路线一：检索-转移-验证式静态 mesh 铰链化 MVP

本页展示严格版 pipeline 的当前进度：template 检索、粗几何轴探针、近似 bbox sweep、mesh FCL sweep、URDF-Anything+ 第二意见真实推理、PyBullet proxy-load、真实 mesh PyBullet load/actuation 和最终 gate table。URDF-Anything+ 已对 3 个候选子集跑完，但均未与检索转移结果达成一致，因此 没有任何样本进入 A 档。

template bank: 2539 movable templates · 8027 joints · query: 12 PartNeXt static meshes · final gate: C:9, B+:2, B:1 · retrieval: B:12 · geometry: B+:9, B:3 · approx sweep: C:9, B+:2, B:1 · mesh FCL: B:1, B+:1, C:1 · physics proxy: B+:3 · mesh physics: B+:2, B:1 · URDF-Anything ready: True · URDF-Anything processed: 3

final gate tablesummary JSONtop-K retrieval JSONcandidate joints JSONgeometry probe JSONapprox sweep JSONmesh FCL sweep JSONURDF-Anything readinessURDF-Anything actual resultsphysics proxy JSONmesh physics JSON

PartNeXt static query · retrieval B · geometry B+ · sweep C

Bookcase

PartNeXt/000-068/a1f4cd3fbcff48949116861a2ff6a9ba

motion cues: door:6 · part_count=34 · candidates=23

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=1.0

geometry: B+ · strong retrieval + coarse geometry evidence; still needs sweep, independent model, and physics

approx sweep: C · score=0.38 · bbox sweep rejects or cannot evaluate the candidate

URDF-Anything second opinion: not_selected · type_agree=n/a · axis_angle=n/a

mesh FCL sweep: not_run · not run

physics proxy: not_run · not run

mesh physics: not_run · not run

Top-5 templates
#templatescorejointsource
1large_furniture/410040.432revoluteGAPartNet
2large_furniture/451730.432revoluteGAPartNet
3large_furniture/452030.419revoluteGAPartNet
4large_furniture/452120.419revoluteGAPartNet
5large_furniture/410030.417revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B+ · sweep B+

Microwave Oven

PartNeXt/000-052/9861693215ca4dab99bcdd902c273877

motion cues: door:3, knob:2, tray:1 · part_count=11 · candidates=50

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: prismatic / agreement=1.0 · geometry_score=0.78

geometry: B+ · strong retrieval + coarse geometry evidence; still needs sweep, independent model, and physics

approx sweep: B+ · score=0.7887 · bbox sweep did not reject the best candidate; still not A without mesh collision, independent model, and physics

URDF-Anything second opinion: disagree_or_failed · type_agree=False · axis_angle=None

mesh FCL sweep: B · FCL mesh sweep is not catastrophic but remains uncertain

physics proxy: B+ · proxy URDF loads and actuates; still blocked from A until mesh physics and URDF-Anything agreement

mesh physics: B+ · real mesh URDF loads and actuates in PyBullet; still requires URDF-Anything agreement for A

Top-5 templates
#templatescorejointsource
1small_appliances/73490.419prismatic/revoluteGAPartNet
2small_appliances/71280.410prismatic/revoluteGAPartNet
3major_appliances/71200.405prismatic/revoluteGAPartNet
4major_appliances/71790.405prismatic/revoluteGAPartNet
5major_appliances/72010.405prismatic/revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B · sweep C

Sofa

PartNeXt/000-163/18b04ca5a96c4458ad5c22cbafb81396

motion cues: wheel:4 · part_count=29 · candidates=30

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=0.62

geometry: B · some geometry evidence; requires refinement and validation

approx sweep: C · score=0.0 · bbox sweep rejects or cannot evaluate the candidate

URDF-Anything second opinion: not_selected · type_agree=n/a · axis_angle=n/a

mesh FCL sweep: not_run · not run

physics proxy: not_run · not run

mesh physics: not_run · not run

Top-5 templates
#templatescorejointsource
1household_items/1021540.324revoluteGAPartNet
2household_items/1021550.324revoluteGAPartNet
3household_items/1021560.324revoluteGAPartNet
4household_items/1021580.324revoluteGAPartNet
5household_items/1021600.324revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B+ · sweep C

Washing Machine

PartNeXt/000-055/12004b87e25c4bcb8f755efd6dca7328

motion cues: door:3, knob:1 · part_count=25 · candidates=50

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=1.0

geometry: B+ · strong retrieval + coarse geometry evidence; still needs sweep, independent model, and physics

approx sweep: C · score=0.38 · bbox sweep rejects or cannot evaluate the candidate

URDF-Anything second opinion: not_selected · type_agree=n/a · axis_angle=n/a

mesh FCL sweep: not_run · not run

physics proxy: not_run · not run

mesh physics: not_run · not run

Top-5 templates
#templatescorejointsource
1major_appliances/1019080.390revoluteGAPartNet
2major_appliances/1019170.390revoluteGAPartNet
3major_appliances/1019300.390revoluteGAPartNet
4major_appliances/1019310.390revoluteGAPartNet
5major_appliances/1019430.390revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B+ · sweep C

Door

PartNeXt/000-037/0fa5cbe76f3248d3ad590899ff25c5f5

motion cues: door:3 · part_count=2 · candidates=24

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=0.78

geometry: B+ · strong retrieval + coarse geometry evidence; still needs sweep, independent model, and physics

approx sweep: C · score=0.0 · bbox sweep rejects or cannot evaluate the candidate

URDF-Anything second opinion: not_selected · type_agree=n/a · axis_angle=n/a

mesh FCL sweep: not_run · not run

physics proxy: not_run · not run

mesh physics: not_run · not run

Top-5 templates
#templatescorejointsource
1major_appliances/112990.368revoluteGAPartNet
2storage/1013630.366revoluteGAPartNet
3storage/1015840.366revoluteGAPartNet
4storage/1015930.366revoluteGAPartNet
5storage/1015940.366revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B+ · sweep C

Teapot

PartNeXt/000-065/1962f22a64d64b2d872b2a73b13797cf

motion cues: lid:1, cover:1, knob:1 · part_count=12 · candidates=16

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=0.78

geometry: B+ · strong retrieval + coarse geometry evidence; still needs sweep, independent model, and physics

approx sweep: C · score=0.0 · bbox sweep rejects or cannot evaluate the candidate

URDF-Anything second opinion: not_selected · type_agree=n/a · axis_angle=n/a

mesh FCL sweep: not_run · not run

physics proxy: not_run · not run

mesh physics: not_run · not run

Top-5 templates
#templatescorejointsource
1small_appliances/1021450.402prismatic/revoluteGAPartNet
2small_appliances/1030820.392revoluteGAPartNet
3small_appliances/1030300.387prismatic/revoluteGAPartNet
4small_appliances/1030570.387prismatic/revoluteGAPartNet
5small_appliances/1031100.387prismatic/revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B+ · sweep C

Toilet

PartNeXt/000-075/660cff67e8fb4bdda64e2d3e0c0641a4

motion cues: lid:3 · part_count=11 · candidates=29

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=0.78

geometry: B+ · strong retrieval + coarse geometry evidence; still needs sweep, independent model, and physics

approx sweep: C · score=0.38 · bbox sweep rejects or cannot evaluate the candidate

URDF-Anything second opinion: not_selected · type_agree=n/a · axis_angle=n/a

mesh FCL sweep: not_run · not run

physics proxy: not_run · not run

mesh physics: not_run · not run

Top-5 templates
#templatescorejointsource
1household_fixtures/1026540.450revoluteGAPartNet
2household_fixtures/1026210.440prismatic/revoluteGAPartNet
3household_fixtures/1026450.440prismatic/revoluteGAPartNet
4household_fixtures/1026480.440prismatic/revoluteGAPartNet
5household_fixtures/1026630.440prismatic/revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B · sweep B

Fan

PartNeXt/000-068/1c6ca23062ad4051aa4fe7d6483fb5c9

motion cues: cover:2 · part_count=16 · candidates=18

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=0.62

geometry: B · some geometry evidence; requires refinement and validation

approx sweep: B · score=0.62 · bbox sweep is inconclusive but not catastrophic

URDF-Anything second opinion: disagree_or_failed · type_agree=True · axis_angle=90.0

mesh FCL sweep: B+ · FCL mesh sweep did not detect persistent collision or large detachment

physics proxy: B+ · proxy URDF loads and actuates; still blocked from A until mesh physics and URDF-Anything agreement

mesh physics: B+ · real mesh URDF loads and actuates in PyBullet; still requires URDF-Anything agreement for A

Top-5 templates
#templatescorejointsource
1household_items/113610.296revoluteGAPartNet
2household_items/124470.287revoluteGAPartNet
3household_items/112790.282revoluteGAPartNet
4household_items/119510.282revoluteGAPartNet
5household_items/124830.278revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B+ · sweep B+

Floor Lamp

PartNeXt/000-167/78b50269b06a44999975d33e5b2dab30

motion cues: cover:1 · part_count=11 · candidates=20

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=0.78

geometry: B+ · strong retrieval + coarse geometry evidence; still needs sweep, independent model, and physics

approx sweep: B+ · score=0.9661 · bbox sweep did not reject the best candidate; still not A without mesh collision, independent model, and physics

URDF-Anything second opinion: disagree_or_failed · type_agree=False · axis_angle=None

mesh FCL sweep: C · FCL mesh sweep rejects candidate due to persistent collision/detachment

physics proxy: B+ · proxy URDF loads and actuates; still blocked from A until mesh physics and URDF-Anything agreement

mesh physics: B · mesh URDF loads, but mesh FCL gate remains uncertain or failed

Top-5 templates
#templatescorejointsource
1household_items/113610.310revoluteGAPartNet
2household_items/124470.301revoluteGAPartNet
3household_items/112790.295revoluteGAPartNet
4household_items/124830.290revoluteGAPartNet
5storage/1016730.290revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B+ · sweep C

Lamp

PartNeXt/000-161/46549c84b96e42089242848b798fa551

motion cues: cover:1 · part_count=12 · candidates=22

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=0.78

geometry: B+ · strong retrieval + coarse geometry evidence; still needs sweep, independent model, and physics

approx sweep: C · score=0.0 · bbox sweep rejects or cannot evaluate the candidate

URDF-Anything second opinion: not_selected · type_agree=n/a · axis_angle=n/a

mesh FCL sweep: not_run · not run

physics proxy: not_run · not run

mesh physics: not_run · not run

Top-5 templates
#templatescorejointsource
1small_furniture/144220.298revolutePartNetMobility
2household_items/113610.294revoluteGAPartNet
3household_items/124470.286revoluteGAPartNet
4household_items/112790.281revoluteGAPartNet
5household_items/119510.281revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B+ · sweep C

Toaster

PartNeXt/000-052/ea2768fdcc464b509e13e5b4b9009237

motion cues: knob:1 · part_count=62 · candidates=30

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=0.78

geometry: B+ · strong retrieval + coarse geometry evidence; still needs sweep, independent model, and physics

approx sweep: C · score=0.38 · bbox sweep rejects or cannot evaluate the candidate

URDF-Anything second opinion: not_selected · type_agree=n/a · axis_angle=n/a

mesh FCL sweep: not_run · not run

physics proxy: not_run · not run

mesh physics: not_run · not run

Top-5 templates
#templatescorejointsource
1major_appliances/1020550.338revoluteGAPartNet
2major_appliances/1020600.338revoluteGAPartNet
3major_appliances/1019210.337prismatic/revoluteGAPartNet
4small_appliances/1030370.335prismatic/revoluteGAPartNet
5small_appliances/1030430.335prismatic/revoluteGAPartNet
PartNeXt static query · retrieval B · geometry B · sweep C

Watch

PartNeXt/000-067/d2a883db37184592b5ea0ce4cbd2a286

motion cues: wheel:1 · part_count=16 · candidates=30

decision: B · retrieval consensus exists, but geometry sweep / URDF-Anything / physics validation are pending

consensus: revolute / agreement=1.0 · geometry_score=0.62

geometry: B · some geometry evidence; requires refinement and validation

approx sweep: C · score=0.38 · bbox sweep rejects or cannot evaluate the candidate

URDF-Anything second opinion: not_selected · type_agree=n/a · axis_angle=n/a

mesh FCL sweep: not_run · not run

physics proxy: not_run · not run

mesh physics: not_run · not run

Top-5 templates
#templatescorejointsource
1household_items/1021540.324revoluteGAPartNet
2household_items/1021550.324revoluteGAPartNet
3household_items/1021560.324revoluteGAPartNet
4household_items/1021580.324revoluteGAPartNet
5household_items/1021600.324revoluteGAPartNet