRScenes | architectural_fixtures/grscenes_door_00b8bba3202b_068b70 | 9 | 2 | |
| ArtVIP_GRScenes | major_appliances/grscenes_oven_36b88dc28f18_ba1707 | 9 | 1 |