[
  {
    "query_id": "PartNeXt/000-068/a1f4cd3fbcff48949116861a2ff6a9ba",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "large_furniture/41004",
        "retrieval_score": 0.431778,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.20212048429472101,
          0.701911985874176,
          0.5463908134312092
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "large_furniture/45173",
        "retrieval_score": 0.431778,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.20042524412208756,
          0.7724440056332791,
          0.5892288122254086
        ],
        "axis_direction_initial": [
          0,
          0.9999997502937131,
          -0.0007066912419804107
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "large_furniture/45203",
        "retrieval_score": 0.418722,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.2662146266598937,
          -0.6346279978752136,
          0.566615870134326
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "large_furniture/45212",
        "retrieval_score": 0.418722,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.18860311018249554,
          0.7399359941482543,
          0.5525102013147046
        ],
        "axis_direction_initial": [
          0,
          0.9999999999999999,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "handle",
          "cabinet_door_surface"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "large_furniture/41003",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.48763457030600954,
          -0.8759099841117859,
          0.23340873158636544
        ],
        "axis_direction_initial": [
          0,
          -0.9999999999999999,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "large_furniture/41003",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.48763457030600954,
          -0.8759099841117859,
          0.23340873158636544
        ],
        "axis_direction_initial": [
          0,
          -0.9999999999999999,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "large_furniture/41003",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4797364059786151,
          0.824106991291046,
          0.23562277916602936
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "large_furniture/41003",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4797364059786151,
          0.824106991291046,
          0.23562277916602936
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "large_furniture/41085",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5047340994860205,
          0.8520619869232178,
          0.23485030100379314
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "large_furniture/41085",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5047340994860205,
          0.8520619869232178,
          0.23485030100379314
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "large_furniture/41085",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.45879004987694044,
          0.8520619869232178,
          0.23567740142267388
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "large_furniture/41085",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.45879004987694044,
          0.8520619869232178,
          0.23567740142267388
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "large_furniture/45189",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.46543026528369646,
          -0.8599969744682312,
          0.2174238571661181
        ],
        "axis_direction_initial": [
          0,
          -0.9999999999999999,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "large_furniture/45189",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4412210992465862,
          -0.8599969744682312,
          0.21522816063939373
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "large_furniture/45189",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.46703048249376955,
          0.8811450004577637,
          0.2165265653281882
        ],
        "axis_direction_initial": [
          0,
          0.9999999999999999,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "large_furniture/45189",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4412210992465862,
          -0.8599969744682312,
          0.21522816063939373
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "large_furniture/45249",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4646380557584386,
          0.7458149790763856,
          0.5240458081672945
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -179,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "large_furniture/45387",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5106206881942494,
          -0.8263630270957947,
          0.25029961159064534
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 99.36000000000001,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "large_furniture/45387",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5224920107130275,
          0.8219460248947142,
          0.25216378990921134
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 99.36000000000001,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "large_furniture/45387",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5224920107130275,
          0.8219460248947142,
          0.25216378990921134
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 99.36000000000001,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "large_furniture/45387",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5090638538404489,
          -0.8263630270957947,
          0.2511097952044864
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 99.36000000000001,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "large_furniture/45423",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.23982335881017108,
          0.9223380088806152,
          0.2344521388158218
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90.72,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "large_furniture/45423",
        "retrieval_score": 0.416984,
        "joint_name": "cabinet_door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.23982335881017108,
          0.9223380088806152,
          0.2344521388158218
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90.72,
          "noLimit": false
        },
        "child_part_names": [
          "cabinet_door_surface",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-052/9861693215ca4dab99bcdd902c273877",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "prismatic",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute",
        "prismatic"
      ],
      "type_votes": {
        "prismatic": 10,
        "revolute": 10
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "small_appliances/7349",
        "retrieval_score": 0.419192,
        "joint_name": "tray",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.017299739865898833,
          0.44005098938941956,
          -0.03820284810465868
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "small_appliances/7349",
        "retrieval_score": 0.419192,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.7327999018546622,
          -0.5633469820022583,
          0.36133515416872486
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "small_appliances/7349",
        "retrieval_score": 0.419192,
        "joint_name": "control_button",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.27876615426614626,
          -0.45880186636940434,
          0.4110879898071287
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "small_appliances/7349",
        "retrieval_score": 0.419192,
        "joint_name": "door_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.27876615426614626,
          -0.45880186636940434,
          0.4110879898071287
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": -0.02,
          "noLimit": false
        },
        "child_part_names": [
          "door_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "small_appliances/7128",
        "retrieval_score": 0.409826,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.6994047812620767,
          0.3716736367086352,
          0.4594064542801477
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "small_appliances/7128",
        "retrieval_score": 0.409826,
        "joint_name": "door_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0,
          0,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": -0.0040000000000000036,
          "b": -0.01200000000000001,
          "noLimit": false
        },
        "child_part_names": [
          "door_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "small_appliances/7128",
        "retrieval_score": 0.409826,
        "joint_name": "control_button",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.595905953683902,
          -0.10762880873845218,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "small_appliances/7128",
        "retrieval_score": 0.409826,
        "joint_name": "control_button",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5959056708108185,
          0.10520150832160682,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "small_appliances/7128",
        "retrieval_score": 0.409826,
        "joint_name": "body_interior",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.149241880774498,
          0,
          -0.02379955083131792
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "tray",
          "tray_support"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/7120",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0,
          0,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.55,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/7120",
        "retrieval_score": 0.404545,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.7618109259097242,
          0.3683037279229618
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/7120",
        "retrieval_score": 0.404545,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.07387508979344938,
          0.3670043608148126
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/7120",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0,
          0,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.55,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/7120",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0,
          0,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.55,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/7179",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0,
          0,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.528,
          "noLimit": false
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/7179",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0,
          0,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.528,
          "noLimit": false
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/7179",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0,
          0,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.528,
          "noLimit": false
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/7179",
        "retrieval_score": 0.404545,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5342130064964294,
          -0.7690419264409818,
          0.36910544487147934
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/7179",
        "retrieval_score": 0.404545,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5410640239715576,
          0.06122878928574457,
          0.36582296368257883
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/7201",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.33230466174706064,
          0.6062758796768234,
          0.408405000000001
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": -0.6,
          "noLimit": false
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/7201",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.33230466174706064,
          0.6062758796768234,
          0.408405000000001
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": -0.6,
          "noLimit": false
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/7201",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.33230466174706064,
          0.6062758796768234,
          0.408405000000001
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": -0.6,
          "noLimit": false
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/7201",
        "retrieval_score": 0.404545,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4805470000000005,
          -0.7977107266605734,
          0.38487703730067435
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/7201",
        "retrieval_score": 0.404545,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.48054700000000006,
          0.06263199215085768,
          0.3819147427205908
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/7332",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.47932988626708006,
          0.12023576629114485,
          0.403942
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.55,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/7332",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.47932988626708006,
          0.12023576629114485,
          0.403942
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.55,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/7332",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.47932988626708006,
          0.12023576629114485,
          0.403942
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.55,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/7332",
        "retrieval_score": 0.404545,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5158559999999999,
          -0.8088200015570776,
          0.3694249367884552
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/7332",
        "retrieval_score": 0.404545,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5158559999999994,
          0.06304438273834312,
          0.3734142517448814
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass",
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_appliances/7366",
        "retrieval_score": 0.404545,
        "joint_name": "tray",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.1305357137322426,
          0,
          -0.12886700648814442
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "tray"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_appliances/7366",
        "retrieval_score": 0.404545,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.640052743408965,
          0.4230260000000001,
          0.4552085633592764
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_appliances/7366",
        "retrieval_score": 0.404545,
        "joint_name": "door_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5375718424435267,
          -0.401042049013346,
          0.45536900000000013
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": -0.008,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "door_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.6187850466966622,
          0,
          0.35921808895468765
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 30,
          "b": -80,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame",
          "glass",
          "hinge",
          "hinge"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/7265",
        "retrieval_score": 0.387692,
        "joint_name": "control_button",
        "joint_type": "prismatic",
        "axis_origin_initial": [
          0.5418822341555136,
          -0.229069698639082,
          0.45578399999999974
        ],
        "axis_direction_initial": [
          0,
          0,
          -0.9999999999999999
        ],
        "limit_initial": {
          "a": 0,
          "b": 0.004,
          "noLimit": false,
          "rotates": false,
          "noRotationLimit": false,
          "rotationLimit": 0
        },
        "child_part_names": [
          "control_button"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-163/18b04ca5a96c4458ad5c22cbafb81396",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/102154",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.03895733642930197,
          -0.7787555886730574,
          -0.258166431148672
        ],
        "axis_direction_initial": [
          -0.9987522100602937,
          0.04994014691605437,
          6.801236577148257e-05
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/102154",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.038720257406664675,
          -0.7743909059656491,
          -0.25819095070077264
        ],
        "axis_direction_initial": [
          0.998752574788184,
          0.04993289563706396,
          1.6949075841183414e-05
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/102154",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.46350965508232234,
          0.6135742195680873,
          -0.43541910033813763
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/102155",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.03865208108602454,
          -0.7730565109838253,
          -0.24041609244771428
        ],
        "axis_direction_initial": [
          0.9987526021089831,
          -0.04993235011212619,
          -1.3885806393342107e-05
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/102155",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.038233434463391044,
          -0.7653192593157566,
          -0.24047467563107763
        ],
        "axis_direction_initial": [
          0.9987525612492409,
          0.049933024058193616,
          -0.00012044287175325995
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/102155",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4550800055369022,
          0.6577989228511082,
          -0.40685179246706893
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/102156",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.7071375,
          -0.21019058541129265
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/102156",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.7071375,
          -0.210191
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/102156",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5008539999999999,
          0.5175189931555696,
          -0.561753569233481
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 120,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/102158",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.6967785,
          -0.18280249999999998
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/102158",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.6967785,
          -0.18280228387390784
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/102158",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5048029999999999,
          0.4911253928177184,
          -0.5245170353602641
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 120,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_items/102160",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.0,
          -0.6482635,
          -0.11717384037104207
        ],
        "axis_direction_initial": [
          -1.0,
          0.0,
          0.0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_items/102160",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.0,
          -0.6482635,
          -0.11717384037104209
        ],
        "axis_direction_initial": [
          1.0,
          0.0,
          0.0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_items/102160",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5363379999999993,
          0.6463455862605643,
          -0.48604266721979483
        ],
        "axis_direction_initial": [
          -0.9999999999999999,
          0.0,
          0.0
        ],
        "limit_initial": {
          "a": -270,
          "b": 0,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "household_items/102189",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.575696,
          -0.37397349999999996
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "household_items/102189",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.575696,
          -0.37397349999999996
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "household_items/102189",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.55,
          -0.5
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 170,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_items/102200",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.002624379427305312,
          -0.724445843691132,
          -0.26901356416556405
        ],
        "axis_direction_initial": [
          0.9999522451013857,
          6.56998777183295e-06,
          -0.009772792514625078
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_items/102200",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.002621374364671827,
          -0.7244392291310021,
          -0.2690149306996039
        ],
        "axis_direction_initial": [
          -0.9999522501781234,
          -1.0542391471764774e-05,
          0.009772269570885865
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_items/102200",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.30538172195377555,
          0.65,
          -0.573
        ],
        "axis_direction_initial": [
          0.1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -270,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_items/102201",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.0027012142244113575,
          -0.7139977677195346,
          -0.2771372716468322
        ],
        "axis_direction_initial": [
          -0.999952225525296,
          -1.1027810181471402e-05,
          0.009774791322339665
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_items/102201",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.002703379569950883,
          -0.713990074530811,
          -0.2771403014326018
        ],
        "axis_direction_initial": [
          0.9999522226390624,
          8.152494123233587e-06,
          -0.009775089397839935
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_items/102201",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3612990390637534,
          0.6858122369955446,
          -0.5854652074376517
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -270,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_items/102202",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.003139350590944839,
          -0.7139035118353272,
          -0.27252475216497385
        ],
        "axis_direction_initial": [
          -0.9999337337603303,
          2.5419304194373795e-06,
          0.011512084158125949
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_items/102202",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.003127657457991523,
          -0.7138983637973899,
          -0.27252334378601667
        ],
        "axis_direction_initial": [
          -0.9999336881778376,
          -1.532120139480752e-05,
          0.01151603283809203
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_items/102202",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3436974783332585,
          0.6538255892391317,
          -0.5726579543311202
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -270,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_items/102209",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.0003891971530968856,
          -0.792665945270801,
          -0.247630542257154
        ],
        "axis_direction_initial": [
          0.9999995488586515,
          0.000693709901701286,
          -0.0006488829368230226
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_items/102209",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          8.35483542004356e-05,
          -0.7924870732732734,
          -0.2476913555260875
        ],
        "axis_direction_initial": [
          -0.9999999137038,
          2.4200278089198677e-05,
          -0.0004147369518372022
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_items/102209",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.21365999999999996,
          0.6683296272585244,
          -0.4218573382074123
        ],
        "axis_direction_initial": [
          0.9999999999999999,
          0,
          0
        ],
        "limit_initial": {
          "a": 17,
          "b": -253,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-055/12004b87e25c4bcb8f755efd6dca7328",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10,
        "prismatic": 1
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.8031840000000001,
          -0.42992255241634986,
          0.3321967033989812
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.382108,
          -0.19071231564458757,
          0.3317216083079785
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.8080769999999999,
          -0.431596243653325,
          0.33296274239924933
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.6007495,
          0.3389,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4698915,
          0.339628,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.338105,
          0.339628,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.074404,
          0.3389,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.047175,
          0.339628,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.15137,
          0.339628,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.44852749999999997,
          0.339628,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.580314,
          0.339628,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/101908",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.696853,
          0.3389,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/101917",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.6382359999999996,
          -0.442321324292263,
          0.41942801523467216
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/101917",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5279359630874578,
          0.4083835309958324,
          -0.0004391043249808836
        ],
        "axis_direction_initial": [
          -9.926254200770128e-06,
          0.0010880567762528118,
          0.9999994080167854
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/101917",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3936376441099773,
          0.4081314991254458,
          -0.0006633374896435461
        ],
        "axis_direction_initial": [
          -1.4959745792036126e-05,
          0.0016397295493396943,
          0.9999986555307018
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/101917",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.25789281744188264,
          0.4082611783237433,
          -0.0005503261980142317
        ],
        "axis_direction_initial": [
          -1.2354121449358792e-05,
          0.0013557785572692015,
          0.9999990808555173
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/101917",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.1221521634412283,
          0.4079608551447811,
          -0.000818675267315887
        ],
        "axis_direction_initial": [
          -1.8376085426153664e-05,
          0.00201224777374971,
          0.9999979752585585
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/101917",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.2520115152106967,
          0.40796059379703353,
          -0.0008256871908699473
        ],
        "axis_direction_initial": [
          1.8363239884593445e-05,
          -0.0020125909119670863,
          -0.9999979745682551
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/101917",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.38775517069454707,
          0.407960597833469,
          -0.0008280445203390807
        ],
        "axis_direction_initial": [
          1.8375675945989576e-05,
          -0.0020122472129289115,
          -0.9999979752596946
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/101917",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5234985105905582,
          0.4079607797012221,
          -0.0008304912171875477
        ],
        "axis_direction_initial": [
          1.833124623741794e-05,
          -0.0020121863623509227,
          -0.9999979753829549
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101930",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.41501274567846813,
          0.4795389999999998,
          0.4691233558568922
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101930",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.296529,
          0.5745741353051864,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101930",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.1768225,
          0.57457426486595,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101930",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.057116,
          0.5745741353051864,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101930",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.06259050000000001,
          0.57457426486595,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101930",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.182297,
          0.5745741353051864,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101930",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3020035,
          0.57457426486595,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/101931",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.47424500000000014,
          -0.353898218181111,
          0.40862127993756275
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/101931",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3349025825959522,
          0.2851634037124644,
          -0.06175526596405435
        ],
        "axis_direction_initial": [
          -0.001192823420842035,
          0.21299245819117937,
          0.9770531152020168
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/101931",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.1471598267840758,
          0.2849639577410524,
          -0.062325979139062536
        ],
        "axis_direction_initial": [
          -0.0010694498797925451,
          -0.21313732855150858,
          -0.9770216658062814
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/101931",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.13223654896660555,
          0.2849748238135678,
          -0.062170699999814207
        ],
        "axis_direction_initial": [
          1.4002019567748777e-05,
          -0.21314246443930057,
          -0.9770211306091007
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/101931",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.318870972328809,
          0.2849841253083386,
          -0.06216276026974432
        ],
        "axis_direction_initial": [
          -1.1084275068274589e-05,
          -0.21312788244604602,
          -0.977024311673565
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "major_appliances/101931",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.11161254878638628,
          0.7344994147153779,
          -0.1764360869314384
        ],
        "axis_direction_initial": [
          -6.541347678246784e-05,
          -0.23355909684856696,
          -0.9723426062866724
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/101943",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5725089999999999,
          -0.40811015336944306,
          0.3936520161908419
        ],
        "axis_direction_initial": [
          -0.9999999999999999,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/101943",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4623930725314183,
          0.37151100000000004,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/101943",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.31628609585310663,
          0.37292570119654006,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/101943",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.18748655155631516,
          0.3340601578353191,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/101943",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.042334377127809665,
          0.37246937712780964,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/101943",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.12068615230038375,
          0.370728170501754,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/101943",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.289091829498246,
          0.3735878476996163,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "major_appliances/101943",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4743695,
          0.37582591312590397,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/101946",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.608718,
          -0.4978187445363166,
          0.4852914997356586
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/101946",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.1752650669239932,
          0.43314230001527476,
          -0.027549728171641485
        ],
        "axis_direction_initial": [
          -0.00030624501500377613,
          0.06359948231255075,
          0.9979754566438829
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/101946",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.06385539883091106,
          0.4702032551994744,
          0.0028637004736106757
        ],
        "axis_direction_initial": [
          0.0004189948019553797,
          -0.006147131459006858,
          0.9999810184289409
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/101946",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.046805421177786896,
          0.43313797106517965,
          -0.02761760020304548
        ],
        "axis_direction_initial": [
          -0.00030621791296426654,
          0.06359949056529857,
          0.9979754561262638
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/101946",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.15784040798366905,
          0.43313580862511414,
          -0.02765153227076292
        ],
        "axis_direction_initial": [
          0.00030621791296426675,
          -0.06359949056529857,
          -0.9979754561262638
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/101946",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.2688753947895512,
          0.4331336461850487,
          -0.02768546433848036
        ],
        "axis_direction_initial": [
          0.00030621791296426675,
          -0.06359949056529857,
          -0.9979754561262638
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "major_appliances/101946",
        "retrieval_score": 0.39,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4618111677368122,
          0.43076138889771465,
          -0.027595356978891844
        ],
        "axis_direction_initial": [
          0.0003118737818231876,
          -0.06359776831522937,
          -0.9979755641297371
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "major_appliances/101947",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.792523,
          -0.3494722979075207,
          0.3645696355831424
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "major_appliances/101947",
        "retrieval_score": 0.39,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.792523,
          -0.3494722979075207,
          0.3645696355831424
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-037/0fa5cbe76f3248d3ad590899ff25c5f5",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/11299",
        "retrieval_score": 0.368182,
        "joint_name": "door_frame",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.418899131366169,
          0.8012689999999996,
          0.3155980612593349
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/11299",
        "retrieval_score": 0.368182,
        "joint_name": "door_frame",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.462520215344883,
          0.8252869999999999,
          0.2912614481365744
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -180,
          "noLimit": false
        },
        "child_part_names": [
          "door_frame"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "storage/101363",
        "retrieval_score": 0.366364,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4585415,
          0,
          0.5808095
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "storage/101363",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3103190281377981,
          0.048701999999999995,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "storage/101584",
        "retrieval_score": 0.366364,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.30710969062590626,
          0,
          0.40085632200420246
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 170,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "storage/101584",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.159087,
          0.022338376633134368,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "storage/101584",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.0058795,
          0.3696076380779351,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "storage/101593",
        "retrieval_score": 0.366364,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3819643254870551,
          0.5491551062331053,
          0.5493668750839127
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 170,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "storage/101593",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.249,
          0.032,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "storage/101593",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.2152496364785898,
          0.031595799634695707,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "storage/101594",
        "retrieval_score": 0.366364,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.38419899999999974,
          0.05941698257403383,
          0.2703230189425102
        ],
        "axis_direction_initial": [
          0,
          0.709565716841701,
          0
        ],
        "limit_initial": {
          "a": -45.5,
          "b": 130,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "storage/101594",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.1959598682307117,
          0.050740505937412944,
          0.6601749109882953
        ],
        "axis_direction_initial": [
          -0.7241734255745836,
          8.294055942316948e-07,
          -0.6896179012256606
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "storage/101603",
        "retrieval_score": 0.366364,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.39688486613639634,
          0.535091,
          0.5485141819533366
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 170,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "storage/101603",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.1594155,
          0.009676,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "storage/101603",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.162293,
          0.0096755,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "storage/101605",
        "retrieval_score": 0.366364,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.36811388417845015,
          0.5543369999999999,
          0.223970844835233
        ],
        "axis_direction_initial": [
          0,
          -0.9999999999999999,
          0
        ],
        "limit_initial": {
          "a": -53.64,
          "b": 104.76,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "storage/101605",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.2811879906619675,
          -0.027450766936155398,
          0.40308899835174045
        ],
        "axis_direction_initial": [
          0.8201628013612267,
          1.8756457952501192e-05,
          -0.5721302115004072
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "storage/101613",
        "retrieval_score": 0.366364,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.43744160900919266,
          0.5965019999999996,
          0.5125726850992987
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -159.11999999999998,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "storage/101613",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.021797499999999997,
          0.0034572763326844256,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "storage/101623",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.28301952490122073,
          -0.0760349826982997,
          0.7076751841358411
        ],
        "axis_direction_initial": [
          0.9284995612947259,
          0,
          0.37133349522430864
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "storage/101623",
        "retrieval_score": 0.366364,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3585644921341233,
          0.35184400000000005,
          0.4090923694151623
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 67.68,
          "b": -122.03999999999999,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "storage/101623",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.19654578932570993,
          0.15520437952130772,
          0.49126368530826076
        ],
        "axis_direction_initial": [
          -0.9284504140180082,
          0,
          -0.37145636178397745
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "storage/102301",
        "retrieval_score": 0.366364,
        "joint_name": "door",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5303632187547144,
          0.6052249999999999,
          0.5574156098674753
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 170.64,
          "noLimit": false
        },
        "child_part_names": [
          "door"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "storage/102301",
        "retrieval_score": 0.366364,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.12214450412221162,
          0.01672357913827558,
          0.6349370000000001
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "switch"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-065/1962f22a64d64b2d872b2a73b13797cf",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "prismatic": 9,
        "revolute": 10
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "small_appliances/102145",
        "retrieval_score": 0.402421,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.00536579117531073,
          0.5081412450257031,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 34.92,
          "b": -16.19999999999999,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "small_appliances/102145",
        "retrieval_score": 0.402421,
        "joint_name": "slider",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.46429399999804355,
          0.5802320374612808
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -39.95999999999998,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "small_appliances/103082",
        "retrieval_score": 0.391754,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.06164398327309132,
          -0.035238453718394895,
          -0.26564659144259306
        ],
        "axis_direction_initial": [
          0.9741165716831959,
          2.7066081337638073e-07,
          0.22604624476443796
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "small_appliances/103030",
        "retrieval_score": 0.387333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.017996973435862994,
          -0.5468164364932278,
          0.07490446900575273
        ],
        "axis_direction_initial": [
          2.2070856034601864e-05,
          0.13571475493411658,
          0.9907479522088602
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "small_appliances/103057",
        "retrieval_score": 0.387333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.0019720000000000002,
          0,
          0.3081235
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "small_appliances/103057",
        "retrieval_score": 0.387333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.244377,
          0.4427535,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "small_appliances/103110",
        "retrieval_score": 0.387333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.029624408582571322,
          -0.459598867248577,
          0.028221708027520963
        ],
        "axis_direction_initial": [
          -0.017595256284796017,
          -0.06240999750328398,
          -0.9978954850924583
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "small_appliances/102901",
        "retrieval_score": 0.375714,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.00905675667094396,
          0.34,
          0.47
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 24,
          "b": -24,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "small_appliances/102901",
        "retrieval_score": 0.375714,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.12755126271929823,
          0.36910473728070176,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "small_appliances/102901",
        "retrieval_score": 0.375714,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.14566473728070178,
          0.36910473728070176,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_appliances/103041",
        "retrieval_score": 0.375714,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.009305079321673244,
          0.49783546022531744,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_appliances/103041",
        "retrieval_score": 0.375714,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.0014044999999999995,
          0,
          -0.23478749999999998
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_appliances/103041",
        "retrieval_score": 0.375714,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.0014044999999999995,
          0,
          0.022515533553242893
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/103105",
        "retrieval_score": 0.375714,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.015500351133774296,
          -0.43140604149461764,
          0.05815523915704288
        ],
        "axis_direction_initial": [
          0.0690912014124707,
          -0.13571403895028467,
          -0.9883360286457142
        ],
        "limit_initial": {
          "a": -50,
          "b": 100,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "small_appliances/103129",
        "retrieval_score": 0.375714,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.0021668391046539546,
          -0.540547766603839,
          -0.008497819953341267
        ],
        "axis_direction_initial": [
          0.0020677198214753005,
          -0.01572706810681016,
          0.9998741840169212
        ],
        "limit_initial": {
          "a": 75.6,
          "b": -18.720000000000027,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "small_appliances/103143",
        "retrieval_score": 0.375714,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4278366848727677,
          -0.506613556177008,
          0.2054111225155267
        ],
        "axis_direction_initial": [
          -5.2926678121747084e-05,
          -0.3757095290579215,
          -0.9267374746786933
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-075/660cff67e8fb4bdda64e2d3e0c0641a4",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10,
        "prismatic": 9
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_fixtures/102654",
        "retrieval_score": 0.45,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.47760162459083766,
          0.6374467356305769,
          -0.4431818701940105
        ],
        "axis_direction_initial": [
          0.9908156999973504,
          -0.1352192599175705,
          -1.9649549901129858e-05
        ],
        "limit_initial": {
          "a": 0,
          "b": -30,
          "noLimit": false
        },
        "child_part_names": [
          "button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_fixtures/102654",
        "retrieval_score": 0.45,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.19178392875469766,
          -0.1470086939618923
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -95,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_fixtures/102654",
        "retrieval_score": 0.45,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.19178392875469766,
          -0.1470086939618923
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -95,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_fixtures/102621",
        "retrieval_score": 0.4395,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.43970134167816566,
          0.5636205013744164,
          -0.27999173164615954
        ],
        "axis_direction_initial": [
          0.6417824432178281,
          0.017345656255379007,
          -0.7666905658650205
        ],
        "limit_initial": {
          "a": 0,
          "b": -32.75999999999999,
          "noLimit": false
        },
        "child_part_names": [
          "button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_fixtures/102621",
        "retrieval_score": 0.4395,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.08623833640126832,
          -0.03936250156839384
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -98,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_fixtures/102621",
        "retrieval_score": 0.4395,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.08623833640126832,
          -0.03936250156839384
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -98,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_fixtures/102645",
        "retrieval_score": 0.4395,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4243351284875918,
          0.5746627397692186,
          -0.24853928722531338
        ],
        "axis_direction_initial": [
          -0.933848590188053,
          -0.003571076254257753,
          0.3576507486615568
        ],
        "limit_initial": {
          "a": 0,
          "b": 30,
          "noLimit": false
        },
        "child_part_names": [
          "button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_fixtures/102645",
        "retrieval_score": 0.4395,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.04855379253905999,
          -0.04893435595590388
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_fixtures/102645",
        "retrieval_score": 0.4395,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.04855379253905999,
          -0.04893435595590388
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_fixtures/102648",
        "retrieval_score": 0.4395,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.386519538470232,
          0.5714278321933174,
          -0.2971314556934803
        ],
        "axis_direction_initial": [
          0.9156270153367615,
          -0.009932349765427154,
          -0.40190610497183427
        ],
        "limit_initial": {
          "a": 0,
          "b": -30,
          "noLimit": false
        },
        "child_part_names": [
          "button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_fixtures/102648",
        "retrieval_score": 0.4395,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.0866546278431851,
          -0.0689510427298956
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -92,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_fixtures/102648",
        "retrieval_score": 0.4395,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.0866546278431851,
          -0.0689510427298956
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -92,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_fixtures/102663",
        "retrieval_score": 0.4395,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.12285677105096757,
          -0.005614757885865384
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -99.5,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_fixtures/102663",
        "retrieval_score": 0.4395,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.09043046247932379,
          0.002321841553028229
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -97,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "household_fixtures/102667",
        "retrieval_score": 0.4395,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3735346544769089,
          0.49883739760860735,
          -0.21351123852138465
        ],
        "axis_direction_initial": [
          0.9184431691741543,
          6.217336291360914e-06,
          -0.39555296100355597
        ],
        "limit_initial": {
          "a": 0,
          "b": -30,
          "noLimit": false
        },
        "child_part_names": [
          "button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "household_fixtures/102667",
        "retrieval_score": 0.4395,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.04443234440934228,
          -0.040293276283889914
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 90,
          "b": -5,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "household_fixtures/102667",
        "retrieval_score": 0.4395,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.04443234440934228,
          -0.040293276283889914
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -95,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_fixtures/102668",
        "retrieval_score": 0.4395,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.38704309110356383,
          0.4944946998008206,
          -0.22160725456449182
        ],
        "axis_direction_initial": [
          0.9184467506636556,
          4.079176391929061e-05,
          -0.39554464290570907
        ],
        "limit_initial": {
          "a": 0,
          "b": -30,
          "noLimit": false
        },
        "child_part_names": [
          "button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_fixtures/102668",
        "retrieval_score": 0.4395,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.04984642832223315,
          -0.035714900723251036
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 90,
          "b": -5,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_fixtures/102668",
        "retrieval_score": 0.4395,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.04984642832223315,
          -0.035714900723251036
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -95,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_fixtures/102670",
        "retrieval_score": 0.4395,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.39086251658792626,
          0.5746542553614936,
          -0.30482480828975866
        ],
        "axis_direction_initial": [
          -0.9189143089727548,
          0.015542484983929261,
          -0.39415088979431356
        ],
        "limit_initial": {
          "a": 0,
          "b": 30,
          "noLimit": false
        },
        "child_part_names": [
          "button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_fixtures/102670",
        "retrieval_score": 0.4395,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.08724787683692628,
          -0.05851158501068125
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -93,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_fixtures/102670",
        "retrieval_score": 0.4395,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.08724787683692628,
          -0.05851158501068125
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -93,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_fixtures/102676",
        "retrieval_score": 0.4395,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4133778983528553,
          0.5562508838042862,
          -0.2787677835693063
        ],
        "axis_direction_initial": [
          0.7085652196065035,
          -0.002576090576989685,
          -0.705640626183985
        ],
        "limit_initial": {
          "a": 0,
          "b": -30,
          "noLimit": false
        },
        "child_part_names": [
          "button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_fixtures/102676",
        "retrieval_score": 0.4395,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.0804263322361987,
          0.015466582082211968
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -100,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_fixtures/102676",
        "retrieval_score": 0.4395,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.0804263322361987,
          0.015466582082211968
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -100,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_fixtures/102677",
        "retrieval_score": 0.4395,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4535762420527374,
          0.5989653360138918,
          -0.42686088987932946
        ],
        "axis_direction_initial": [
          0.968405288946164,
          0.07166341415550352,
          -0.23886303902586853
        ],
        "limit_initial": {
          "a": 0,
          "b": 30,
          "noLimit": false
        },
        "child_part_names": [
          "button"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_fixtures/102677",
        "retrieval_score": 0.4395,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.15570010774429083,
          -0.035906037141568994
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -97,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_fixtures/102677",
        "retrieval_score": 0.4395,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.15570010774429083,
          -0.035906037141568994
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -97,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-068/1c6ca23062ad4051aa4fe7d6483fb5c9",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/11361",
        "retrieval_score": 0.295758,
        "joint_name": "cover_lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4681530000000005,
          0.71164454701442,
          -0.37379549549147495
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/11361",
        "retrieval_score": 0.295758,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5094590000000006,
          -0.7842666089758543,
          -0.3367991225534108
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/11361",
        "retrieval_score": 0.295758,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.49170999999999987,
          -0.7880088053700798,
          -0.3337949364489107
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/12447",
        "retrieval_score": 0.2875,
        "joint_name": "cover",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.43416500000000013,
          0.6371852393310016,
          -0.34099879648383413
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid",
          "cover_handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/12447",
        "retrieval_score": 0.2875,
        "joint_name": "wheel_base",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3435679999999999,
          -0.8050173624408158,
          -0.18969853872284148
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel",
          "wheel",
          "wheel_connector"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.282154,
        "joint_name": "cover",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.47967300000000046,
          0.5914032444770108,
          -0.47294381114846784
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid",
          "cover_handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.282154,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3360569227812824,
          -0.7689688135795916,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.282154,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3341549227812824,
          -0.7689688135795916,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.282154,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.334155,
          -0.7689686803093342,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.282154,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3345599969215393,
          -0.7689686802946336,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/11951",
        "retrieval_score": 0.282154,
        "joint_name": "frame_vertical_bar",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3793224014238662,
          0.5995170000000001,
          0.05134234720300355
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": -60.120000000000005,
          "b": 116.64,
          "noLimit": false
        },
        "child_part_names": [
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_horizontal_bar"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_items/12483",
        "retrieval_score": 0.278333,
        "joint_name": "cover_lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4338159999999993,
          0.6036587225949506,
          -0.40634480105075943
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -40,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_items/12483",
        "retrieval_score": 0.278333,
        "joint_name": "wheel_connector",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4338160000000002,
          -0.7165135512435655,
          -0.19821962815046834
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel_connector",
          "wheel",
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "storage/101673",
        "retrieval_score": 0.273333,
        "joint_name": "handle",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.6071008788782839,
          0.23394889741627845,
          0.028473990602806643
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 90,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_fixtures/101320",
        "retrieval_score": 0.272105,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.49041753426830414,
          0.42577515725760345,
          -0.6419271146543293
        ],
        "axis_direction_initial": [
          0.9999959392889939,
          -0.002349866335758954,
          -0.0016123069581063507
        ],
        "limit_initial": {
          "a": 0,
          "b": -100,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_fixtures/102620",
        "retrieval_score": 0.272105,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.07049415744686029,
          -0.1205520073999651
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -36.360000000000014,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_fixtures/102631",
        "retrieval_score": 0.272105,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.2970268055809032,
          -0.3415275576412386
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -97,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_fixtures/102652",
        "retrieval_score": 0.272105,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.30661122295380355,
          -0.5556749436631799
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -97,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-167/78b50269b06a44999975d33e5b2dab30",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/11361",
        "retrieval_score": 0.310267,
        "joint_name": "cover_lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4681530000000005,
          0.71164454701442,
          -0.37379549549147495
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/11361",
        "retrieval_score": 0.310267,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5094590000000006,
          -0.7842666089758543,
          -0.3367991225534108
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/11361",
        "retrieval_score": 0.310267,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.49170999999999987,
          -0.7880088053700798,
          -0.3337949364489107
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/12447",
        "retrieval_score": 0.301111,
        "joint_name": "cover",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.43416500000000013,
          0.6371852393310016,
          -0.34099879648383413
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid",
          "cover_handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/12447",
        "retrieval_score": 0.301111,
        "joint_name": "wheel_base",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3435679999999999,
          -0.8050173624408158,
          -0.18969853872284148
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel",
          "wheel",
          "wheel_connector"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.294966,
        "joint_name": "cover",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.47967300000000046,
          0.5914032444770108,
          -0.47294381114846784
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid",
          "cover_handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.294966,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3360569227812824,
          -0.7689688135795916,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.294966,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3341549227812824,
          -0.7689688135795916,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.294966,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.334155,
          -0.7689686803093342,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/11279",
        "retrieval_score": 0.294966,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3345599969215393,
          -0.7689686802946336,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/12483",
        "retrieval_score": 0.29043,
        "joint_name": "cover_lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4338159999999993,
          0.6036587225949506,
          -0.40634480105075943
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -40,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/12483",
        "retrieval_score": 0.29043,
        "joint_name": "wheel_connector",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4338160000000002,
          -0.7165135512435655,
          -0.19821962815046834
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel_connector",
          "wheel",
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "storage/101673",
        "retrieval_score": 0.29,
        "joint_name": "handle",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.6071008788782839,
          0.23394889741627845,
          0.028473990602806643
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 90,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "small_furniture/14422",
        "retrieval_score": 0.288312,
        "joint_name": "lamp_head",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.006407032270801013,
          0.44336320841125376,
          0.31551892723304353
        ],
        "axis_direction_initial": [
          0.9999151861837067,
          0.012821220343346144,
          0.0022883942210530327
        ],
        "limit_initial": {
          "a": 15,
          "b": -15,
          "noLimit": false
        },
        "child_part_names": [
          "lamp_cover_holder",
          "lamp_shade"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "small_furniture/14422",
        "retrieval_score": 0.288312,
        "joint_name": "lamp_pole",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.5246008052086255,
          -0.2001587527229953
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": -45,
          "b": 45,
          "noLimit": false
        },
        "child_part_names": [
          "lamp_pole",
          "lamp_pole"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "small_furniture/14422",
        "retrieval_score": 0.288312,
        "joint_name": "lamp_pole",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.6843663292874252,
          -0.4866019005130761
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": -45,
          "b": 45,
          "noLimit": false
        },
        "child_part_names": [
          "lamp_pole",
          "lamp_pole",
          "lamp_pole"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_fixtures/101320",
        "retrieval_score": 0.288182,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.49041753426830414,
          0.42577515725760345,
          -0.6419271146543293
        ],
        "axis_direction_initial": [
          0.9999959392889939,
          -0.002349866335758954,
          -0.0016123069581063507
        ],
        "limit_initial": {
          "a": 0,
          "b": -100,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_fixtures/102620",
        "retrieval_score": 0.288182,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.07049415744686029,
          -0.1205520073999651
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -36.360000000000014,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_fixtures/102631",
        "retrieval_score": 0.288182,
        "joint_name": "seat",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.2970268055809032,
          -0.3415275576412386
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -97,
          "noLimit": false
        },
        "child_part_names": [
          "seat"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_fixtures/102652",
        "retrieval_score": 0.288182,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.30661122295380355,
          -0.5556749436631799
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -97,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-161/46549c84b96e42089242848b798fa551",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10,
        "prismatic": 1
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "small_furniture/14422",
        "retrieval_score": 0.297857,
        "joint_name": "lamp_head",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.006407032270801013,
          0.44336320841125376,
          0.31551892723304353
        ],
        "axis_direction_initial": [
          0.9999151861837067,
          0.012821220343346144,
          0.0022883942210530327
        ],
        "limit_initial": {
          "a": 15,
          "b": -15,
          "noLimit": false
        },
        "child_part_names": [
          "lamp_cover_holder",
          "lamp_shade"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "small_furniture/14422",
        "retrieval_score": 0.297857,
        "joint_name": "lamp_pole",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.5246008052086255,
          -0.2001587527229953
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": -45,
          "b": 45,
          "noLimit": false
        },
        "child_part_names": [
          "lamp_pole",
          "lamp_pole"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "small_furniture/14422",
        "retrieval_score": 0.297857,
        "joint_name": "lamp_pole",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.6843663292874252,
          -0.4866019005130761
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": -45,
          "b": 45,
          "noLimit": false
        },
        "child_part_names": [
          "lamp_pole",
          "lamp_pole",
          "lamp_pole"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/11361",
        "retrieval_score": 0.294167,
        "joint_name": "cover_lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.4681530000000005,
          0.71164454701442,
          -0.37379549549147495
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/11361",
        "retrieval_score": 0.294167,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.5094590000000006,
          -0.7842666089758543,
          -0.3367991225534108
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/11361",
        "retrieval_score": 0.294167,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.49170999999999987,
          -0.7880088053700798,
          -0.3337949364489107
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/12447",
        "retrieval_score": 0.286154,
        "joint_name": "cover",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.43416500000000013,
          0.6371852393310016,
          -0.34099879648383413
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid",
          "cover_handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/12447",
        "retrieval_score": 0.286154,
        "joint_name": "wheel_base",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3435679999999999,
          -0.8050173624408158,
          -0.18969853872284148
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel",
          "wheel",
          "wheel_connector"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/11279",
        "retrieval_score": 0.281,
        "joint_name": "cover",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.47967300000000046,
          0.5914032444770108,
          -0.47294381114846784
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid",
          "cover_handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/11279",
        "retrieval_score": 0.281,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3360569227812824,
          -0.7689688135795916,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/11279",
        "retrieval_score": 0.281,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3341549227812824,
          -0.7689688135795916,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/11279",
        "retrieval_score": 0.281,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.334155,
          -0.7689686803093342,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/11279",
        "retrieval_score": 0.281,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3345599969215393,
          -0.7689686802946336,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_items/11951",
        "retrieval_score": 0.281,
        "joint_name": "frame_vertical_bar",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3793224014238662,
          0.5995170000000001,
          0.05134234720300355
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": -60.120000000000005,
          "b": 116.64,
          "noLimit": false
        },
        "child_part_names": [
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_vertical_bar",
          "frame_horizontal_bar"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "small_furniture/15879",
        "retrieval_score": 0.280268,
        "joint_name": "movable_part",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.7912494478839914,
          -0.1292278414417505
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 15.120000000000001,
          "noLimit": false
        },
        "child_part_names": [
          "movable_part"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "small_furniture/15879",
        "retrieval_score": 0.280268,
        "joint_name": "lamp_arm_straight_bar",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.004340000000000001,
          0,
          -0.38319
        ],
        "axis_direction_initial": [
          0,
          1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "lamp_arm_straight_bar",
          "lamp_shade",
          "light_socket",
          "light_bulb",
          "lamp_cover_holder"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_furniture/14314",
        "retrieval_score": 0.279231,
        "joint_name": "lamp_pole",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.0035150624265571752,
          0,
          -0.14035127070984071
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "lamp_pole"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_furniture/14314",
        "retrieval_score": 0.279231,
        "joint_name": "lamp_head",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.0035157422102886143,
          0.8784614464746786,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 60,
          "b": -60,
          "noLimit": true
        },
        "child_part_names": [
          "lamp_cover_holder",
          "lamp_shade",
          "light_bulb"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_items/12483",
        "retrieval_score": 0.277333,
        "joint_name": "cover_lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4338159999999993,
          0.6036587225949506,
          -0.40634480105075943
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -40,
          "noLimit": false
        },
        "child_part_names": [
          "cover_lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_items/12483",
        "retrieval_score": 0.277333,
        "joint_name": "wheel_connector",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4338160000000002,
          -0.7165135512435655,
          -0.19821962815046834
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel_connector",
          "wheel",
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "storage/101673",
        "retrieval_score": 0.271,
        "joint_name": "handle",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.6071008788782839,
          0.23394889741627845,
          0.028473990602806643
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 90,
          "b": -90,
          "noLimit": false
        },
        "child_part_names": [
          "handle"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_fixtures/101320",
        "retrieval_score": 0.27,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.49041753426830414,
          0.42577515725760345,
          -0.6419271146543293
        ],
        "axis_direction_initial": [
          0.9999959392889939,
          -0.002349866335758954,
          -0.0016123069581063507
        ],
        "limit_initial": {
          "a": 0,
          "b": -100,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-052/ea2768fdcc464b509e13e5b4b9009237",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10,
        "prismatic": 8
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/102055",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.6975555,
          0,
          0.4293144613282289
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/102055",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.6975555,
          0,
          0.286246
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/102055",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.6975555,
          0,
          0.1431775614868817
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "major_appliances/102055",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.6975555,
          0,
          0.00010949999999999849
        ],
        "axis_direction_initial": [
          0,
          -1,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/102060",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.721904,
          0.0312208963668822,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/102060",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4899347724421394,
          0.0312205563398723,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/102060",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.033190772442139416,
          0.031220556339872297,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/102060",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.19877899999999998,
          0.03122089636688223,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/102060",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.46656200000000003,
          0.031220896366882217,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "major_appliances/102060",
        "retrieval_score": 0.338333,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.6969317724421394,
          0.031220556339872294,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101921",
        "retrieval_score": 0.337387,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.2704053403934484,
          0.3102552595837572,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101921",
        "retrieval_score": 0.337387,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.18158144516063662,
          0.3102552953567844,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101921",
        "retrieval_score": 0.337387,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.009619259583757218,
          0.3102553403934484,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101921",
        "retrieval_score": 0.337387,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.09844315821244892,
          0.3102553607462417,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101921",
        "retrieval_score": 0.337387,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.1872669896436654,
          0.3102554992328876,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101921",
        "retrieval_score": 0.337387,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.27609065960655166,
          0.3102552595837572,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101921",
        "retrieval_score": 0.337387,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.3649144889120604,
          0.31025510524137095,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "major_appliances/101921",
        "retrieval_score": 0.337387,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.45373825958375724,
          0.3102553403934484,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "small_appliances/103037",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.54957,
          0.39451800000000004,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "small_appliances/103043",
        "retrieval_score": 0.335405,
        "joint_name": "lever",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.2176665920615195,
          -0.22,
          0.382
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 20,
          "b": -20,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "small_appliances/103092",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.302039,
          0.47574099999999997,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_appliances/103101",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.0595165,
          0.366823,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": -199.8,
          "b": -525.96,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_appliances/103101",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.0267675,
          0.366823,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 131.4,
          "b": -142.92000000000002,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "small_appliances/103101",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.216135,
          0.19141,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          -1
        ],
        "limit_initial": {
          "a": 50,
          "b": -50,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/103121",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.061664283827915424,
          0.33751471617208456,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "small_appliances/103121",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.008627716172084571,
          0.33751471617208456,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "small_appliances/103123",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.33111861595049297,
          0.283039,
          0.08867970744472213
        ],
        "axis_direction_initial": [
          -0.258701323718886,
          0,
          0.9659573619503588
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "small_appliances/103124",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.20499620953263226,
          0.23223620953263224,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "small_appliances/103124",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.05954542416876745,
          0.4085974933651105,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": -337,
          "b": -23,
          "noLimit": false
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "small_appliances/103124",
        "retrieval_score": 0.335405,
        "joint_name": "knob",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.006590500000000001,
          0.40859749999999995,
          0
        ],
        "axis_direction_initial": [
          0,
          0,
          1
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "knob"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  },
  {
    "query_id": "PartNeXt/000-067/d2a883db37184592b5ea0ce4cbd2a286",
    "decision": {
      "grade": "B",
      "reason": "retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending",
      "best_joint_type": "revolute",
      "joint_type_agreement": 1.0,
      "desired_motion_types": [
        "revolute"
      ],
      "type_votes": {
        "revolute": 10
      }
    },
    "candidates": [
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/102154",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.03895733642930197,
          -0.7787555886730574,
          -0.258166431148672
        ],
        "axis_direction_initial": [
          -0.9987522100602937,
          0.04994014691605437,
          6.801236577148257e-05
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/102154",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.038720257406664675,
          -0.7743909059656491,
          -0.25819095070077264
        ],
        "axis_direction_initial": [
          0.998752574788184,
          0.04993289563706396,
          1.6949075841183414e-05
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 1,
        "template_id": "household_items/102154",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.46350965508232234,
          0.6135742195680873,
          -0.43541910033813763
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/102155",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.03865208108602454,
          -0.7730565109838253,
          -0.24041609244771428
        ],
        "axis_direction_initial": [
          0.9987526021089831,
          -0.04993235011212619,
          -1.3885806393342107e-05
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/102155",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.038233434463391044,
          -0.7653192593157566,
          -0.24047467563107763
        ],
        "axis_direction_initial": [
          0.9987525612492409,
          0.049933024058193616,
          -0.00012044287175325995
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 2,
        "template_id": "household_items/102155",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.4550800055369022,
          0.6577989228511082,
          -0.40685179246706893
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 180,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/102156",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.7071375,
          -0.21019058541129265
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/102156",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.7071375,
          -0.210191
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 3,
        "template_id": "household_items/102156",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5008539999999999,
          0.5175189931555696,
          -0.561753569233481
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 120,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/102158",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.6967785,
          -0.18280249999999998
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/102158",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.6967785,
          -0.18280228387390784
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 4,
        "template_id": "household_items/102158",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5048029999999999,
          0.4911253928177184,
          -0.5245170353602641
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 120,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_items/102160",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.0,
          -0.6482635,
          -0.11717384037104207
        ],
        "axis_direction_initial": [
          -1.0,
          0.0,
          0.0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_items/102160",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.0,
          -0.6482635,
          -0.11717384037104209
        ],
        "axis_direction_initial": [
          1.0,
          0.0,
          0.0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 5,
        "template_id": "household_items/102160",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.5363379999999993,
          0.6463455862605643,
          -0.48604266721979483
        ],
        "axis_direction_initial": [
          -0.9999999999999999,
          0.0,
          0.0
        ],
        "limit_initial": {
          "a": -270,
          "b": 0,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "household_items/102189",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.575696,
          -0.37397349999999996
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "household_items/102189",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          -0.575696,
          -0.37397349999999996
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 6,
        "template_id": "household_items/102189",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0,
          0.55,
          -0.5
        ],
        "axis_direction_initial": [
          -1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": 170,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_items/102200",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.002624379427305312,
          -0.724445843691132,
          -0.26901356416556405
        ],
        "axis_direction_initial": [
          0.9999522451013857,
          6.56998777183295e-06,
          -0.009772792514625078
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_items/102200",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.002621374364671827,
          -0.7244392291310021,
          -0.2690149306996039
        ],
        "axis_direction_initial": [
          -0.9999522501781234,
          -1.0542391471764774e-05,
          0.009772269570885865
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 7,
        "template_id": "household_items/102200",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.30538172195377555,
          0.65,
          -0.573
        ],
        "axis_direction_initial": [
          0.1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -270,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_items/102201",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.0027012142244113575,
          -0.7139977677195346,
          -0.2771372716468322
        ],
        "axis_direction_initial": [
          -0.999952225525296,
          -1.1027810181471402e-05,
          0.009774791322339665
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_items/102201",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.002703379569950883,
          -0.713990074530811,
          -0.2771403014326018
        ],
        "axis_direction_initial": [
          0.9999522226390624,
          8.152494123233587e-06,
          -0.009775089397839935
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 8,
        "template_id": "household_items/102201",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3612990390637534,
          0.6858122369955446,
          -0.5854652074376517
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -270,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_items/102202",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.003139350590944839,
          -0.7139035118353272,
          -0.27252475216497385
        ],
        "axis_direction_initial": [
          -0.9999337337603303,
          2.5419304194373795e-06,
          0.011512084158125949
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_items/102202",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.003127657457991523,
          -0.7138983637973899,
          -0.27252334378601667
        ],
        "axis_direction_initial": [
          -0.9999336881778376,
          -1.532120139480752e-05,
          0.01151603283809203
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 9,
        "template_id": "household_items/102202",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          -0.3436974783332585,
          0.6538255892391317,
          -0.5726579543311202
        ],
        "axis_direction_initial": [
          1,
          0,
          0
        ],
        "limit_initial": {
          "a": 0,
          "b": -270,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_items/102209",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.0003891971530968856,
          -0.792665945270801,
          -0.247630542257154
        ],
        "axis_direction_initial": [
          0.9999995488586515,
          0.000693709901701286,
          -0.0006488829368230226
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_items/102209",
        "retrieval_score": 0.3236,
        "joint_name": "wheel",
        "joint_type": "revolute",
        "axis_origin_initial": [
          8.35483542004356e-05,
          -0.7924870732732734,
          -0.2476913555260875
        ],
        "axis_direction_initial": [
          -0.9999999137038,
          2.4200278089198677e-05,
          -0.0004147369518372022
        ],
        "limit_initial": {
          "a": 0,
          "b": 0,
          "noLimit": true
        },
        "child_part_names": [
          "wheel"
        ],
        "status": "candidate_only_not_validated"
      },
      {
        "source": "template_transfer_initial",
        "template_rank": 10,
        "template_id": "household_items/102209",
        "retrieval_score": 0.3236,
        "joint_name": "lid",
        "joint_type": "revolute",
        "axis_origin_initial": [
          0.21365999999999996,
          0.6683296272585244,
          -0.4218573382074123
        ],
        "axis_direction_initial": [
          0.9999999999999999,
          0,
          0
        ],
        "limit_initial": {
          "a": 17,
          "b": -253,
          "noLimit": false
        },
        "child_part_names": [
          "lid"
        ],
        "status": "candidate_only_not_validated"
      }
    ]
  }
]