路线三：PAct 官方实现 rerun2

输入来自我们之前成功复现的 PAct Appendix-D 多样本输入；本页展示本次 clean official repo + 本地导出层修复后的两个 articulated object 输出。closed/mid/open GLB 是从 PAct 原始 object.json + part GLB 按 FK 合成，仅用于 portal 检查。

closedmidopen

Dishwasher_001

2 nodes · 1 movable joints

closed GLBmid GLBopen GLBobject.json

{
  "joints": [
    {
      "id": 1,
      "name": "door",
      "joint": {
        "type": "revolute",
        "range": [
          0.0,
          46.55460739135742
        ],
        "axis": {
          "direction": [
            0.0,
            1.0,
            0.0
          ],
          "origin": [
            0.32412898540496826,
            -0.21826285123825073,
            0.320599764585495
          ]
        }
      },
      "parent": 0
    }
  ]
}

closedmidopen

StorageFurniture_004

5 nodes · 4 movable joints

closed GLBmid GLBopen GLBobject.json

{
  "joints": [
    {
      "id": 1,
      "name": "drawer",
      "joint": {
        "type": "prismatic",
        "range": [
          0.0,
          -0.28516721725463867
        ],
        "axis": {
          "direction": [
            -0.005507111083716154,
            0.005584038328379393,
            -0.9999691843986511
          ],
          "origin": [
            0.0,
            0.0,
            0.0
          ]
        }
      },
      "parent": 0
    },
    {
      "id": 2,
      "name": "drawer",
      "joint": {
        "type": "prismatic",
        "range": [
          0.0,
          -0.27639272809028625
        ],
        "axis": {
          "direction": [
            -0.0036507132463157177,
            0.00634642131626606,
            -0.9999731183052063
          ],
          "origin": [
            0.0,
            0.0,
            0.0
          ]
        }
      },
      "parent": 0
    },
    {
      "id": 3,
      "name": "door",
      "joint": {
        "type": "revolute",
        "range": [
          0.0,
          -64.44979858398438
        ],
        "axis": {
          "direction": [
            0.0,
            1.0,
            0.0
          ],
          "origin": [
            -0.24684104323387146,
            0.24154913425445557,
            0.14622028172016144
          ]
        }
      },
      "parent": 0
    },
    {
      "id": 4,
      "name": "door",
      "joint": {
        "type": "revolute",
        "range": [
          0.0,
          67.1695327758789
        ],
        "axis": {
          "direction": [
            0.0,
            1.0,
            0.0
          ],
          "origin": [
            0.24632807075977325,
            0.16948454082012177,
            0.11808756738901138
          ]
        }
      },
      "parent": 0
    }
  ]
}