HSSD 可动性判定审计
unlikely
7129
assets
possible_candidate
2823
assets
strong_candidate
984
assets
ambiguous
33
assets
HSSD/SceneSmith 官方预处理资产是静态 GLB 检索库；当前索引中没有原生 joint/tree 字段。因此铰链化前应先做语义候选筛选，再跑 Particulate / URDF-Anything 等方法，最后做视觉与运动学验证。
Top candidate categories
| category | assets | label | evidence tokens |
|---|---|---|---|
| chest_of_drawers.n.01 | 229 | strong_candidate | chest, drawers |
| kitchen_cabinet.n.02 | 151 | strong_candidate | cabinet |
| cabinet.n.01 | 128 | strong_candidate | cabinet |
| armoire.n.01 | 118 | strong_candidate | armoire |
| hanging_cabinet.n.01 | 79 | strong_candidate | cabinet |
| sink_cabinet.n.01 | 68 | strong_candidate | cabinet |
| refrigerator.n.01 | 54 | strong_candidate | refrigerator |
| china_cabinet.n.01 | 43 | strong_candidate | cabinet |
| washer.n.03 | 20 | strong_candidate | washer |
| wardrobe.n.01 | 17 | strong_candidate | wardrobe |
| drawer_unit.n.01,file.n.03 | 13 | strong_candidate | drawer |
| microwave.n.02 | 9 | strong_candidate | microwave |
| bread-bin.n.01 | 8 | strong_candidate | bin |
| base_cabinet.n.01 | 7 | strong_candidate | cabinet |
| dishwasher.n.01 | 6 | strong_candidate | dishwasher |
| medicine_chest.n.01 | 6 | strong_candidate | chest |
| door.n.01 | 4 | strong_candidate | door |
| safe.n.01 | 4 | strong_candidate | safe |
| drawer_unit.n.01 | 3 | strong_candidate | drawer |
| garage_door.n.01 | 3 | strong_candidate | door |
| blanket_chest.n.01 | 2 | strong_candidate | chest |
| chest.n.02 | 2 | strong_candidate | chest |
| clothes_dryer.n.01,drying_rack.n.01 | 2 | strong_candidate | dryer |
| oven.n.01 | 2 | strong_candidate | oven |
| chest_of_drawers.n.01,end_table.n.01 | 1 | strong_candidate | chest, drawers, table |
| double_door.n.01 | 1 | strong_candidate | door |
| drawer.n.01 | 1 | strong_candidate | drawer |
| dryer.n.01 | 1 | strong_candidate | dryer |
| toaster_oven.n.01 | 1 | strong_candidate | oven, toaster |
| washer.n.03,dryer.n.01 | 1 | strong_candidate | washer |
| elevator_door.n.01 | 0 | strong_candidate | door |
| revolving_door.n.02 | 0 | strong_candidate | door |
| sliding_door.n.01 | 0 | strong_candidate | door |
| table_lamp.n.01 | 251 | possible_candidate | lamp, table |
| pendant_lamp.n.01 | 191 | possible_candidate | lamp |
| end_table.n.01 | 181 | possible_candidate | table |
| desk.n.01 | 170 | possible_candidate | desk |
| nightstand.n.01 | 169 | possible_candidate | nightstand |
| chair.n.01 | 168 | possible_candidate | chair |
| coffee_table.n.01 | 160 | possible_candidate | table |
| bookcase.n.01 | 135 | possible_candidate | bookcase |
| floor_lamp.n.01 | 135 | possible_candidate | lamp |
| ceiling_lamp.n.01 | 133 | possible_candidate | lamp |
| wall_lamp.n.01 | 118 | possible_candidate | lamp |
| table.n.02 | 115 | possible_candidate | table |
| swivel_chair.n.01 | 111 | possible_candidate | chair |
| dining_table.n.01 | 110 | possible_candidate | table |
| console_table.n.01 | 88 | possible_candidate | table |
| stool.n.01 | 63 | possible_candidate | stool |
| bar_stool.n.01 | 55 | possible_candidate | stool |
| bar_stool.n.01,chair.n.01 | 52 | possible_candidate | stool |
| easy_chair.n.01 | 36 | possible_candidate | chair |
| toilet.n.02 | 34 | possible_candidate | toilet |
| storage_box.n.01 | 31 | possible_candidate | box |
| toilet_brush.n.01,toilet_brush_holder.n.01 | 26 | possible_candidate | toilet |
| club_chair.n.01 | 23 | possible_candidate | chair |
| rocking_chair.n.01 | 23 | possible_candidate | chair |
| beanbag_chair.n.01 | 22 | possible_candidate | chair |
| faucet.n.01 | 19 | possible_candidate | faucet |
| shower_stall.n.01 | 18 | possible_candidate | shower |
Particulate 小批量实证
| id | parts | moving joints | types |
|---|---|---|---|
| 0ff2bb094cd2cfde5ca8cfd6a43b27e558553535 | 4 | 3 | revolute |
| 4cad1ecbfd0fe3aa7063a8dff8fa661c5b421713 | 5 | 4 | revolute |
| 80fe723ff79b7e350b348fe6edfab5ced8a54e89 | 4 | 3 | revolute |