Validation with a Cart

[xander-2077]

Hello, your job is great and useful! I validate it with a real ergonomic chair and it works well. But it fails to create the right voxel when I input a cart:

The basic_info is following:

Name: Cart
Category: Material Handling Equipment
Dimension: 90*60*100
Parts: 
l_0: Wheel, 4, Rubber, 1.1 g/cm^3, 0.01, 0.49, A wheel made of rubber, typically attached to the bottom of the cart for mobility.
l_1: Wheel, 4, Rubber, 1.1 g/cm^3, 0.01, 0.49, A wheel made of rubber, identical to the other wheels, used for mobility.
l_2: Wheel, 4, Rubber, 1.1 g/cm^3, 0.01, 0.49, A rubber wheel attached to the cart’s base for movement.
l_3: Wheel, 4, Rubber, 1.1 g/cm^3, 0.01, 0.49, A rubber wheel forming part of the cart’s rolling system.
l_4: Base Body, 1, Steel, 7.85 g/cm^3, 200.0, 0.3, The main frame and platform of the cart made of steel, providing structural integrity.
Group_info: 
group_0: ['l_4']; Type: E; Param: N/A
group_1: ['l_0']; Type: C relative to group_0; Param: direction: [1, 0, 0], axis position (in voxel grid): [0, 1.46, 1.0], revolute range (degree): [0, 57]
group_2: ['l_1']; Type: C relative to group_0; Param: direction: [1, 0, 0], axis position (in voxel grid): [0, 1.46, 1.0], revolute range (degree): [0, 57]
group_3: ['l_2']; Type: C relative to group_0; Param: direction: [1, 0, 0], axis position (in voxel grid): [0, 30.22, 1.0], revolute range (degree): [0, 57]
group_4: ['l_3']; Type: C relative to group_0; Param: direction: [1, 0, 0], axis position (in voxel grid): [0, 30.22, 1.0], revolute range (degree): [0, 57]

It seems that the axis position of group_1 and group_2 are exactly the same (also group_3 and group_4). And it loses 2 dofs about swivel (although this can be modified easily). So is this an OOD situation? Can I take any effort to save this?

[ziangcao0312]

Yes—our current dataset covers 47 real-world categories, and we plan to expand its diversity in future work.