backup 04_physworld 2026-11-08 10:11:26

.gitattributes

@@ -3334,3 +3334,18 @@ scenes/zip_unzip_bag__20__scene_anim_blender_aligned_plane_with_deform_prephysic
 scenes/zip_unzip_bag__20__scene_anim_blender_physics_with_deform.glb filter=lfs diff=lfs merge=lfs -text
 scenes/zip_unzip_bag__21__scene_anim_blender_aligned_plane_with_deform_prephysics.glb filter=lfs diff=lfs merge=lfs -text
 scenes/zip_unzip_bag__21__scene_anim_blender_physics_with_deform.glb filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/data/desk_banana_scene_anim.glb filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/bunzip2 filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/bzcat filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/bzip2 filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/openssl filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/python filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/python3 filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/python3.1 filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/python3.11 filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/unzstd filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/x86_64-conda-linux-gnu-ld filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/zstd filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/zstdcat filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/bin/zstdmt filter=lfs diff=lfs merge=lfs -text
+physworld_p1_20261018/envs/p1/compiler_compat/ld filter=lfs diff=lfs merge=lfs -text

physworld_p1_20261018/analysis/b0_check_v3.json

@@ -0,0 +1,264 @@
+{
+  "rows": [
+    {
+      "case": "arrange_topple_dominoes__1__hard_contact",
+      "scene": "arrange_topple_dominoes__1",
+      "branch": "hard_contact",
+      "pusher": "domino_04",
+      "target": "domino_01",
+      "impulse": 0.07875294717042665,
+      "contacts": 19,
+      "min_distance_m": 0.0004,
+      "pusher_disp_m": 0.6242199280135615,
+      "target_disp_m": 0.25351239696515415
+    },
+    {
+      "case": "arrange_topple_dominoes__1__light_contact",
+      "scene": "arrange_topple_dominoes__1",
+      "branch": "light_contact",
+      "pusher": "domino_04",
+      "target": "domino_01",
+      "impulse": 0.061291237120122126,
+      "contacts": 19,
+      "min_distance_m": 0.0,
+      "pusher_disp_m": 0.46358796289819143,
+      "target_disp_m": 0.03953037891548937
+    },
+    {
+      "case": "arrange_topple_dominoes__1__near_miss",
+      "scene": "arrange_topple_dominoes__1",
+      "branch": "near_miss",
+      "pusher": "domino_04",
+      "target": "domino_01",
+      "impulse": 0.04965009708658578,
+      "contacts": 18,
+      "min_distance_m": 0.1427,
+      "pusher_disp_m": 0.3100737580320269,
+      "target_disp_m": 3.887420842618122e-06
+    },
+    {
+      "case": "arrange_topple_dominoes__2__hard_contact",
+      "scene": "arrange_topple_dominoes__2",
+      "branch": "hard_contact",
+      "pusher": "domino_05",
+      "target": "bracelet_01",
+      "impulse": 0.009510698648357756,
+      "contacts": 17,
+      "min_distance_m": 0.0,
+      "pusher_disp_m": 0.21472900874192247,
+      "target_disp_m": 0.02776682707007371
+    },
+    {
+      "case": "arrange_topple_dominoes__2__light_contact",
+      "scene": "arrange_topple_dominoes__2",
+      "branch": "light_contact",
+      "pusher": "domino_05",
+      "target": "bracelet_01",
+      "impulse": 0.00742379542673036,
+      "contacts": 17,
+      "min_distance_m": 0.0,
+      "pusher_disp_m": 0.22148407834650227,
+      "target_disp_m": 0.04543890694874486
+    },
+    {
+      "case": "arrange_topple_dominoes__2__near_miss",
+      "scene": "arrange_topple_dominoes__2",
+      "branch": "near_miss",
+      "pusher": "domino_05",
+      "target": "bracelet_01",
+      "impulse": 0.006032526612312094,
+      "contacts": 16,
+      "min_distance_m": 0.0325,
+      "pusher_disp_m": 0.1834207689209441,
+      "target_disp_m": 0.09511547804538605
+    },
+    {
+      "case": "stack_remove_jenga__16__hard_contact",
+      "scene": "stack_remove_jenga__16",
+      "branch": "hard_contact",
+      "pusher": "block_16",
+      "target": "block_08",
+      "impulse": 0.03236686124208332,
+      "contacts": 35,
+      "min_distance_m": 0.0,
+      "pusher_disp_m": 0.060266183073500346,
+      "target_disp_m": 0.007859447580763563
+    },
+    {
+      "case": "stack_remove_jenga__16__light_contact",
+      "scene": "stack_remove_jenga__16",
+      "branch": "light_contact",
+      "pusher": "block_16",
+      "target": "block_08",
+      "impulse": 0.025341400891098223,
+      "contacts": 35,
+      "min_distance_m": 0.0,
+      "pusher_disp_m": 0.07829324322076817,
+      "target_disp_m": 0.003800516731448024
+    },
+    {
+      "case": "stack_remove_jenga__16__near_miss",
+      "scene": "stack_remove_jenga__16",
+      "branch": "near_miss",
+      "pusher": "block_16",
+      "target": "block_08",
+      "impulse": 0.020657760657108157,
+      "contacts": 35,
+      "min_distance_m": 0.0,
+      "pusher_disp_m": 0.09084534370174482,
+      "target_disp_m": 0.0008368276508468436
+    },
+    {
+      "case": "stack_remove_jenga__21__hard_contact",
+      "scene": "stack_remove_jenga__21",
+      "branch": "hard_contact",
+      "pusher": "sleeve_01",
+      "target": "block_02",
+      "impulse": 0.23350078624237966,
+      "contacts": 15,
+      "min_distance_m": 1.9995,
+      "pusher_disp_m": 21.57122653933727,
+      "target_disp_m": 2.1325519028074588e-05
+    },
+    {
+      "case": "stack_remove_jenga__21__light_contact",
+      "scene": "stack_remove_jenga__21",
+      "branch": "light_contact",
+      "pusher": "sleeve_01",
+      "target": "block_02",
+      "impulse": 0.18230965175410938,
+      "contacts": 15,
+      "min_distance_m": 1.984,
+      "pusher_disp_m": 21.39569632504551,
+      "target_disp_m": 2.1325519028074588e-05
+    },
+    {
+      "case": "stack_remove_jenga__21__near_miss",
+      "scene": "stack_remove_jenga__21",
+      "branch": "near_miss",
+      "pusher": "sleeve_01",
+      "target": "block_02",
+      "impulse": 0.14818222876192919,
+      "contacts": 15,
+      "min_distance_m": 1.9711,
+      "pusher_disp_m": 21.296713606172727,
+      "target_disp_m": 2.1325519028074588e-05
+    },
+    {
+      "case": "stack_remove_jenga__2__hard_contact",
+      "scene": "stack_remove_jenga__2",
+      "branch": "hard_contact",
+      "pusher": "block_02",
+      "target": "block_01",
+      "impulse": 0.0359407542011516,
+      "contacts": 30,
+      "min_distance_m": 0.1396,
+      "pusher_disp_m": 0.009058630279454735,
+      "target_disp_m": 3.7720787301476323e-06
+    },
+    {
+      "case": "stack_remove_jenga__2__light_contact",
+      "scene": "stack_remove_jenga__2",
+      "branch": "light_contact",
+      "pusher": "block_02",
+      "target": "block_01",
+      "impulse": 0.028137453403400237,
+      "contacts": 29,
+      "min_distance_m": 0.1331,
+      "pusher_disp_m": 0.023152106642214378,
+      "target_disp_m": 3.7720787301476323e-06
+    },
+    {
+      "case": "stack_remove_jenga__2__near_miss",
+      "scene": "stack_remove_jenga__2",
+      "branch": "near_miss",
+      "pusher": "block_02",
+      "target": "block_01",
+      "impulse": 0.02293525287156599,
+      "contacts": 30,
+      "min_distance_m": 0.1458,
+      "pusher_disp_m": 0.003944748257559967,
+      "target_disp_m": 3.7720787301476323e-06
+    },
+    {
+      "case": "stack_remove_jenga__5__hard_contact",
+      "scene": "stack_remove_jenga__5",
+      "branch": "hard_contact",
+      "pusher": "block_08",
+      "target": "block_04",
+      "impulse": 0.1320470284680608,
+      "contacts": 45,
+      "min_distance_m": 0.0,
+      "pusher_disp_m": 0.12887768510338893,
+      "target_disp_m": 0.11564070929911156
+    },
+    {
+      "case": "stack_remove_jenga__5__light_contact",
+      "scene": "stack_remove_jenga__5",
+      "branch": "light_contact",
+      "pusher": "block_08",
+      "target": "block_04",
+      "impulse": 0.10317620893892371,
+      "contacts": 44,
+      "min_distance_m": 0.0,
+      "pusher_disp_m": 0.13339970377129634,
+      "target_disp_m": 0.09385822466688759
+    },
+    {
+      "case": "stack_remove_jenga__5__near_miss",
+      "scene": "stack_remove_jenga__5",
+      "branch": "near_miss",
+      "pusher": "block_08",
+      "target": "block_04",
+      "impulse": 0.08392899591949897,
+      "contacts": 42,
+      "min_distance_m": 0.0,
+      "pusher_disp_m": 0.10441903190333225,
+      "target_disp_m": 0.0580187888994452
+    }
+  ],
+  "scene_pass": {
+    "arrange_topple_dominoes__1": {
+      "no_hit": true,
+      "light_hit": false,
+      "hard_hit": true,
+      "ordered": true,
+      "pass_": false
+    },
+    "arrange_topple_dominoes__2": {
+      "no_hit": true,
+      "light_hit": false,
+      "hard_hit": false,
+      "ordered": false,
+      "pass_": false
+    },
+    "stack_remove_jenga__16": {
+      "no_hit": false,
+      "light_hit": false,
+      "hard_hit": false,
+      "ordered": true,
+      "pass_": false
+    },
+    "stack_remove_jenga__21": {
+      "no_hit": true,
+      "light_hit": false,
+      "hard_hit": false,
+      "ordered": false,
+      "pass_": false
+    },
+    "stack_remove_jenga__2": {
+      "no_hit": true,
+      "light_hit": false,
+      "hard_hit": false,
+      "ordered": false,
+      "pass_": false
+    },
+    "stack_remove_jenga__5": {
+      "no_hit": false,
+      "light_hit": false,
+      "hard_hit": false,
+      "ordered": true,
+      "pass_": false
+    }
+  }
+}

physworld_p1_20261018/analysis/b0_label_check.json

@@ -0,0 +1,182 @@
+[
+  {
+    "case": "arrange_topple_dominoes__1__hard_contact",
+    "body": "domino_04",
+    "impulse": 0.07711918249090119,
+    "contact_episodes": 19,
+    "min_d": [
+      "domino_01",
+      0.4293
+    ]
+  },
+  {
+    "case": "arrange_topple_dominoes__1__light_contact",
+    "body": "domino_04",
+    "impulse": 0.05932244806992399,
+    "contact_episodes": 19,
+    "min_d": [
+      "domino_01",
+      0.4293
+    ]
+  },
+  {
+    "case": "arrange_topple_dominoes__1__near_miss",
+    "body": "domino_04",
+    "impulse": 0.0474579584559392,
+    "contact_episodes": 19,
+    "min_d": [
+      "domino_01",
+      0.4293
+    ]
+  },
+  {
+    "case": "arrange_topple_dominoes__2__hard_contact",
+    "body": "domino_02",
+    "impulse": 0.006059761582000566,
+    "contact_episodes": 19,
+    "min_d": [
+      "bracelet_01",
+      0.9856
+    ]
+  },
+  {
+    "case": "arrange_topple_dominoes__2__light_contact",
+    "body": "domino_02",
+    "impulse": 0.004661355063077358,
+    "contact_episodes": 19,
+    "min_d": [
+      "bracelet_01",
+      0.9856
+    ]
+  },
+  {
+    "case": "arrange_topple_dominoes__2__near_miss",
+    "body": "domino_02",
+    "impulse": 0.003729084050461887,
+    "contact_episodes": 18,
+    "min_d": [
+      "bracelet_01",
+      0.9856
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__16__hard_contact",
+    "body": "block_16",
+    "impulse": 0.024448409523725883,
+    "contact_episodes": 26,
+    "min_d": [
+      "block_01",
+      0.1009
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__16__light_contact",
+    "body": "block_16",
+    "impulse": 0.018806468864404523,
+    "contact_episodes": 26,
+    "min_d": [
+      "block_01",
+      0.1013
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__16__near_miss",
+    "body": "block_16",
+    "impulse": 0.01504517509152362,
+    "contact_episodes": 25,
+    "min_d": [
+      "block_01",
+      0.1027
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__21__hard_contact",
+    "body": "sleeve_01",
+    "impulse": 0.19591809622989836,
+    "contact_episodes": 18,
+    "min_d": [
+      "block_01",
+      0.253
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__21__light_contact",
+    "body": "sleeve_01",
+    "impulse": 0.15070622786915258,
+    "contact_episodes": 18,
+    "min_d": [
+      "block_01",
+      0.253
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__21__near_miss",
+    "body": "sleeve_01",
+    "impulse": 0.12056498229532207,
+    "contact_episodes": 18,
+    "min_d": [
+      "block_01",
+      0.253
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__2__hard_contact",
+    "body": "block_05",
+    "impulse": 0.0035133098793395856,
+    "contact_episodes": 25,
+    "min_d": [
+      "block_01",
+      0.3613
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__2__light_contact",
+    "body": "block_05",
+    "impulse": 0.0027025460610304503,
+    "contact_episodes": 25,
+    "min_d": [
+      "block_01",
+      0.3434
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__2__near_miss",
+    "body": "block_05",
+    "impulse": 0.00216203684882436,
+    "contact_episodes": 25,
+    "min_d": [
+      "block_01",
+      0.348
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__5__hard_contact",
+    "body": "block_08",
+    "impulse": 0.09053023286494795,
+    "contact_episodes": 71,
+    "min_d": [
+      "block_01",
+      1.0061
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__5__light_contact",
+    "body": "block_08",
+    "impulse": 0.06963864066534457,
+    "contact_episodes": 69,
+    "min_d": [
+      "block_01",
+      1.0043
+    ]
+  },
+  {
+    "case": "stack_remove_jenga__5__near_miss",
+    "body": "block_08",
+    "impulse": 0.05571091253227566,
+    "contact_episodes": 61,
+    "min_d": [
+      "block_01",
+      1.0042
+    ]
+  }
+]

physworld_p1_20261018/analysis/b0_label_check.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""检查 B0 case 的标签是否名副其实：pusher 到底有没有碰到 target、滑了多远。"""
+import glob
+import json
+import os
+
+CASES = os.path.expanduser("~/jiayin/physworld_p1_20261018/out/b0_cases")
+
+rows = []
+for meta_path in sorted(glob.glob(os.path.join(CASES, "*", "meta.json"))):
+    m = json.load(open(meta_path))
+    push = m.get("push") or {}
+    body = push.get("body")
+    label = os.path.basename(os.path.dirname(meta_path))
+    min_d = None
+    for k, v in (m.get("pair_min_distance") or {}).items():
+        if body and body in k:
+            other = [x for x in k.split("|") if x != body]
+            if other:
+                min_d = (other[0], v.get("min_distance_m"))
+    rows.append(dict(case=label, body=body, impulse=push.get("impulse_Ns"),
+                     contact_episodes=m.get("contact_episodes"), min_d=min_d))
+
+for r in rows:
+    print(f'{r["case"]:48s} J={r["impulse"]} contacts={r["contact_episodes"]:>3} min_d={r["min_d"]}')
+
+by_scene = {}
+for r in rows:
+    scene, label = r["case"].rsplit("__", 1)
+    by_scene.setdefault(scene, {})[label] = r
+print("\n每个场景三分支的 target 最小距离（0 表示真的碰到）：")
+for scene, d in sorted(by_scene.items()):
+    parts = []
+    for lab in ("near_miss", "light_contact", "hard_contact"):
+        r = d.get(lab)
+        parts.append(f'{lab.split("_")[0]}={r["min_d"][1] if r and r["min_d"] else "NA"}')
+    print(f"  {scene:40s} " + "  ".join(parts))
+json.dump(rows, open(os.path.join(CASES, "..", "..", "analysis", "b0_label_check.json"), "w"),
+          ensure_ascii=False, indent=2)

physworld_p1_20261018/analysis/e0_rows.csv

@@ -0,0 +1,21 @@
+run,body,mu_true,mu_hat,err_pct,n_frames,collided,impulse,direction
+cf_0.30,mug_01,0.550,0.0555,-89.9,24,0,0.3,None
+cf_0.45,mug_01,0.550,0.0155,-97.2,60,0,0.45,None
+cf_mouse_0.07,computer_mouse_01,0.550,0.0080,-98.6,60,0,0.07,-x
+cf_mouse_0.13,computer_mouse_01,0.550,0.0201,-96.3,60,0,0.13,-x
+cfx_mouse_0.07,computer_mouse_01,0.550,0.2782,-49.4,7,0,0.07,+x
+cfx_mouse_0.13,computer_mouse_01,0.550,0.2790,-49.3,14,0,0.13,+x
+desk_banana,mug_01,0.550,0.2761,-49.8,8,1,0.3,None
+push_0.5,mug_01,0.550,0.0221,-96.0,60,0,0.5,None
+push_0.9,mug_01,0.550,0.0371,-93.2,60,0,0.9,None
+v2_cfx_0.05,case_01,0.550,0.1311,-76.2,12,0,0.05,+x
+v2_cfx_0.15,case_01,0.550,0.2741,-50.2,18,0,0.15,+x
+v2_cfx_mouse_0.07,computer_mouse_01,0.550,0.2751,-50.0,7,0,0.07,+x
+v2_cfx_mouse_0.13,computer_mouse_01,0.550,0.2767,-49.7,14,0,0.13,+x
+v2_cfx_mouse_0.16,computer_mouse_01,0.550,0.2786,-49.4,18,0,0.16,+x
+v2_cfx_mouse_0.20,computer_mouse_01,0.550,0.0793,-85.6,60,0,0.2,+x
+v2_cfx_mug_0.12,computer_mouse_01,0.550,nan,nan,2,0,0.12,+x
+v2_cfx_mug_0.20,computer_mouse_01,0.550,0.2933,-46.7,4,0,0.2,+x
+v2_sweep_0.06,computer_mouse_01,0.550,0.2789,-49.3,6,0,0.06,+x
+v2_sweep_0.09,computer_mouse_01,0.550,0.5378,-2.2,5,0,0.09,+x
+v2_sweep_0.12,computer_mouse_01,0.550,1.5968,190.3,3,0,0.12,+x

physworld_p1_20261018/analysis/e0_video_estimator.json

@@ -0,0 +1,235 @@
+{
+  "summary": {
+    "n_total": 20,
+    "n_ok": 19,
+    "n_clean": 18,
+    "n_collided": 1,
+    "median_abs_err": 50.16695573469606,
+    "clean_median_abs_err": 63.16970891403917,
+    "collided_median_abs_err": 49.79122915947432,
+    "share_within_10pct": 0.05263157894736842,
+    "share_within_25pct": 0.05263157894736842
+  },
+  "rows": [
+    {
+      "run": "cf_0.30",
+      "body": "mug_01",
+      "mu_true": 0.55,
+      "n_frames": 24,
+      "mu_hat": 0.05551165139950869,
+      "err_pct": -89.9069724728166,
+      "collided": false,
+      "impulse": 0.3,
+      "direction": null
+    },
+    {
+      "run": "cf_0.45",
+      "body": "mug_01",
+      "mu_true": 0.55,
+      "n_frames": 60,
+      "mu_hat": 0.015464450612088612,
+      "err_pct": -97.188281706893,
+      "collided": false,
+      "impulse": 0.45,
+      "direction": null
+    },
+    {
+      "run": "cf_mouse_0.07",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 60,
+      "mu_hat": 0.007968582195873701,
+      "err_pct": -98.5511668734775,
+      "collided": false,
+      "impulse": 0.07,
+      "direction": "-x"
+    },
+    {
+      "run": "cf_mouse_0.13",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 60,
+      "mu_hat": 0.020123591498527382,
+      "err_pct": -96.34116518208593,
+      "collided": false,
+      "impulse": 0.13,
+      "direction": "-x"
+    },
+    {
+      "run": "cfx_mouse_0.07",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 7,
+      "mu_hat": 0.27819603201922566,
+      "err_pct": -49.4189032692317,
+      "collided": false,
+      "impulse": 0.07,
+      "direction": "+x"
+    },
+    {
+      "run": "cfx_mouse_0.13",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 14,
+      "mu_hat": 0.27896030521122717,
+      "err_pct": -49.27994450704961,
+      "collided": false,
+      "impulse": 0.13,
+      "direction": "+x"
+    },
+    {
+      "run": "desk_banana",
+      "body": "mug_01",
+      "mu_true": 0.55,
+      "n_frames": 8,
+      "mu_hat": 0.27614823962289126,
+      "err_pct": -49.79122915947432,
+      "collided": true,
+      "impulse": 0.3,
+      "direction": null
+    },
+    {
+      "run": "push_0.5",
+      "body": "mug_01",
+      "mu_true": 0.55,
+      "n_frames": 60,
+      "mu_hat": 0.022064829226584336,
+      "err_pct": -95.98821286789375,
+      "collided": false,
+      "impulse": 0.5,
+      "direction": null
+    },
+    {
+      "run": "push_0.9",
+      "body": "mug_01",
+      "mu_true": 0.55,
+      "n_frames": 60,
+      "mu_hat": 0.03713900025682569,
+      "err_pct": -93.24745449875897,
+      "collided": false,
+      "impulse": 0.9,
+      "direction": null
+    },
+    {
+      "run": "v2_cfx_0.05",
+      "body": "case_01",
+      "mu_true": 0.55,
+      "n_frames": 12,
+      "mu_hat": 0.1310514584863975,
+      "err_pct": -76.17246209338228,
+      "collided": false,
+      "impulse": 0.05,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_cfx_0.15",
+      "body": "case_01",
+      "mu_true": 0.55,
+      "n_frames": 18,
+      "mu_hat": 0.2740817434591717,
+      "err_pct": -50.16695573469606,
+      "collided": false,
+      "impulse": 0.15,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_cfx_mouse_0.07",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 7,
+      "mu_hat": 0.2750664144199218,
+      "err_pct": -49.98792465092332,
+      "collided": false,
+      "impulse": 0.07,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_cfx_mouse_0.13",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 14,
+      "mu_hat": 0.2767349572526683,
+      "err_pct": -49.68455322678759,
+      "collided": false,
+      "impulse": 0.13,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_cfx_mouse_0.16",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 18,
+      "mu_hat": 0.2785732639119901,
+      "err_pct": -49.35031565236544,
+      "collided": false,
+      "impulse": 0.16,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_cfx_mouse_0.20",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 60,
+      "mu_hat": 0.07930554339893667,
+      "err_pct": -85.58081029110241,
+      "collided": false,
+      "impulse": 0.2,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_cfx_mug_0.12",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 2,
+      "mu_hat": NaN,
+      "err_pct": NaN,
+      "collided": false,
+      "impulse": 0.12,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_cfx_mug_0.20",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 4,
+      "mu_hat": 0.2933194665584454,
+      "err_pct": -46.66918789846448,
+      "collided": false,
+      "impulse": 0.2,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_sweep_0.06",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 6,
+      "mu_hat": 0.27893421409397084,
+      "err_pct": -49.28468834655076,
+      "collided": false,
+      "impulse": 0.06,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_sweep_0.09",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 5,
+      "mu_hat": 0.5377615954285265,
+      "err_pct": -2.225164467540639,
+      "collided": false,
+      "impulse": 0.09,
+      "direction": "+x"
+    },
+    {
+      "run": "v2_sweep_0.12",
+      "body": "computer_mouse_01",
+      "mu_true": 0.55,
+      "n_frames": 3,
+      "mu_hat": 1.5967649883821964,
+      "err_pct": 190.32090697858112,
+      "collided": false,
+      "impulse": 0.12,
+      "direction": "+x"
+    }
+  ]
+}

physworld_p1_20261018/analysis/e0_video_estimator.py

@@ -0,0 +1,122 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""E0：视频侧参数估计器在全部已有仿真运行上的误差分布。
+
+对 out/*/meta.json + sim_gt.npz：
+  - 取被推物体的水平速度序列，估计减速度 a，mu_hat = a/g
+  - 与 meta["friction"]（仿真真值）比较
+  - 记录轨迹长度、是否在滑行段发生碰撞（来自 contacts.json）
+输出：analysis/e0_video_estimator.json + e0_rows.csv
+"""
+import glob
+import json
+import os
+
+import numpy as np
+
+ROOT = os.path.expanduser("~/jiayin/physworld_p1_20261018")
+OUT = os.path.join(ROOT, "out")
+ANA = os.path.join(ROOT, "analysis")
+G = 9.81
+FPS = 30.0
+V_STOP = 0.05
+
+
+def load_contacts(path):
+    if not os.path.exists(path):
+        return []
+    try:
+        d = json.load(open(path))
+    except Exception:
+        return []
+    return d if isinstance(d, list) else d.get("contacts", [])
+
+
+def estimate(npz_path, meta):
+    z = np.load(npz_path, allow_pickle=True)
+    if not meta.get("push"):
+        return None
+    body = meta["push"]["body"]
+    key = f"{body}_lin"
+    if key not in z:
+        return None
+    v = z[key]
+    sp = np.linalg.norm(v[:, [0, 2]], axis=1)
+    t = np.arange(len(sp)) / FPS
+    ipk = int(np.argmax(sp))
+    iend = ipk
+    while iend + 1 < len(sp) and sp[iend + 1] > V_STOP:
+        iend += 1
+    seg = np.arange(ipk, iend + 1)
+    if len(seg) < 3:
+        return dict(n=int(len(seg)), mu_hat=float("nan"), ok=False)
+    a = -float(np.polyfit(t[seg], sp[seg], 1)[0])
+    mu_hat = a / G
+    p = z[f"{body}_pos"]
+    d_obs = float(np.linalg.norm(p[-1, [0, 2]] - p[ipk, [0, 2]]))
+    v0 = float(sp[ipk])
+    return dict(n=int(len(seg)), mu_hat=mu_hat, v0=v0, d_obs=d_obs, ok=True)
+
+
+def main():
+    os.makedirs(ANA, exist_ok=True)
+    rows = []
+    for meta_path in sorted(glob.glob(os.path.join(OUT, "*", "meta.json"))):
+        run = os.path.basename(os.path.dirname(meta_path))
+        meta = json.load(open(meta_path))
+        npz = os.path.join(os.path.dirname(meta_path), "sim_gt.npz")
+        if not os.path.exists(npz) or not meta.get("push"):
+            continue
+        est = estimate(npz, meta)
+        if est is None:
+            continue
+        body = meta["push"]["body"]
+        mu_true = float(meta.get("friction", float("nan")))
+        contacts = load_contacts(os.path.join(os.path.dirname(meta_path), "contacts.json"))
+        t_push = 0.0
+        collided = False
+        for c in contacts:
+            try:
+                if body in c.get("pair", []) and float(c.get("t", 0)) > 0.08:
+                    other = [x for x in c["pair"] if x != body]
+                    if other and other[0] != "table":
+                        collided = True
+            except Exception:
+                pass
+        row = dict(run=run, body=body, mu_true=mu_true, n_frames=est["n"],
+                   mu_hat=est["mu_hat"],
+                   err_pct=(est["mu_hat"] - mu_true) / mu_true * 100 if est["ok"] else float("nan"),
+                   collided=collided, impulse=meta["push"].get("impulse_Ns"),
+                   direction=meta["push"].get("direction"))
+        rows.append(row)
+
+    ok = [r for r in rows if np.isfinite(r["err_pct"])]
+    summary = {}
+    if ok:
+        err = np.array([r["err_pct"] for r in ok])
+        clean = [r for r in ok if not r["collided"]]
+        dirty = [r for r in ok if r["collided"]]
+        summary = dict(n_total=len(rows), n_ok=len(ok),
+                       n_clean=len(clean), n_collided=len(dirty),
+                       median_abs_err=float(np.median(np.abs(err))),
+                       clean_median_abs_err=float(np.median([abs(r["err_pct"]) for r in clean])) if clean else None,
+                       collided_median_abs_err=float(np.median([abs(r["err_pct"]) for r in dirty])) if dirty else None,
+                       share_within_10pct=float(np.mean(np.abs(err) < 10)),
+                       share_within_25pct=float(np.mean(np.abs(err) < 25)))
+    out = dict(summary=summary, rows=rows)
+    json.dump(out, open(os.path.join(ANA, "e0_video_estimator.json"), "w"),
+              ensure_ascii=False, indent=2)
+    with open(os.path.join(ANA, "e0_rows.csv"), "w") as f:
+        f.write("run,body,mu_true,mu_hat,err_pct,n_frames,collided,impulse,direction\n")
+        for r in rows:
+            f.write(f'{r["run"]},{r["body"]},{r["mu_true"]:.3f},{r["mu_hat"]:.4f},'
+                    f'{r["err_pct"]:.1f},{r["n_frames"]},{int(r["collided"])},'
+                    f'{r["impulse"]},{r["direction"]}\n')
+    print(json.dumps(summary, ensure_ascii=False, indent=2))
+    for r in rows:
+        print(f'{r["run"]:24s} n={r["n_frames"]:2d} coll={int(r["collided"])} '
+              f'mu={r["mu_true"]:.2f} hat={r["mu_hat"]:.3f} err={r["err_pct"]:+7.1f}%')
+
+
+if __name__ == "__main__":
+    main()

physworld_p1_20261018/analysis/e0v2_pair_friction.json

@@ -0,0 +1,246 @@
+{
+  "panel_A_layer_audit": {
+    "good": [
+      {
+        "run": "cfx_mouse_0.07",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.2782,
+        "err_vs_written": -49.4,
+        "err_vs_effective": 1.2
+      },
+      {
+        "run": "cfx_mouse_0.13",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.279,
+        "err_vs_written": -49.3,
+        "err_vs_effective": 1.5
+      },
+      {
+        "run": "v2_cfx_0.05",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.1311,
+        "err_vs_written": -76.2,
+        "err_vs_effective": -52.3
+      },
+      {
+        "run": "v2_cfx_0.15",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.2741,
+        "err_vs_written": -50.2,
+        "err_vs_effective": -0.3
+      },
+      {
+        "run": "v2_cfx_mouse_0.07",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.2751,
+        "err_vs_written": -50.0,
+        "err_vs_effective": 0.0
+      },
+      {
+        "run": "v2_cfx_mouse_0.13",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.2767,
+        "err_vs_written": -49.7,
+        "err_vs_effective": 0.6
+      },
+      {
+        "run": "v2_cfx_mouse_0.16",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.2786,
+        "err_vs_written": -49.3,
+        "err_vs_effective": 1.3
+      },
+      {
+        "run": "v2_cfx_mug_0.20",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.2933,
+        "err_vs_written": -46.7,
+        "err_vs_effective": 6.7
+      },
+      {
+        "run": "v2_sweep_0.06",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.2789,
+        "err_vs_written": -49.3,
+        "err_vs_effective": 1.4
+      },
+      {
+        "run": "v2_sweep_0.09",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.5378,
+        "err_vs_written": -2.2,
+        "err_vs_effective": 95.6
+      },
+      {
+        "run": "v2_sweep_0.12",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 1.5968,
+        "err_vs_written": 190.3,
+        "err_vs_effective": 480.7
+      }
+    ],
+    "failed": [
+      {
+        "run": "cf_0.30",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.0555,
+        "err_vs_written": -89.9,
+        "err_vs_effective": -79.8
+      },
+      {
+        "run": "cf_0.45",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.0155,
+        "err_vs_written": -97.2,
+        "err_vs_effective": -94.4
+      },
+      {
+        "run": "cf_mouse_0.07",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.008,
+        "err_vs_written": -98.5,
+        "err_vs_effective": -97.1
+      },
+      {
+        "run": "cf_mouse_0.13",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.0201,
+        "err_vs_written": -96.3,
+        "err_vs_effective": -92.7
+      },
+      {
+        "run": "push_0.5",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.0221,
+        "err_vs_written": -96.0,
+        "err_vs_effective": -92.0
+      },
+      {
+        "run": "push_0.9",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.0371,
+        "err_vs_written": -93.3,
+        "err_vs_effective": -86.5
+      },
+      {
+        "run": "v2_cfx_mouse_0.20",
+        "mu_written": 0.55,
+        "mu_effective": 0.275,
+        "mu_hat": 0.0793,
+        "err_vs_written": -85.6,
+        "err_vs_effective": -71.2
+      }
+    ],
+    "median_abs_err_vs_written": 49.4,
+    "median_abs_err_vs_effective": 1.4
+  },
+  "panel_B_convention": [
+    {
+      "panel": "B",
+      "label": "product(x) [Bullet/PhysX旧] -> 生效 0.275",
+      "obj_mu": 0.275,
+      "ground_mu": 1.0,
+      "effective_mu": 0.275,
+      "stop_distance_m": 0.0694,
+      "mu_hat": 0.2792,
+      "est_err_pct": 1.5,
+      "slide_frames": 6
+    },
+    {
+      "panel": "B",
+      "label": "average [部分引擎默认] -> 生效 0.525",
+      "obj_mu": 0.525,
+      "ground_mu": 1.0,
+      "effective_mu": 0.525,
+      "stop_distance_m": 0.0209,
+      "mu_hat": 0.5221,
+      "est_err_pct": -0.5,
+      "slide_frames": 2
+    },
+    {
+      "panel": "B",
+      "label": "min [Box2D等] -> 生效 0.500",
+      "obj_mu": 0.5,
+      "ground_mu": 1.0,
+      "effective_mu": 0.5,
+      "stop_distance_m": 0.0234,
+      "mu_hat": 0.4982,
+      "est_err_pct": -0.4,
+      "slide_frames": 2
+    },
+    {
+      "panel": "B",
+      "label": "geometric sqrt(xy) -> 生效 0.524",
+      "obj_mu": 0.5244044240850758,
+      "ground_mu": 1.0,
+      "effective_mu": 0.5244,
+      "stop_distance_m": 0.0209,
+      "mu_hat": 0.5216,
+      "est_err_pct": -0.5,
+      "slide_frames": 2
+    }
+  ],
+  "panel_C_surface": [
+    {
+      "panel": "C",
+      "label": "同一物体0.55, 地面0.3",
+      "obj_mu": 0.55,
+      "ground_mu": 0.3,
+      "effective_mu": 0.165,
+      "stop_distance_m": 0.1409,
+      "mu_hat": 0.1659,
+      "est_err_pct": 0.5,
+      "slide_frames": 11
+    },
+    {
+      "panel": "C",
+      "label": "同一物体0.55, 地面0.5",
+      "obj_mu": 0.55,
+      "ground_mu": 0.5,
+      "effective_mu": 0.275,
+      "stop_distance_m": 0.0694,
+      "mu_hat": 0.2792,
+      "est_err_pct": 1.5,
+      "slide_frames": 6
+    },
+    {
+      "panel": "C",
+      "label": "同一物体0.55, 地面1.0",
+      "obj_mu": 0.55,
+      "ground_mu": 1.0,
+      "effective_mu": 0.55,
+      "stop_distance_m": 0.0187,
+      "mu_hat": 0.5469,
+      "est_err_pct": -0.6,
+      "slide_frames": 2
+    }
+  ],
+  "validation_written_config": {
+    "panel": "V",
+    "label": "obj0.55 x gnd0.5 (原写入配置)",
+    "obj_mu": 0.55,
+    "ground_mu": 0.5,
+    "effective_mu": 0.275,
+    "stop_distance_m": 0.0694,
+    "mu_hat": 0.2792,
+    "est_err_pct": 1.5,
+    "slide_frames": 6
+  }
+}

physworld_p1_20261018/analysis/e0v2_pair_friction.py

@@ -0,0 +1,158 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""E0-v2：摩擦是接触对的属性——引擎合成约定实验。
+
+三个面板：
+  A 分层审计（离线）：把旧 E0 干净段的反演 mu_hat 与「生效层 mu = 写入值 x 地面默认值」
+    重新对比，验证视频估计器估的从来都是接触对 mu，误差本应 ~1%。
+  B 约定敏感性：同一张写好的参数表（物体 0.55、地面 0.5），四种引擎合成约定
+    （相乘/平均/取小/几何平均）各对应一个生效 mu；在 PyBullet（相乘引擎）里把
+    生效 mu 精确实现出来，同一次推击，比较停点与反演 mu_hat。
+  C 跨表面迁移：物体参数固定 0.55，只换地面 mu（0.3/0.5/1.0），生效 mu 与物理随之改变。
+
+输出：analysis/e0v2_pair_friction.json
+"""
+import csv
+import glob
+import json
+import os
+import sys
+
+import numpy as np
+
+ROOT = os.path.expanduser("~/../../mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018")
+ROOT = "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018"
+sys.path.insert(0, os.path.join(ROOT, "scripts"))
+import pybullet as p  # noqa: E402
+import glb_to_sim_v2 as gs  # noqa: E402
+
+GLB = os.path.join(ROOT, "data", "desk_banana_scene_anim.glb")
+ANA = os.path.join(ROOT, "analysis")
+G = 9.81
+FPS = 30.0
+SIM_HZ = 240
+PUSH_BODY = "computer_mouse_01"
+IMPULSE = 0.07
+PUSH_DIR = np.array([1.0, 0.0, 0.0])
+V_STOP = 0.05
+
+
+def one_run(obj_mu, ground_mu, label, panel):
+    """建一次世界（只有被推物体+桌面），设接触系数，推一下，量滑行。"""
+    objs, table_bounds = gs.load_objects(GLB, do_physicalize=True)
+    objs = [o for o in objs if PUSH_BODY in o["name"]]
+    bodies, ground_body = gs.build_world(objs, table_bounds)
+    mouse = bodies[0]
+    p.changeDynamics(ground_body, -1, lateralFriction=ground_mu, restitution=1.0)
+    p.changeDynamics(mouse["body"], -1, lateralFriction=obj_mu, restitution=0.15,
+                     linearDamping=gs.LIN_DAMP, angularDamping=gs.ANG_DAMP)
+    for _ in range(int(1.5 * SIM_HZ)):
+        p.stepSimulation()
+    pos0 = np.array(p.getBasePositionAndOrientation(mouse["body"])[0])
+
+    steps = 6
+    force = IMPULSE / (steps / SIM_HZ)
+    fvec = (PUSH_DIR * force).tolist()
+    hit = pos0.tolist()
+    for _ in range(steps):
+        p.applyExternalForce(mouse["body"], -1, forceObj=fvec,
+                             posObj=hit, flags=p.WORLD_FRAME)
+        p.stepSimulation()
+
+    pos, spd = [], []
+    n_frames = int(3.0 * FPS)
+    for f in range(n_frames):
+        for _ in range(SIM_HZ // int(FPS)):
+            p.stepSimulation()
+        v = np.array(p.getBaseVelocity(mouse["body"])[0])
+        pos.append(list(p.getBasePositionAndOrientation(mouse["body"])[0]))
+        spd.append(float(np.linalg.norm(v[[0, 2]])))
+    pos = np.array(pos)
+    spd = np.array(spd)
+    p.disconnect()
+
+    ipk = int(np.argmax(spd))
+    iend = ipk
+    while iend + 1 < len(spd) and spd[iend + 1] > V_STOP:
+        iend += 1
+    seg = np.arange(ipk, iend + 1)
+    t = np.arange(len(spd)) / FPS
+    mu_hat = float("nan")
+    if len(seg) >= 3:
+        a = -float(np.polyfit(t[seg], spd[seg], 1)[0])
+        mu_hat = a / G
+    stop_d = float(np.linalg.norm(pos[min(iend + 1, len(pos) - 1), [0, 2]] - pos[ipk, [0, 2]]))
+    eff = obj_mu * ground_mu  # PyBullet 乘法合成
+    row = dict(panel=panel, label=label, obj_mu=obj_mu, ground_mu=ground_mu,
+               effective_mu=round(eff, 4), stop_distance_m=round(stop_d, 4),
+               mu_hat=round(mu_hat, 4) if np.isfinite(mu_hat) else None,
+               est_err_pct=round((mu_hat - eff) / eff * 100, 1) if np.isfinite(mu_hat) else None,
+               slide_frames=int(iend - ipk))
+    print(json.dumps(row, ensure_ascii=False))
+    return row
+
+
+def panel_a():
+    """旧 E0 干净段反演值 vs 生效层 mu（旧跑地面默认 0.5，写入 0.55 → 生效 0.275）。"""
+    good, failed = [], []
+    path = os.path.join(ANA, "e0_rows.csv")
+    with open(path) as f:
+        for r in csv.DictReader(f):
+            if r["collided"] != "0" or r["mu_true"] == "nan":
+                continue
+            try:
+                mu_hat = float(r["mu_hat"])
+                mu_written = float(r["mu_true"])
+            except ValueError:
+                continue
+            if not np.isfinite(mu_hat):
+                continue
+            eff = mu_written * 0.5
+            rec = dict(run=r["run"], mu_written=mu_written, mu_effective=eff,
+                       mu_hat=mu_hat,
+                       err_vs_written=round((mu_hat - mu_written) / mu_written * 100, 1),
+                       err_vs_effective=round((mu_hat - eff) / eff * 100, 1))
+            # 成功段：反演值贴着生效值；失败段（翻滚/越窗）：反演值远低于生效值
+            (good if mu_hat > 0.1 else failed).append(rec)
+    med_w = float(np.median([abs(r["err_vs_written"]) for r in good]))
+    med_e = float(np.median([abs(r["err_vs_effective"]) for r in good]))
+    return dict(good=good, failed=failed,
+                median_abs_err_vs_written=round(med_w, 1),
+                median_abs_err_vs_effective=round(med_e, 1))
+
+
+def main():
+    os.makedirs(ANA, exist_ok=True)
+    results = {"panel_A_layer_audit": panel_a(), "panel_B_convention": [], "panel_C_surface": []}
+
+    W_OBJ, W_GND = 0.55, 0.5  # 同一张写好的参数表
+    conv = {
+        "product(x) [Bullet/PhysX旧]": W_OBJ * W_GND,          # 0.275
+        "average [部分引擎默认]": (W_OBJ + W_GND) / 2,          # 0.525
+        "min [Box2D等]": min(W_OBJ, W_GND),                     # 0.5
+        "geometric sqrt(xy)": (W_OBJ * W_GND) ** 0.5,          # 0.5244
+    }
+    # 先跑真实写入配置做验证（等价于 product 行）
+    results["validation_written_config"] = one_run(W_OBJ, W_GND, "obj0.55 x gnd0.5 (原写入配置)", "V")
+    for name, eff in conv.items():
+        results["panel_B_convention"].append(
+            one_run(eff, 1.0, f"{name} -> 生效 {eff:.3f}", "B"))
+
+    for g in (0.3, 0.5, 1.0):
+        results["panel_C_surface"].append(
+            one_run(0.55, g, f"同一物体0.55, 地面{g}", "C"))
+
+    out = os.path.join(ANA, "e0v2_pair_friction.json")
+    json.dump(results, open(out, "w"), ensure_ascii=False, indent=2)
+    print("\nsaved:", out)
+    print("\n== 摘要 ==")
+    a = results["panel_A_layer_audit"]
+    print(f"A: 干净段反演误差  vs写入值 {a['median_abs_err_vs_written']}%  vs生效值 {a['median_abs_err_vs_effective']}%")
+    ds = [r["stop_distance_m"] for r in results["panel_B_convention"]]
+    print(f"B: 四种约定停点 {[round(d,3) for d in ds]}  最大/最小 = {max(ds)/max(min(ds),1e-6):.2f}x")
+    ds = [r["stop_distance_m"] for r in results["panel_C_surface"]]
+    print(f"C: 换地面停点 {[round(d,3) for d in ds]}  最大/最小 = {max(ds)/max(min(ds),1e-6):.2f}x")
+
+
+if __name__ == "__main__":
+    main()

physworld_p1_20261018/analysis/e1_curve.csv

@@ -0,0 +1,121 @@
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physworld_p1_20261018/analysis/e1_probe.json

@@ -0,0 +1,1945 @@
+{
+  "summary": {
+    "n_trials": 120,
+    "k_max": 5,
+    "m": {
+      "median_abs_err": 3.1417762474151365,
+      "p90_abs_err": 7.098271596393951,
+      "share_within_10": 0.9583333333333334
+    },
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+      "p90_abs_err": 1.4754346348823975,
+      "share_within_10": 1.0
+    },
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+      "share_within_10": 0.008333333333333333
+    }
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+      "m_true": 0.15,
+      "mu_true": 0.25,
+      "k": 2,
+      "m_err": 2.16037537252591,
+      "mu_err": 0.2580693517145072
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.25,
+      "k": 3,
+      "m_err": 2.2950187769511894,
+      "mu_err": 0.2580693517145072
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.25,
+      "k": 4,
+      "m_err": 2.0955868299790867,
+      "mu_err": 0.2580693517145072
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.25,
+      "k": 5,
+      "m_err": 2.184997766191928,
+      "mu_err": 0.2580693517145072
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.25,
+      "k": 1,
+      "m_err": 1.9182297636640515,
+      "mu_err": 0.2580693517145072
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.25,
+      "k": 2,
+      "m_err": 4.16212946487221,
+      "mu_err": 0.2580693517145072
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.25,
+      "k": 3,
+      "m_err": 3.1953929644601975,
+      "mu_err": 0.2580693517145072
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.25,
+      "k": 4,
+      "m_err": 1.2716154478732238,
+      "mu_err": 0.2580693517145072
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.25,
+      "k": 5,
+      "m_err": 0.6439932778275481,
+      "mu_err": 0.2580693517145072
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 1,
+      "m_err": 3.6956560755964283,
+      "mu_err": 1.4754346348823975
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 2,
+      "m_err": 2.4662062456854428,
+      "mu_err": 1.4754346348823975
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 3,
+      "m_err": 2.398243657556809,
+      "mu_err": 1.4754346348823975
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 4,
+      "m_err": 0.8816903803146037,
+      "mu_err": 1.4754346348823975
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 5,
+      "m_err": 0.3637942234026581,
+      "mu_err": 1.475434634882385
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 1,
+      "m_err": 9.031685674516973,
+      "mu_err": 1.4754346348823975
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 2,
+      "m_err": 2.7694748642561793,
+      "mu_err": 1.4754346348823975
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 3,
+      "m_err": 1.0023825022325388,
+      "mu_err": 1.4754346348823975
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 4,
+      "m_err": 1.0173688989672895,
+      "mu_err": 1.4754346348823975
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.45,
+      "k": 5,
+      "m_err": 0.6651657087367036,
+      "mu_err": 1.475434634882385
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 1,
+      "m_err": 0.3498974765056747,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 2,
+      "m_err": 1.1566689346816743,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 3,
+      "m_err": 2.53472929531251,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 4,
+      "m_err": 0.3282807993148137,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 5,
+      "m_err": 1.6352694580170821,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 1,
+      "m_err": 4.56621988947542,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 2,
+      "m_err": 1.9817954689445214,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 3,
+      "m_err": 1.4395806918606018,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 4,
+      "m_err": 2.65808135124318,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.15,
+      "mu_true": 0.65,
+      "k": 5,
+      "m_err": 1.285639447053825,
+      "mu_err": 2.3624677614221863
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 1,
+      "m_err": 2.073981156553728,
+      "mu_err": 0.0001835448250164795
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 2,
+      "m_err": 0.5706112482305015,
+      "mu_err": 0.0001835448250164795
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 3,
+      "m_err": 2.323339938758706,
+      "mu_err": 0.0001835448250164795
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 4,
+      "m_err": 2.7339370869952306,
+      "mu_err": 0.0001835448250164795
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 5,
+      "m_err": 4.5220063145572365,
+      "mu_err": 0.00018354482500537728
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 1,
+      "m_err": 7.09326575814967,
+      "mu_err": 0.0001835448250164795
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 2,
+      "m_err": 1.5856718025055727,
+      "mu_err": 0.0001835448250164795
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 3,
+      "m_err": 2.3889702758486786,
+      "mu_err": 0.0001835448250164795
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 4,
+      "m_err": 3.967113869143035,
+      "mu_err": 0.0001835448250164795
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.25,
+      "k": 5,
+      "m_err": 2.4654517845294377,
+      "mu_err": 0.00018354482500537728
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 1,
+      "m_err": 4.689830285343799,
+      "mu_err": 0.006627060607302917
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 2,
+      "m_err": 1.2267469276243448,
+      "mu_err": 0.006627060607302917
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 3,
+      "m_err": 0.5528087767478818,
+      "mu_err": 0.006627060607315253
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 4,
+      "m_err": 0.5071813313791917,
+      "mu_err": 0.006627060607302917
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 5,
+      "m_err": 0.4690548849237919,
+      "mu_err": 0.006627060607302917
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 1,
+      "m_err": 0.436122850322751,
+      "mu_err": 0.006627060607302917
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 2,
+      "m_err": 0.6738957558090286,
+      "mu_err": 0.006627060607302917
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 3,
+      "m_err": 1.5039342466132588,
+      "mu_err": 0.006627060607315253
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 4,
+      "m_err": 0.8658602861899456,
+      "mu_err": 0.006627060607302917
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.45,
+      "k": 5,
+      "m_err": 0.20661719172355708,
+      "mu_err": 0.006627060607302917
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 1,
+      "m_err": 5.615780605677756,
+      "mu_err": 0.0005914213452990352
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 2,
+      "m_err": 4.451165975160354,
+      "mu_err": 0.0005914213452990352
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 3,
+      "m_err": 2.3852090089866884,
+      "mu_err": 0.0005914213452990352
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 4,
+      "m_err": 1.748891564217292,
+      "mu_err": 0.0005914213452990352
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 5,
+      "m_err": 3.86512401144099,
+      "mu_err": 0.0005914213452990352
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 1,
+      "m_err": 4.107276486057487,
+      "mu_err": 0.0005914213452990352
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 2,
+      "m_err": 4.52125518370825,
+      "mu_err": 0.0005914213452990352
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 3,
+      "m_err": 5.7309743884001225,
+      "mu_err": 0.0005914213452990352
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 4,
+      "m_err": 3.4876521548100503,
+      "mu_err": 0.0005914213452990352
+    },
+    {
+      "m_true": 0.25,
+      "mu_true": 0.65,
+      "k": 5,
+      "m_err": 0.9271523021384454,
+      "mu_err": 0.0005914213452990352
+    }
+  ]
+}

physworld_p1_20261018/analysis/e1_probe.py

@@ -0,0 +1,170 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""E1：已知冲量探测的参数辨识原型（v2）。
+
+世界：地面 + 单个实例（desk_banana 的鼠标网格）。地面 lateralFriction/restitution = 1.0，
+使 Bullet 的乘性合成规则下「物体参数 = 有效参数」。
+
+探测 1（推）：冲量 J 通过质心沿 +x，2 步施加；由 Δv 与随后的减速度联合解 (m, mu)。
+  冲量期间摩擦冲量 mu*m*g*dt 被显式扣除：m = J / (Δv + mu g dt)
+探测 2（落）：从 0.12 m 自由落体，由碰撞前后竖直速度比估 e。
+重复 K 次 → 平均误差随 K 的曲线。
+输出：analysis/e1_probe.json + e1_rows.csv + e1_curve.csv
+"""
+import json
+import os
+import sys
+
+import numpy as np
+import pybullet as p
+
+sys.path.insert(0, os.path.expanduser("~/jiayin/physworld_p1_20261018/scripts"))
+import glb_to_sim_v2 as g2s  # noqa: E402
+
+G = 9.81
+SIM_HZ = 240.0
+GLB = os.path.expanduser("~/jiayin/physworld_p1_20261018/data/desk_banana_scene_anim.glb")
+ANA = os.path.expanduser("~/jiayin/physworld_p1_20261018/analysis")
+
+SIGMA_V = 0.02      # m/s 跟踪噪声
+SIGMA_J = 0.03      # 冲量标定相对误差
+N_PROBE_STEPS = 2
+BOUNDS = None
+
+
+def make_world(mass, mu, e, bounds):
+    p.connect(p.DIRECT)
+    p.setGravity(0, -G, 0)
+    p.setTimeStep(1.0 / SIM_HZ)
+    p.setPhysicsEngineParameter(numSolverIterations=200, enableConeFriction=True)
+    gh = p.createCollisionShape(p.GEOM_BOX, halfExtents=[1.0, 0.02, 1.0])
+    gb = p.createMultiBody(0, gh, basePosition=[0, -0.02, 0])
+    p.changeDynamics(gb, -1, lateralFriction=1.0, restitution=1.0)
+    half = ((bounds[1] - bounds[0]) / 2).tolist()
+    ch = p.createCollisionShape(p.GEOM_BOX, halfExtents=half)
+    body = p.createMultiBody(mass, ch, basePosition=[0, half[1] + 0.002, 0])
+    p.changeDynamics(body, -1, lateralFriction=mu, restitution=e,
+                     linearDamping=0, angularDamping=0)
+    return body, gb
+
+
+def push_trial(mass, mu, J=0.09, noisy=True):
+    body, gb = make_world(mass, mu, 0.3, BOUNDS)
+    for _ in range(int(0.2 * SIM_HZ)):
+        p.stepSimulation()
+    com = p.getBasePositionAndOrientation(body)[0]
+    v_before = np.array(p.getBaseVelocity(body)[0])
+    dt = N_PROBE_STEPS / SIM_HZ
+    force = J / dt
+    for _ in range(N_PROBE_STEPS):
+        p.applyExternalForce(body, -1, forceObj=[force, 0, 0], posObj=list(com),
+                             flags=p.WORLD_FRAME)
+        p.stepSimulation()
+    v_after = np.array(p.getBaseVelocity(body)[0])
+    dv = float(np.hypot(*(v_after - v_before)[[0, 2]]))
+    J_obs = J * (1 + np.random.normal(0, SIGMA_J)) if noisy else J
+    if noisy:
+        dv += np.random.normal(0, SIGMA_V)
+
+    ts, vs = [], []
+    for k in range(int(0.35 * SIM_HZ)):
+        p.stepSimulation()
+        v = p.getBaseVelocity(body)[0]
+        ts.append((k + 1) / SIM_HZ)
+        vs.append(float(np.hypot(v[0], v[2])))
+    p.disconnect()
+    ts, vs = np.array(ts), np.array(vs)
+    keep = vs > 0.02
+    if keep.sum() < 6:
+        return float("nan"), float("nan")
+    a = -np.polyfit(ts[keep], vs[keep], 1)[0]
+    mu_hat = a / G
+    m_hat = J_obs / max(dv + mu_hat * G * dt, 1e-6)
+    return m_hat, mu_hat
+
+
+def drop_trial(mass, mu, e, bounds, h0=0.12, noisy=True):
+    body, gb = make_world(mass, mu, e, bounds)
+    hy = (bounds[1] - bounds[0])[1] / 2
+    p.resetBasePositionAndOrientation(body, [0, hy + h0, 0], [0, 0, 0, 1])
+    p.resetBaseVelocity(body, [0, 0, 0])
+    vys = []
+    for _ in range(int(0.6 * SIM_HZ)):
+        p.stepSimulation()
+        vys.append(p.getBaseVelocity(body)[0][1])
+    p.disconnect()
+    vys = np.array(vys)
+    # 找第一次速度由负转正（反弹瞬间）
+    idx = np.where((vys[:-1] < -0.05) & (vys[1:] > 0.0))[0]
+    if len(idx) == 0:
+        return float("nan")
+    i = idx[0]
+    v_in = abs(float(vys[i]))
+    v_out = abs(float(vys[i + 1]))
+    if noisy:
+        v_in += np.random.normal(0, SIGMA_V)
+        v_out += np.random.normal(0, SIGMA_V)
+    return float(v_out / max(v_in, 1e-6))
+
+
+def main():
+    global BOUNDS
+    os.makedirs(ANA, exist_ok=True)
+    np.random.seed(0)
+    objs, tb = g2s.load_objects(GLB, do_physicalize=False)
+    mouse = next(o for o in objs if "mouse" in o["name"])
+    BOUNDS = np.array([mouse["mesh"].bounds[0], mouse["mesh"].bounds[1]])
+    print("实例:", mouse["name"], "dims=", np.round(BOUNDS[1] - BOUNDS[0], 4))
+
+    masses = [0.06, 0.09, 0.15, 0.25]
+    mus = [0.25, 0.45, 0.65]
+    es = [0.20, 0.50]
+    K_MAX = 5
+    rows, curve = [], []
+    for m_true in masses:
+        for mu_true in mus:
+            for e_true in es:
+                ms, mus_ = [], []
+                for k in range(K_MAX):
+                    m_hat, mu_hat = push_trial(m_true, mu_true)
+                    e_hat = drop_trial(m_true, mu_true, e_true, BOUNDS)
+                    ms.append(m_hat); mus_.append(mu_hat)
+                    rows.append(dict(m_true=m_true, mu_true=mu_true, e_true=e_true,
+                                     k=k + 1, m_hat=m_hat, mu_hat=mu_hat, e_hat=e_hat))
+                for k in range(1, K_MAX + 1):
+                    ms_k = np.array(ms[:k], dtype=float)
+                    mus_k = np.array(mus_[:k], dtype=float)
+                    curve.append(dict(m_true=m_true, mu_true=mu_true, k=k,
+                                      m_err=float(np.abs(np.nanmean(ms_k) - m_true) / m_true * 100),
+                                      mu_err=float(np.abs(np.nanmean(mus_k) - mu_true) / mu_true * 100)))
+                print(f"m={m_true:.2f} mu={mu_true:.2f} e={e_true:.2f} | "
+                      f"m={np.nanmean(ms):.3f}±{np.nanstd(ms):.3f} "
+                      f"mu={np.nanmean(mus_):.3f}±{np.nanstd(mus_):.3f} e={e_hat:.3f}")
+
+    def summ(key_true, key_hat):
+        err = np.array([abs(r[key_hat] - r[key_true]) / r[key_true] * 100 for r in rows])
+        err = err[np.isfinite(err)]
+        return dict(median_abs_err=float(np.median(err)),
+                    p90_abs_err=float(np.percentile(err, 90)),
+                    share_within_10=float(np.mean(err < 10)))
+
+    summary = dict(n_trials=len(rows), k_max=K_MAX,
+                   m=summ("m_true", "m_hat"),
+                   mu=summ("mu_true", "mu_hat"),
+                   e=summ("e_true", "e_hat"))
+    json.dump(dict(summary=summary, rows=rows, curve=curve),
+              open(os.path.join(ANA, "e1_probe.json"), "w"), ensure_ascii=False, indent=2)
+    with open(os.path.join(ANA, "e1_rows.csv"), "w") as f:
+        f.write("m_true,mu_true,e_true,k,m_hat,mu_hat,e_hat\n")
+        for r in rows:
+            f.write(f'{r["m_true"]},{r["mu_true"]},{r["e_true"]},{r["k"]},'
+                    f'{r["m_hat"]:.4f},{r["mu_hat"]:.4f},{r["e_hat"]:.4f}\n')
+    with open(os.path.join(ANA, "e1_curve.csv"), "w") as f:
+        f.write("m_true,mu_true,k,m_err,mu_err\n")
+        for r in curve:
+            f.write(f'{r["m_true"]},{r["mu_true"]},{r["k"]},{r["m_err"]:.2f},{r["mu_err"]:.2f}\n')
+    print(json.dumps(summary, ensure_ascii=False, indent=2))
+
+
+if __name__ == "__main__":
+    main()

physworld_p1_20261018/analysis/e1_rows.csv

@@ -0,0 +1,121 @@
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+0.09,0.65,0.5,5,0.0962,0.6591,0.5951
+0.15,0.25,0.2,1,0.1491,0.2506,0.2784
+0.15,0.25,0.2,2,0.1574,0.2506,0.2914
+0.15,0.25,0.2,3,0.1538,0.2506,0.2725
+0.15,0.25,0.2,4,0.1522,0.2506,0.2882
+0.15,0.25,0.2,5,0.1538,0.2506,0.2957
+0.15,0.25,0.5,1,0.1471,0.2506,0.5936
+0.15,0.25,0.5,2,0.1404,0.2506,0.5869
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+0.15,0.25,0.5,5,0.1528,0.2506,0.6328
+0.15,0.45,0.2,1,0.1445,0.4566,0.3043
+0.15,0.45,0.2,2,0.1481,0.4566,0.3014
+0.15,0.45,0.2,3,0.1466,0.4566,0.2778
+0.15,0.45,0.2,4,0.1661,0.4566,0.2969
+0.15,0.45,0.2,5,0.1474,0.4566,0.2880
+0.15,0.45,0.5,1,0.1365,0.4566,0.5818
+0.15,0.45,0.5,2,0.1552,0.4566,0.5823
+0.15,0.45,0.5,3,0.1538,0.4566,0.6046
+0.15,0.45,0.5,4,0.1484,0.4566,0.5938
+0.15,0.45,0.5,5,0.1511,0.4566,0.5888
+0.15,0.65,0.2,1,0.1505,0.6654,0.2694
+0.15,0.65,0.2,2,0.1460,0.6654,0.3115
+0.15,0.65,0.2,3,0.1421,0.6654,0.2639
+0.15,0.65,0.2,4,0.1594,0.6654,0.2999
+0.15,0.65,0.2,5,0.1397,0.6654,0.3058
+0.15,0.65,0.5,1,0.1568,0.6654,0.5792
+0.15,0.65,0.5,2,0.1491,0.6654,0.5945
+0.15,0.65,0.5,3,0.1505,0.6654,0.5768
+0.15,0.65,0.5,4,0.1595,0.6654,0.5879
+0.15,0.65,0.5,5,0.1437,0.6654,0.6014
+0.25,0.25,0.2,1,0.2552,0.2500,0.2828
+0.25,0.25,0.2,2,0.2477,0.2500,0.2774
+0.25,0.25,0.2,3,0.2646,0.2500,0.2680
+0.25,0.25,0.2,4,0.2599,0.2500,0.2880
+0.25,0.25,0.2,5,0.2792,0.2500,0.2939
+0.25,0.25,0.5,1,0.2323,0.2500,0.5938
+0.25,0.25,0.5,2,0.2757,0.2500,0.5781
+0.25,0.25,0.5,3,0.2600,0.2500,0.5826
+0.25,0.25,0.5,4,0.2718,0.2500,0.5821
+0.25,0.25,0.5,5,0.2411,0.2500,0.5895
+0.25,0.45,0.2,1,0.2617,0.4500,0.2836
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+0.25,0.45,0.5,5,0.2561,0.4500,0.5847
+0.25,0.65,0.2,1,0.2640,0.6500,0.2846
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+0.25,0.65,0.2,5,0.2808,0.6500,0.2804
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+0.25,0.65,0.5,2,0.2171,0.6500,0.5867
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+0.25,0.65,0.5,5,0.2733,0.6500,0.5875

physworld_p1_20261018/build_cases_v3.log

@@ -0,0 +1,859 @@
+pybullet build time: Jan 29 2025 23:17:20
+[09:41:55] 发现 6 个场景 GLB
+[09:41:55]   [skip] domino_10: 退化网格（1 顶点）
+[09:41:55]   [skip] domino_09: 退化网格（1 顶点）
+[09:41:55]   [skip] domino_08: 退化网格（1 顶点）
+[09:41:55]   [skip] chair_02: 退化网格（1 顶点）
+[09:41:55]   [skip] chair_01: 退化网格（1 顶点）
+[09:41:55] [arrange_topple_dominoes__1] pusher=domino_04 target=domino_01 gap=0.60m m=0.02kg 冲量=(0.0497, 0.0613, 0.0788)
+[09:41:55] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:41:55]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:41:55]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:41:55]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:41:55]   [skip] domino_10: 退化网格（1 顶点）
+[09:41:55]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:41:55]   [skip] domino_09: 退化网格（1 顶点）
+[09:41:55]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:41:55]   [skip] domino_08: 退化网格（1 顶点）
+[09:41:55]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:41:55]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:41:56]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:41:56]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:41:56]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:41:56]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:41:56]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:41:56]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:41:56]   [skip] chair_02: 退化网格（1 顶点）
+[09:41:56]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:41:56]   [skip] chair_01: 退化网格（1 顶点）
+[09:41:56]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:41:56]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:41:56]   sweater_01             mass=45.568kg (density) vol=151894.3cm3 watertight=True bottom_y=+0.0cm
+[09:41:56]   domino_07              mass=0.007kg (density) vol=   22.1cm3 watertight=True bottom_y=+0.0cm
+[09:41:56]   domino_06              mass=0.005kg (density) vol=   16.5cm3 watertight=True bottom_y=+0.0cm
+[09:41:56]   domino_05              mass=0.004kg (density) vol=   14.3cm3 watertight=True bottom_y=+0.0cm
+[09:41:56]   domino_03              mass=0.005kg (density) vol=   16.0cm3 watertight=True bottom_y=+0.0cm
+[09:41:56]   domino_02              mass=0.007kg (density) vol=   22.5cm3 watertight=True bottom_y=+0.0cm
+[09:41:56]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:41:56]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:41:56] 沉降完成，下落量: table_01=-1.2cm, sweater_01=-8.7cm, domino_07=+0.4cm, domino_06=+0.9cm, domino_05=+0.3cm, domino_03=+0.5cm, domino_02=+0.4cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:41:56] 推 domino_04: 2.0N x 0.0250s = 0.05N·s
+[09:42:02] 视频：out/b0_cases_v3/arrange_topple_dominoes__1__near_miss/sim_tiny.mp4
+[09:42:02] 完成：60 帧 @30fps，接触事件 18 条
+[09:42:02] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:42:02]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:42:02]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:42:02]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:42:02]   [skip] domino_10: 退化网格（1 顶点）
+[09:42:02]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:42:02]   [skip] domino_09: 退化网格（1 顶点）
+[09:42:02]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:42:02]   [skip] domino_08: 退化网格（1 顶点）
+[09:42:02]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:42:02]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:42:02]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:42:02]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:42:02]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:42:02]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:42:02]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:42:02]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:42:02]   [skip] chair_02: 退化网格（1 顶点）
+[09:42:02]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:42:02]   [skip] chair_01: 退化网格（1 顶点）
+[09:42:02]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:42:02]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:42:02]   sweater_01             mass=45.568kg (density) vol=151894.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:02]   domino_07              mass=0.007kg (density) vol=   22.1cm3 watertight=True bottom_y=+0.0cm
+[09:42:02]   domino_06              mass=0.005kg (density) vol=   16.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:02]   domino_05              mass=0.004kg (density) vol=   14.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:02]   domino_03              mass=0.005kg (density) vol=   16.0cm3 watertight=True bottom_y=+0.0cm
+[09:42:02]   domino_02              mass=0.007kg (density) vol=   22.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:02]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:02]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:42:03] 沉降完成，下落量: table_01=-1.2cm, sweater_01=-8.7cm, domino_07=+0.4cm, domino_06=+0.9cm, domino_05=+0.3cm, domino_03=+0.5cm, domino_02=+0.4cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:42:03] 推 domino_04: 2.5N x 0.0250s = 0.06N·s
+[09:42:08] 视频：out/b0_cases_v3/arrange_topple_dominoes__1__light_contact/sim_tiny.mp4
+[09:42:08] 完成：60 帧 @30fps，接触事件 19 条
+[09:42:08] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:42:08]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:42:08]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:42:08]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:42:08]   [skip] domino_10: 退化网格（1 顶点）
+[09:42:08]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:42:08]   [skip] domino_09: 退化网格（1 顶点）
+[09:42:08]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:42:08]   [skip] domino_08: 退化网格（1 顶点）
+[09:42:08]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:42:09]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:42:09]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:42:09]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:42:09]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:42:09]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:42:09]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:42:09]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:42:09]   [skip] chair_02: 退化网格（1 顶点）
+[09:42:09]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:42:09]   [skip] chair_01: 退化网格（1 顶点）
+[09:42:09]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:42:09]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:42:09]   sweater_01             mass=45.568kg (density) vol=151894.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:09]   domino_07              mass=0.007kg (density) vol=   22.1cm3 watertight=True bottom_y=+0.0cm
+[09:42:09]   domino_06              mass=0.005kg (density) vol=   16.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:09]   domino_05              mass=0.004kg (density) vol=   14.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:09]   domino_03              mass=0.005kg (density) vol=   16.0cm3 watertight=True bottom_y=+0.0cm
+[09:42:09]   domino_02              mass=0.007kg (density) vol=   22.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:09]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:09]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:42:09] 沉降完成，下落量: table_01=-1.2cm, sweater_01=-8.7cm, domino_07=+0.4cm, domino_06=+0.9cm, domino_05=+0.3cm, domino_03=+0.5cm, domino_02=+0.4cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:42:09] 推 domino_04: 3.2N x 0.0250s = 0.08N·s
+[09:42:15] 视频：out/b0_cases_v3/arrange_topple_dominoes__1__hard_contact/sim_tiny.mp4
+[09:42:15] 完成：60 帧 @30fps，接触事件 19 条
+[09:42:15] [arrange_topple_dominoes__1] 三分支完成
+[09:42:15]   [skip] domino_11: 退化网格（1 顶点）
+[09:42:15]   [skip] domino_10: 退化网格（1 顶点）
+[09:42:15]   [skip] domino_09: 退化网格（1 顶点）
+[09:42:15] [arrange_topple_dominoes__2] pusher=domino_05 target=bracelet_01 gap=0.37m m=0.00kg 冲量=(0.006, 0.0074, 0.0095)
+[09:42:15] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:42:15]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:42:15]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:42:15]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:42:16]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:42:16]   [skip] domino_11: 退化网格（1 顶点）
+[09:42:16]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:42:16]   [skip] domino_10: 退化网格（1 顶点）
+[09:42:16]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:42:16]   [skip] domino_09: 退化网格（1 顶点）
+[09:42:16]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:42:16]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:42:16]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:42:16]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:42:16]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:42:16]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:42:16]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:42:16]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:42:16]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:42:16]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:42:16]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:16]   hand_02                mass=1.244kg (density) vol= 4145.1cm3 watertight=True bottom_y=+0.0cm
+[09:42:16]   hand_01                mass=0.097kg (density) vol=  321.9cm3 watertight=True bottom_y=+0.0cm
+[09:42:16]   domino_08              mass=0.000kg (density) vol=    0.6cm3 watertight=True bottom_y=+0.0cm
+[09:42:16]   domino_07              mass=0.041kg (density) vol=  137.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:16]   domino_06              mass=0.003kg (density) vol=    9.4cm3 watertight=True bottom_y=+0.0cm
+[09:42:16]   domino_04              mass=0.007kg (density) vol=   23.9cm3 watertight=True bottom_y=+0.0cm
+[09:42:16]   domino_03              mass=0.003kg (density) vol=   11.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:16]   domino_02              mass=0.002kg (density) vol=    7.9cm3 watertight=True bottom_y=+0.0cm
+[09:42:16]   domino_01              mass=0.018kg (density) vol=   61.5cm3 watertight=False bottom_y=+0.0cm
+[09:42:16]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:42:16]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:42:16] 沉降完成，下落量: table_01=-7.3cm, hand_02=-0.8cm, hand_01=-0.3cm, domino_08=-0.0cm, domino_07=-0.1cm, domino_06=-1.7cm, domino_04=+0.0cm, domino_03=-0.0cm, domino_02=+0.0cm, domino_01=-0.7cm, domino_05=-0.0cm, bracelet_01=+2.8cm
+[09:42:16] 推 domino_05: 0.2N x 0.0250s = 0.01N·s
+[09:42:22] 视频：out/b0_cases_v3/arrange_topple_dominoes__2__near_miss/sim_tiny.mp4
+[09:42:22] 完成：60 帧 @30fps，接触事件 16 条
+[09:42:22] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:42:23]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:42:23]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:42:23]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:42:23]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:42:23]   [skip] domino_11: 退化网格（1 顶点）
+[09:42:23]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:42:23]   [skip] domino_10: 退化网格（1 顶点）
+[09:42:23]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:42:23]   [skip] domino_09: 退化网格（1 顶点）
+[09:42:23]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:42:23]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:42:23]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:42:23]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:42:23]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:42:23]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:42:23]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:42:23]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:42:23]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:42:23]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:42:23]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:23]   hand_02                mass=1.244kg (density) vol= 4145.1cm3 watertight=True bottom_y=+0.0cm
+[09:42:23]   hand_01                mass=0.097kg (density) vol=  321.9cm3 watertight=True bottom_y=+0.0cm
+[09:42:23]   domino_08              mass=0.000kg (density) vol=    0.6cm3 watertight=True bottom_y=+0.0cm
+[09:42:23]   domino_07              mass=0.041kg (density) vol=  137.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:23]   domino_06              mass=0.003kg (density) vol=    9.4cm3 watertight=True bottom_y=+0.0cm
+[09:42:23]   domino_04              mass=0.007kg (density) vol=   23.9cm3 watertight=True bottom_y=+0.0cm
+[09:42:23]   domino_03              mass=0.003kg (density) vol=   11.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:23]   domino_02              mass=0.002kg (density) vol=    7.9cm3 watertight=True bottom_y=+0.0cm
+[09:42:23]   domino_01              mass=0.018kg (density) vol=   61.5cm3 watertight=False bottom_y=+0.0cm
+[09:42:23]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:42:23]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:42:23] 沉降完成，下落量: table_01=-7.3cm, hand_02=-0.8cm, hand_01=-0.3cm, domino_08=-0.0cm, domino_07=-0.1cm, domino_06=-1.7cm, domino_04=+0.0cm, domino_03=-0.0cm, domino_02=+0.0cm, domino_01=-0.7cm, domino_05=-0.0cm, bracelet_01=+2.8cm
+[09:42:23] 推 domino_05: 0.3N x 0.0250s = 0.01N·s
+[09:42:30] 视频：out/b0_cases_v3/arrange_topple_dominoes__2__light_contact/sim_tiny.mp4
+[09:42:30] 完成：60 帧 @30fps，接触事件 17 条
+[09:42:30] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:42:30]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:42:30]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:42:30]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:42:30]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:42:30]   [skip] domino_11: 退化网格（1 顶点）
+[09:42:30]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:42:30]   [skip] domino_10: 退化网格（1 顶点）
+[09:42:30]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:42:30]   [skip] domino_09: 退化网格（1 顶点）
+[09:42:30]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:42:30]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:42:30]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:42:30]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:42:30]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:42:30]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:42:30]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:42:30]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:42:30]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:42:30]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:42:30]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:30]   hand_02                mass=1.244kg (density) vol= 4145.1cm3 watertight=True bottom_y=+0.0cm
+[09:42:30]   hand_01                mass=0.097kg (density) vol=  321.9cm3 watertight=True bottom_y=+0.0cm
+[09:42:30]   domino_08              mass=0.000kg (density) vol=    0.6cm3 watertight=True bottom_y=+0.0cm
+[09:42:30]   domino_07              mass=0.041kg (density) vol=  137.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:30]   domino_06              mass=0.003kg (density) vol=    9.4cm3 watertight=True bottom_y=+0.0cm
+[09:42:30]   domino_04              mass=0.007kg (density) vol=   23.9cm3 watertight=True bottom_y=+0.0cm
+[09:42:30]   domino_03              mass=0.003kg (density) vol=   11.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:30]   domino_02              mass=0.002kg (density) vol=    7.9cm3 watertight=True bottom_y=+0.0cm
+[09:42:30]   domino_01              mass=0.018kg (density) vol=   61.5cm3 watertight=False bottom_y=+0.0cm
+[09:42:30]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:42:30]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:42:31] 沉降完成，下落量: table_01=-7.3cm, hand_02=-0.8cm, hand_01=-0.3cm, domino_08=-0.0cm, domino_07=-0.1cm, domino_06=-1.7cm, domino_04=+0.0cm, domino_03=-0.0cm, domino_02=+0.0cm, domino_01=-0.7cm, domino_05=-0.0cm, bracelet_01=+2.8cm
+[09:42:31] 推 domino_05: 0.4N x 0.0250s = 0.01N·s
+[09:42:37] 视频：out/b0_cases_v3/arrange_topple_dominoes__2__hard_contact/sim_tiny.mp4
+[09:42:37] 完成：60 帧 @30fps，接触事件 17 条
+[09:42:37] [arrange_topple_dominoes__2] 三分支完成
+[09:42:37]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:42:37]   [skip] jenga_01: 退化网格（1 顶点）
+[09:42:38] [stack_remove_jenga__2] pusher=block_02 target=block_01 gap=0.25m m=0.02kg 冲量=(0.0229, 0.0281, 0.0359)
+[09:42:38] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:42:38]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:42:38]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:42:38]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:42:38]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:42:38]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:42:38]   [skip] jenga_01: 退化网格（1 顶点）
+[09:42:38]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:42:38]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:42:38]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:42:38]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:42:38]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:42:39]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:42:39]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:42:39]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:42:39]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:42:39]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:42:39]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:42:39]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:42:39]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:42:39]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:42:39]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:42:39]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:42:39]   sweater_sleeve_01      mass=24.563kg (density) vol=81877.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   sleeve_01              mass=0.446kg (density) vol= 1488.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   hand_02                mass=0.192kg (density) vol=  638.7cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   hand_01                mass=0.321kg (density) vol= 1070.4cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   block_stack_01         mass=0.138kg (density) vol=  460.8cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   block_12               mass=0.191kg (density) vol=  638.1cm3 watertight=False bottom_y=+0.0cm
+[09:42:39]   block_11               mass=0.016kg (density) vol=   51.8cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   block_10               mass=0.007kg (density) vol=   23.8cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   block_09               mass=0.000kg (density) vol=    0.0cm3 watertight=False bottom_y=+0.0cm
+[09:42:39]   block_08               mass=0.015kg (density) vol=   49.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   block_07               mass=0.003kg (density) vol=    8.7cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   block_06               mass=0.002kg (density) vol=    6.4cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   block_05               mass=0.002kg (density) vol=    6.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   block_04               mass=0.006kg (density) vol=   18.3cm3 watertight=False bottom_y=+0.0cm
+[09:42:39]   block_03               mass=0.002kg (density) vol=    5.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:39]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:42:39]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:42:39] 沉降完成，下落量: sweater_sleeve_01=-18.8cm, sleeve_01=-3.1cm, hand_02=-3.1cm, hand_01=-1.2cm, block_stack_01=+38.3cm, block_12=+8.9cm, block_11=+0.0cm, block_10=+2.7cm, block_09=-0.0cm, block_08=-0.7cm, block_07=-0.4cm, block_06=+0.2cm, block_05=+0.8cm, block_04=-0.8cm, block_03=+0.0cm, block_02=-0.5cm, block_01=-0.0cm
+[09:42:39] 推 block_02: 0.9N x 0.0250s = 0.02N·s
+[09:42:48] 视频：out/b0_cases_v3/stack_remove_jenga__2__near_miss/sim_tiny.mp4
+[09:42:48] 完成：60 帧 @30fps，接触事件 30 条
+[09:42:48] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:42:48]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:42:48]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:42:48]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:42:48]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:42:48]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:42:48]   [skip] jenga_01: 退化网格（1 顶点）
+[09:42:48]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:42:48]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:42:48]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:42:48]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:42:48]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:42:48]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:42:48]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:42:48]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:42:48]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:42:49]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:42:49]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:42:49]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:42:49]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:42:49]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:42:49]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:42:49]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:42:49]   sweater_sleeve_01      mass=24.563kg (density) vol=81877.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   sleeve_01              mass=0.446kg (density) vol= 1488.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   hand_02                mass=0.192kg (density) vol=  638.7cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   hand_01                mass=0.321kg (density) vol= 1070.4cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   block_stack_01         mass=0.138kg (density) vol=  460.8cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   block_12               mass=0.191kg (density) vol=  638.1cm3 watertight=False bottom_y=+0.0cm
+[09:42:49]   block_11               mass=0.016kg (density) vol=   51.8cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   block_10               mass=0.007kg (density) vol=   23.8cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   block_09               mass=0.000kg (density) vol=    0.0cm3 watertight=False bottom_y=+0.0cm
+[09:42:49]   block_08               mass=0.015kg (density) vol=   49.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   block_07               mass=0.003kg (density) vol=    8.7cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   block_06               mass=0.002kg (density) vol=    6.4cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   block_05               mass=0.002kg (density) vol=    6.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   block_04               mass=0.006kg (density) vol=   18.3cm3 watertight=False bottom_y=+0.0cm
+[09:42:49]   block_03               mass=0.002kg (density) vol=    5.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:49]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:42:49]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:42:49] 沉降完成，下落量: sweater_sleeve_01=-18.8cm, sleeve_01=-3.1cm, hand_02=-3.1cm, hand_01=-1.2cm, block_stack_01=+38.3cm, block_12=+8.9cm, block_11=+0.0cm, block_10=+2.7cm, block_09=-0.0cm, block_08=-0.7cm, block_07=-0.4cm, block_06=+0.2cm, block_05=+0.8cm, block_04=-0.8cm, block_03=+0.0cm, block_02=-0.5cm, block_01=-0.0cm
+[09:42:49] 推 block_02: 1.1N x 0.0250s = 0.03N·s
+[09:42:58] 视频：out/b0_cases_v3/stack_remove_jenga__2__light_contact/sim_tiny.mp4
+[09:42:58] 完成：60 帧 @30fps，接触事件 29 条
+[09:42:58] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:42:58]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:42:58]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:42:58]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:42:58]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:42:58]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:42:58]   [skip] jenga_01: 退化网格（1 顶点）
+[09:42:58]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:42:58]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:42:58]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:42:58]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:42:58]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:42:58]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:42:58]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:42:58]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:42:58]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:42:58]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:42:58]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:42:58]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:42:59]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:42:59]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:42:59]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:42:59]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:42:59]   sweater_sleeve_01      mass=24.563kg (density) vol=81877.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   sleeve_01              mass=0.446kg (density) vol= 1488.2cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   hand_02                mass=0.192kg (density) vol=  638.7cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   hand_01                mass=0.321kg (density) vol= 1070.4cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   block_stack_01         mass=0.138kg (density) vol=  460.8cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   block_12               mass=0.191kg (density) vol=  638.1cm3 watertight=False bottom_y=+0.0cm
+[09:42:59]   block_11               mass=0.016kg (density) vol=   51.8cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   block_10               mass=0.007kg (density) vol=   23.8cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   block_09               mass=0.000kg (density) vol=    0.0cm3 watertight=False bottom_y=+0.0cm
+[09:42:59]   block_08               mass=0.015kg (density) vol=   49.3cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   block_07               mass=0.003kg (density) vol=    8.7cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   block_06               mass=0.002kg (density) vol=    6.4cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   block_05               mass=0.002kg (density) vol=    6.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   block_04               mass=0.006kg (density) vol=   18.3cm3 watertight=False bottom_y=+0.0cm
+[09:42:59]   block_03               mass=0.002kg (density) vol=    5.5cm3 watertight=True bottom_y=+0.0cm
+[09:42:59]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:42:59]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:42:59] 沉降完成，下落量: sweater_sleeve_01=-18.8cm, sleeve_01=-3.1cm, hand_02=-3.1cm, hand_01=-1.2cm, block_stack_01=+38.3cm, block_12=+8.9cm, block_11=+0.0cm, block_10=+2.7cm, block_09=-0.0cm, block_08=-0.7cm, block_07=-0.4cm, block_06=+0.2cm, block_05=+0.8cm, block_04=-0.8cm, block_03=+0.0cm, block_02=-0.5cm, block_01=-0.0cm
+[09:42:59] 推 block_02: 1.4N x 0.0250s = 0.04N·s
+[09:43:07] 视频：out/b0_cases_v3/stack_remove_jenga__2__hard_contact/sim_tiny.mp4
+[09:43:07] 完成：60 帧 @30fps，接触事件 30 条
+[09:43:07] [stack_remove_jenga__2] 三分支完成
+[09:43:08]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:43:09] [stack_remove_jenga__5] pusher=block_08 target=block_04 gap=0.32m m=0.05kg 冲量=(0.0839, 0.1032, 0.132)
+[09:43:09] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:43:09]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:43:09]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:43:09]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:43:09]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:43:09]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:43:09]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:43:09]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:43:10]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:43:10]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:43:10]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:43:10]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:43:10]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:43:10]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:43:10]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:43:10]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:43:10]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:43:10]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:43:10]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:43:11]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:43:11]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:43:11]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:43:11]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:43:11]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:43:11]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:43:11]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:43:11]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:43:11]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:43:11]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:43:11]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:43:11]   sleeve_01              mass=68.559kg (density) vol=228529.0cm3 watertight=True bottom_y=+0.0cm
+[09:43:11]   jenga_01               mass=1.100kg (density) vol= 3665.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:11]   hand_02                mass=0.082kg (density) vol=  273.7cm3 watertight=True bottom_y=+0.0cm
+[09:43:11]   hand_01                mass=0.192kg (density) vol=  640.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:11]   block_tower_01         mass=1.004kg (density) vol= 3347.3cm3 watertight=False bottom_y=+0.0cm
+[09:43:11]   block_20               mass=0.028kg (density) vol=   92.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:11]   block_19               mass=0.016kg (density) vol=   53.9cm3 watertight=True bottom_y=+0.0cm
+[09:43:11]   block_18               mass=0.001kg (density) vol=    4.3cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_17               mass=0.023kg (density) vol=   76.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_16               mass=0.007kg (density) vol=   24.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_15               mass=0.001kg (density) vol=    3.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_14               mass=0.006kg (density) vol=   21.7cm3 watertight=False bottom_y=+0.0cm
+[09:43:12]   block_13               mass=0.001kg (density) vol=    3.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_12               mass=0.103kg (density) vol=  344.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_11               mass=0.056kg (density) vol=  185.9cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_10               mass=0.021kg (density) vol=   68.6cm3 watertight=False bottom_y=+0.0cm
+[09:43:12]   block_09               mass=0.013kg (density) vol=   43.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_07               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_05               mass=0.004kg (density) vol=   12.5cm3 watertight=False bottom_y=+0.0cm
+[09:43:12]   block_03               mass=0.002kg (density) vol=    5.7cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_02               mass=0.003kg (density) vol=   10.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_01               mass=0.006kg (density) vol=   20.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:12]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:43:12] 沉降完成，下落量: table_01=-61.0cm, sleeve_01=+0.6cm, jenga_01=-25.7cm, hand_02=-0.5cm, hand_01=+1.1cm, block_tower_01=-7.3cm, block_20=-3.0cm, block_19=-0.0cm, block_18=-0.1cm, block_17=-74.5cm, block_16=-0.2cm, block_15=-0.1cm, block_14=+0.0cm, block_13=+0.0cm, block_12=-1.8cm, block_11=+0.0cm, block_10=+0.5cm, block_09=+0.0cm, block_07=-0.7cm, block_05=-0.0cm, block_03=-0.0cm, block_02=-0.0cm, block_01=+2.5cm, block_08=-0.0cm, block_04=+0.0cm
+[09:43:12] 推 block_08: 3.4N x 0.0250s = 0.08N·s
+[09:43:26] 视频：out/b0_cases_v3/stack_remove_jenga__5__near_miss/sim_tiny.mp4
+[09:43:26] 完成：60 帧 @30fps，接触事件 42 条
+[09:43:26] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:43:26]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:43:26]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:43:26]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:43:26]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:43:26]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:43:26]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:43:26]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:43:26]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:43:26]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:43:26]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:43:26]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:43:27]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:43:27]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:43:27]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:43:27]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:43:27]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:43:27]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:43:27]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:43:27]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:43:27]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:43:28]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:43:28]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:43:28]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:43:28]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:43:28]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:43:28]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:43:28]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:43:28]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:43:28]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   sleeve_01              mass=68.559kg (density) vol=228529.0cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   jenga_01               mass=1.100kg (density) vol= 3665.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   hand_02                mass=0.082kg (density) vol=  273.7cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   hand_01                mass=0.192kg (density) vol=  640.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_tower_01         mass=1.004kg (density) vol= 3347.3cm3 watertight=False bottom_y=+0.0cm
+[09:43:28]   block_20               mass=0.028kg (density) vol=   92.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_19               mass=0.016kg (density) vol=   53.9cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_18               mass=0.001kg (density) vol=    4.3cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_17               mass=0.023kg (density) vol=   76.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_16               mass=0.007kg (density) vol=   24.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_15               mass=0.001kg (density) vol=    3.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_14               mass=0.006kg (density) vol=   21.7cm3 watertight=False bottom_y=+0.0cm
+[09:43:28]   block_13               mass=0.001kg (density) vol=    3.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_12               mass=0.103kg (density) vol=  344.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_11               mass=0.056kg (density) vol=  185.9cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_10               mass=0.021kg (density) vol=   68.6cm3 watertight=False bottom_y=+0.0cm
+[09:43:28]   block_09               mass=0.013kg (density) vol=   43.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_07               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_05               mass=0.004kg (density) vol=   12.5cm3 watertight=False bottom_y=+0.0cm
+[09:43:28]   block_03               mass=0.002kg (density) vol=    5.7cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_02               mass=0.003kg (density) vol=   10.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_01               mass=0.006kg (density) vol=   20.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:28]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:43:28] 沉降完成，下落量: table_01=-61.0cm, sleeve_01=+0.6cm, jenga_01=-25.7cm, hand_02=-0.5cm, hand_01=+1.1cm, block_tower_01=-7.3cm, block_20=-3.0cm, block_19=-0.0cm, block_18=-0.1cm, block_17=-74.5cm, block_16=-0.2cm, block_15=-0.1cm, block_14=+0.0cm, block_13=+0.0cm, block_12=-1.8cm, block_11=+0.0cm, block_10=+0.5cm, block_09=+0.0cm, block_07=-0.7cm, block_05=-0.0cm, block_03=-0.0cm, block_02=-0.0cm, block_01=+2.5cm, block_08=-0.0cm, block_04=+0.0cm
+[09:43:28] 推 block_08: 4.1N x 0.0250s = 0.10N·s
+[09:43:42] 视频：out/b0_cases_v3/stack_remove_jenga__5__light_contact/sim_tiny.mp4
+[09:43:42] 完成：60 帧 @30fps，接触事件 44 条
+[09:43:43] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:43:43]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:43:43]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:43:43]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:43:43]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:43:43]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:43:43]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:43:43]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:43:43]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:43:43]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:43:43]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:43:43]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:43:43]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:43:43]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:43:44]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:43:44]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:43:44]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:43:44]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:43:44]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:43:44]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:43:44]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:43:44]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:43:44]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:43:44]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:43:44]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:43:44]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:43:45]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:43:45]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:43:45]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:43:45]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   sleeve_01              mass=68.559kg (density) vol=228529.0cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   jenga_01               mass=1.100kg (density) vol= 3665.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   hand_02                mass=0.082kg (density) vol=  273.7cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   hand_01                mass=0.192kg (density) vol=  640.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_tower_01         mass=1.004kg (density) vol= 3347.3cm3 watertight=False bottom_y=+0.0cm
+[09:43:45]   block_20               mass=0.028kg (density) vol=   92.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_19               mass=0.016kg (density) vol=   53.9cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_18               mass=0.001kg (density) vol=    4.3cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_17               mass=0.023kg (density) vol=   76.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_16               mass=0.007kg (density) vol=   24.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_15               mass=0.001kg (density) vol=    3.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_14               mass=0.006kg (density) vol=   21.7cm3 watertight=False bottom_y=+0.0cm
+[09:43:45]   block_13               mass=0.001kg (density) vol=    3.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_12               mass=0.103kg (density) vol=  344.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_11               mass=0.056kg (density) vol=  185.9cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_10               mass=0.021kg (density) vol=   68.6cm3 watertight=False bottom_y=+0.0cm
+[09:43:45]   block_09               mass=0.013kg (density) vol=   43.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_07               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_05               mass=0.004kg (density) vol=   12.5cm3 watertight=False bottom_y=+0.0cm
+[09:43:45]   block_03               mass=0.002kg (density) vol=    5.7cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_02               mass=0.003kg (density) vol=   10.4cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_01               mass=0.006kg (density) vol=   20.8cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:43:45]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:43:45] 沉降完成，下落量: table_01=-61.0cm, sleeve_01=+0.6cm, jenga_01=-25.7cm, hand_02=-0.5cm, hand_01=+1.1cm, block_tower_01=-7.3cm, block_20=-3.0cm, block_19=-0.0cm, block_18=-0.1cm, block_17=-74.5cm, block_16=-0.2cm, block_15=-0.1cm, block_14=+0.0cm, block_13=+0.0cm, block_12=-1.8cm, block_11=+0.0cm, block_10=+0.5cm, block_09=+0.0cm, block_07=-0.7cm, block_05=-0.0cm, block_03=-0.0cm, block_02=-0.0cm, block_01=+2.5cm, block_08=-0.0cm, block_04=+0.0cm
+[09:43:45] 推 block_08: 5.3N x 0.0250s = 0.13N·s
+[09:43:59] 视频：out/b0_cases_v3/stack_remove_jenga__5__hard_contact/sim_tiny.mp4
+[09:43:59] 完成：60 帧 @30fps，接触事件 45 条
+[09:43:59] [stack_remove_jenga__5] 三分支完成
+[09:44:00]   [skip] block_15: 退化网格（1 顶点）
+[09:44:00]   [skip] bed_01: 退化网格（1 顶点）
+[09:44:00] [stack_remove_jenga__21] pusher=sleeve_01 target=block_02 gap=0.36m m=0.09kg 冲量=(0.1482, 0.1823, 0.2335)
+[09:44:00] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:44:00]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:44:00]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:44:00]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:44:01]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:44:01]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:44:01]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:44:01]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:44:01]   [skip] block_15: 退化网格（1 顶点）
+[09:44:01]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:44:01]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:44:01]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:44:01]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:44:01]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:44:01]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:44:01]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:44:01]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:44:01]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:44:01]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:44:01]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:44:01]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:44:01]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:44:01]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:44:01]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:44:01]   [skip] bed_01: 退化网格（1 顶点）
+[09:44:01]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:44:01]   sweater_01             mass=1.943kg (density) vol= 6475.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:01]   sleeve_02              mass=0.104kg (density) vol=  347.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:01]   jenga_01               mass=1.610kg (density) vol= 5368.3cm3 watertight=True bottom_y=+0.0cm
+[09:44:01]   hand_02                mass=0.153kg (density) vol=  510.6cm3 watertight=True bottom_y=+0.0cm
+[09:44:01]   hand_01                mass=0.151kg (density) vol=  504.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:01]   block_14               mass=0.012kg (density) vol=   38.9cm3 watertight=False bottom_y=+0.0cm
+[09:44:01]   block_13               mass=0.001kg (density) vol=    4.4cm3 watertight=True bottom_y=+0.0cm
+[09:44:01]   block_12               mass=0.037kg (density) vol=  124.7cm3 watertight=True bottom_y=+0.0cm
+[09:44:01]   block_11               mass=0.002kg (density) vol=    7.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:01]   block_10               mass=0.046kg (density) vol=  152.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:02]   block_09               mass=0.001kg (density) vol=    3.6cm3 watertight=True bottom_y=+0.0cm
+[09:44:02]   block_08               mass=0.017kg (density) vol=   55.9cm3 watertight=True bottom_y=+0.0cm
+[09:44:02]   block_07               mass=0.001kg (density) vol=    4.4cm3 watertight=True bottom_y=+0.0cm
+[09:44:02]   block_06               mass=0.007kg (density) vol=   22.4cm3 watertight=True bottom_y=+0.0cm
+[09:44:02]   block_05               mass=0.000kg (density) vol=    0.8cm3 watertight=False bottom_y=+0.0cm
+[09:44:02]   block_04               mass=0.008kg (density) vol=   28.2cm3 watertight=False bottom_y=+0.0cm
+[09:44:02]   block_03               mass=0.003kg (density) vol=    8.7cm3 watertight=True bottom_y=+0.0cm
+[09:44:02]   block_01               mass=0.012kg (density) vol=   39.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:02]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:02]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:44:02] 沉降完成，下落量: sweater_01=-7.6cm, sleeve_02=+3.8cm, jenga_01=-21.6cm, hand_02=+26.0cm, hand_01=+18.1cm, block_14=+0.7cm, block_13=+12.4cm, block_12=+31.3cm, block_11=+0.8cm, block_10=+1.2cm, block_09=+1.1cm, block_08=+0.0cm, block_07=-0.0cm, block_06=-34.0cm, block_05=-0.0cm, block_04=-0.3cm, block_03=-0.1cm, block_01=+3.9cm, sleeve_01=+8.7cm, block_02=+0.1cm
+[09:44:02] 推 sleeve_01: 5.9N x 0.0250s = 0.15N·s
+[09:44:09] 视频：out/b0_cases_v3/stack_remove_jenga__21__near_miss/sim_tiny.mp4
+[09:44:09] 完成：60 帧 @30fps，接触事件 15 条
+[09:44:09] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:44:09]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:44:09]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:44:09]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:44:09]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:44:09]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:44:09]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:44:09]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:44:09]   [skip] block_15: 退化网格（1 顶点）
+[09:44:09]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:44:09]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:44:09]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:44:09]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:44:09]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:44:09]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:44:09]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:44:10]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:44:10]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:44:10]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:44:10]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:44:10]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:44:10]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:44:10]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:44:10]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:44:10]   [skip] bed_01: 退化网格（1 顶点）
+[09:44:10]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:44:10]   sweater_01             mass=1.943kg (density) vol= 6475.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   sleeve_02              mass=0.104kg (density) vol=  347.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   jenga_01               mass=1.610kg (density) vol= 5368.3cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   hand_02                mass=0.153kg (density) vol=  510.6cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   hand_01                mass=0.151kg (density) vol=  504.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_14               mass=0.012kg (density) vol=   38.9cm3 watertight=False bottom_y=+0.0cm
+[09:44:10]   block_13               mass=0.001kg (density) vol=    4.4cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_12               mass=0.037kg (density) vol=  124.7cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_11               mass=0.002kg (density) vol=    7.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_10               mass=0.046kg (density) vol=  152.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_09               mass=0.001kg (density) vol=    3.6cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_08               mass=0.017kg (density) vol=   55.9cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_07               mass=0.001kg (density) vol=    4.4cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_06               mass=0.007kg (density) vol=   22.4cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_05               mass=0.000kg (density) vol=    0.8cm3 watertight=False bottom_y=+0.0cm
+[09:44:10]   block_04               mass=0.008kg (density) vol=   28.2cm3 watertight=False bottom_y=+0.0cm
+[09:44:10]   block_03               mass=0.003kg (density) vol=    8.7cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_01               mass=0.012kg (density) vol=   39.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:10]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:44:10] 沉降完成，下落量: sweater_01=-7.6cm, sleeve_02=+3.8cm, jenga_01=-21.6cm, hand_02=+26.0cm, hand_01=+18.1cm, block_14=+0.7cm, block_13=+12.4cm, block_12=+31.3cm, block_11=+0.8cm, block_10=+1.2cm, block_09=+1.1cm, block_08=+0.0cm, block_07=-0.0cm, block_06=-34.0cm, block_05=-0.0cm, block_04=-0.3cm, block_03=-0.1cm, block_01=+3.9cm, sleeve_01=+8.7cm, block_02=+0.1cm
+[09:44:10] 推 sleeve_01: 7.3N x 0.0250s = 0.18N·s
+[09:44:18] 视频：out/b0_cases_v3/stack_remove_jenga__21__light_contact/sim_tiny.mp4
+[09:44:18] 完成：60 帧 @30fps，接触事件 15 条
+[09:44:18] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:44:18]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:44:18]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:44:18]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:44:18]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:44:18]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:44:18]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:44:18]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:44:18]   [skip] block_15: 退化网格（1 顶点）
+[09:44:18]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:44:18]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:44:18]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:44:19]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:44:19]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:44:19]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:44:19]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:44:19]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:44:19]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:44:19]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:44:19]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:44:19]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:44:19]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:44:19]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:44:19]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:44:19]   [skip] bed_01: 退化网格（1 顶点）
+[09:44:19]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:44:19]   sweater_01             mass=1.943kg (density) vol= 6475.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   sleeve_02              mass=0.104kg (density) vol=  347.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   jenga_01               mass=1.610kg (density) vol= 5368.3cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   hand_02                mass=0.153kg (density) vol=  510.6cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   hand_01                mass=0.151kg (density) vol=  504.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_14               mass=0.012kg (density) vol=   38.9cm3 watertight=False bottom_y=+0.0cm
+[09:44:19]   block_13               mass=0.001kg (density) vol=    4.4cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_12               mass=0.037kg (density) vol=  124.7cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_11               mass=0.002kg (density) vol=    7.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_10               mass=0.046kg (density) vol=  152.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_09               mass=0.001kg (density) vol=    3.6cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_08               mass=0.017kg (density) vol=   55.9cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_07               mass=0.001kg (density) vol=    4.4cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_06               mass=0.007kg (density) vol=   22.4cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_05               mass=0.000kg (density) vol=    0.8cm3 watertight=False bottom_y=+0.0cm
+[09:44:19]   block_04               mass=0.008kg (density) vol=   28.2cm3 watertight=False bottom_y=+0.0cm
+[09:44:19]   block_03               mass=0.003kg (density) vol=    8.7cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_01               mass=0.012kg (density) vol=   39.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:19]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:44:19] 沉降完成，下落量: sweater_01=-7.6cm, sleeve_02=+3.8cm, jenga_01=-21.6cm, hand_02=+26.0cm, hand_01=+18.1cm, block_14=+0.7cm, block_13=+12.4cm, block_12=+31.3cm, block_11=+0.8cm, block_10=+1.2cm, block_09=+1.1cm, block_08=+0.0cm, block_07=-0.0cm, block_06=-34.0cm, block_05=-0.0cm, block_04=-0.3cm, block_03=-0.1cm, block_01=+3.9cm, sleeve_01=+8.7cm, block_02=+0.1cm
+[09:44:19] 推 sleeve_01: 9.3N x 0.0250s = 0.23N·s
+[09:44:26] 视频：out/b0_cases_v3/stack_remove_jenga__21__hard_contact/sim_tiny.mp4
+[09:44:26] 完成：60 帧 @30fps，接触事件 15 条
+[09:44:27] [stack_remove_jenga__21] 三分支完成
+[09:44:27]   [skip] sweater_01: 退化网格（1 顶点）
+[09:44:27]   [skip] jenga_01: 退化网格（1 顶点）
+[09:44:27]   [skip] block_19: 退化网格（1 顶点）
+[09:44:27]   [skip] block_18: 退化网格（1 顶点）
+[09:44:28] [stack_remove_jenga__16] pusher=block_16 target=block_08 gap=0.25m m=0.01kg 冲量=(0.0207, 0.0253, 0.0324)
+[09:44:28] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:44:28]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:44:28]   [skip] sweater_01: 退化网格（1 顶点）
+[09:44:28]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:44:28]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:44:28]   [skip] jenga_01: 退化网格（1 顶点）
+[09:44:28]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:44:28]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:44:28]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:44:28]   [skip] block_19: 退化网格（1 顶点）
+[09:44:28]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:44:28]   [skip] block_18: 退化网格（1 顶点）
+[09:44:28]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:44:29]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:44:29]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:44:29]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:44:29]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:44:29]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:44:29]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:44:29]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:44:29]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:44:29]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:44:29]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:44:30]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:44:30]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:44:30]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:44:30]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:44:30]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:44:30]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:44:30]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:44:30]   sleeve_01              mass=0.075kg (density) vol=  249.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:30]   hand_02                mass=0.928kg (density) vol= 3092.3cm3 watertight=False bottom_y=+0.0cm
+[09:44:30]   hand_01                mass=0.143kg (density) vol=  475.9cm3 watertight=True bottom_y=+0.0cm
+[09:44:30]   block_17               mass=0.017kg (density) vol=   57.9cm3 watertight=True bottom_y=+0.0cm
+[09:44:30]   block_15               mass=0.025kg (density) vol=   82.0cm3 watertight=True bottom_y=+0.0cm
+[09:44:30]   block_14               mass=0.054kg (density) vol=  179.8cm3 watertight=False bottom_y=+0.0cm
+[09:44:30]   block_13               mass=0.002kg (density) vol=    5.7cm3 watertight=False bottom_y=+0.0cm
+[09:44:30]   block_12               mass=0.005kg (density) vol=   18.1cm3 watertight=True bottom_y=+0.0cm
+[09:44:30]   block_11               mass=0.006kg (density) vol=   18.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:31]   block_10               mass=0.000kg (density) vol=    0.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:31]   block_09               mass=0.012kg (density) vol=   38.7cm3 watertight=False bottom_y=+0.0cm
+[09:44:31]   block_07               mass=0.030kg (density) vol=  100.4cm3 watertight=False bottom_y=+0.0cm
+[09:44:31]   block_06               mass=0.015kg (density) vol=   51.6cm3 watertight=False bottom_y=+0.0cm
+[09:44:31]   block_05               mass=0.001kg (density) vol=    3.6cm3 watertight=True bottom_y=+0.0cm
+[09:44:31]   block_04               mass=0.043kg (density) vol=  142.3cm3 watertight=True bottom_y=+0.0cm
+[09:44:31]   block_03               mass=0.000kg (density) vol=    1.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:31]   block_02               mass=0.042kg (density) vol=  140.6cm3 watertight=False bottom_y=+0.0cm
+[09:44:31]   block_01               mass=0.230kg (density) vol=  766.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:31]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:31]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:44:31] 沉降完成，下落量: sleeve_01=-0.2cm, hand_02=-0.5cm, hand_01=+1.9cm, block_17=-0.4cm, block_15=-0.1cm, block_14=-0.0cm, block_13=-0.0cm, block_12=-0.4cm, block_11=-0.4cm, block_10=-0.2cm, block_09=+0.0cm, block_07=+0.3cm, block_06=-0.1cm, block_05=-0.2cm, block_04=-0.0cm, block_03=+0.0cm, block_02=-0.5cm, block_01=+0.9cm, block_16=+4.4cm, block_08=-0.1cm
+[09:44:31] 推 block_16: 0.8N x 0.0250s = 0.02N·s
+[09:44:44] 视频：out/b0_cases_v3/stack_remove_jenga__16__near_miss/sim_tiny.mp4
+[09:44:44] 完成：60 帧 @30fps，接触事件 35 条
+[09:44:44] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:44:44]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:44:44]   [skip] sweater_01: 退化网格（1 顶点）
+[09:44:45]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:44:45]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:44:45]   [skip] jenga_01: 退化网格（1 顶点）
+[09:44:45]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:44:45]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:44:45]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:44:45]   [skip] block_19: 退化网格（1 顶点）
+[09:44:45]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:44:45]   [skip] block_18: 退化网格（1 顶点）
+[09:44:45]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:44:45]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:44:45]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:44:45]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:44:45]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:44:45]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:44:45]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:44:45]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:44:46]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:44:46]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:44:46]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:44:46]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:44:46]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:44:46]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:44:46]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:44:46]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:44:46]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:44:46]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:44:46]   sleeve_01              mass=0.075kg (density) vol=  249.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:46]   hand_02                mass=0.928kg (density) vol= 3092.3cm3 watertight=False bottom_y=+0.0cm
+[09:44:46]   hand_01                mass=0.143kg (density) vol=  475.9cm3 watertight=True bottom_y=+0.0cm
+[09:44:46]   block_17               mass=0.017kg (density) vol=   57.9cm3 watertight=True bottom_y=+0.0cm
+[09:44:46]   block_15               mass=0.025kg (density) vol=   82.0cm3 watertight=True bottom_y=+0.0cm
+[09:44:47]   block_14               mass=0.054kg (density) vol=  179.8cm3 watertight=False bottom_y=+0.0cm
+[09:44:47]   block_13               mass=0.002kg (density) vol=    5.7cm3 watertight=False bottom_y=+0.0cm
+[09:44:47]   block_12               mass=0.005kg (density) vol=   18.1cm3 watertight=True bottom_y=+0.0cm
+[09:44:47]   block_11               mass=0.006kg (density) vol=   18.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:47]   block_10               mass=0.000kg (density) vol=    0.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:47]   block_09               mass=0.012kg (density) vol=   38.7cm3 watertight=False bottom_y=+0.0cm
+[09:44:47]   block_07               mass=0.030kg (density) vol=  100.4cm3 watertight=False bottom_y=+0.0cm
+[09:44:47]   block_06               mass=0.015kg (density) vol=   51.6cm3 watertight=False bottom_y=+0.0cm
+[09:44:47]   block_05               mass=0.001kg (density) vol=    3.6cm3 watertight=True bottom_y=+0.0cm
+[09:44:47]   block_04               mass=0.043kg (density) vol=  142.3cm3 watertight=True bottom_y=+0.0cm
+[09:44:47]   block_03               mass=0.000kg (density) vol=    1.2cm3 watertight=True bottom_y=+0.0cm
+[09:44:47]   block_02               mass=0.042kg (density) vol=  140.6cm3 watertight=False bottom_y=+0.0cm
+[09:44:47]   block_01               mass=0.230kg (density) vol=  766.8cm3 watertight=True bottom_y=+0.0cm
+[09:44:47]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:44:47]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:44:48] 沉降完成，下落量: sleeve_01=-0.2cm, hand_02=-0.5cm, hand_01=+1.9cm, block_17=-0.4cm, block_15=-0.1cm, block_14=-0.0cm, block_13=-0.0cm, block_12=-0.4cm, block_11=-0.4cm, block_10=-0.2cm, block_09=+0.0cm, block_07=+0.3cm, block_06=-0.1cm, block_05=-0.2cm, block_04=-0.0cm, block_03=+0.0cm, block_02=-0.5cm, block_01=+0.9cm, block_16=+4.4cm, block_08=-0.1cm
+[09:44:48] 推 block_16: 1.0N x 0.0250s = 0.03N·s
+[09:45:01] 视频：out/b0_cases_v3/stack_remove_jenga__16__light_contact/sim_tiny.mp4
+[09:45:01] 完成：60 帧 @30fps，接触事件 35 条
+[09:45:01] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:45:01]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:45:01]   [skip] sweater_01: 退化网格（1 顶点）
+[09:45:01]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:45:01]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:45:01]   [skip] jenga_01: 退化网格（1 顶点）
+[09:45:01]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:45:01]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:45:01]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:45:01]   [skip] block_19: 退化网格（1 顶点）
+[09:45:01]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:45:01]   [skip] block_18: 退化网格（1 顶点）
+[09:45:01]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:45:01]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:45:01]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:45:01]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:45:02]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:45:02]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:45:02]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:45:02]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:45:02]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:45:02]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:45:02]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:45:02]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:45:02]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:45:03]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:45:03]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:45:03]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:45:03]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:45:03]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:45:03]   sleeve_01              mass=0.075kg (density) vol=  249.2cm3 watertight=True bottom_y=+0.0cm
+[09:45:03]   hand_02                mass=0.928kg (density) vol= 3092.3cm3 watertight=False bottom_y=+0.0cm
+[09:45:03]   hand_01                mass=0.143kg (density) vol=  475.9cm3 watertight=True bottom_y=+0.0cm
+[09:45:03]   block_17               mass=0.017kg (density) vol=   57.9cm3 watertight=True bottom_y=+0.0cm
+[09:45:03]   block_15               mass=0.025kg (density) vol=   82.0cm3 watertight=True bottom_y=+0.0cm
+[09:45:03]   block_14               mass=0.054kg (density) vol=  179.8cm3 watertight=False bottom_y=+0.0cm
+[09:45:03]   block_13               mass=0.002kg (density) vol=    5.7cm3 watertight=False bottom_y=+0.0cm
+[09:45:03]   block_12               mass=0.005kg (density) vol=   18.1cm3 watertight=True bottom_y=+0.0cm
+[09:45:03]   block_11               mass=0.006kg (density) vol=   18.8cm3 watertight=True bottom_y=+0.0cm
+[09:45:03]   block_10               mass=0.000kg (density) vol=    0.2cm3 watertight=True bottom_y=+0.0cm
+[09:45:03]   block_09               mass=0.012kg (density) vol=   38.7cm3 watertight=False bottom_y=+0.0cm
+[09:45:04]   block_07               mass=0.030kg (density) vol=  100.4cm3 watertight=False bottom_y=+0.0cm
+[09:45:04]   block_06               mass=0.015kg (density) vol=   51.6cm3 watertight=False bottom_y=+0.0cm
+[09:45:04]   block_05               mass=0.001kg (density) vol=    3.6cm3 watertight=True bottom_y=+0.0cm
+[09:45:04]   block_04               mass=0.043kg (density) vol=  142.3cm3 watertight=True bottom_y=+0.0cm
+[09:45:04]   block_03               mass=0.000kg (density) vol=    1.2cm3 watertight=True bottom_y=+0.0cm
+[09:45:04]   block_02               mass=0.042kg (density) vol=  140.6cm3 watertight=False bottom_y=+0.0cm
+[09:45:04]   block_01               mass=0.230kg (density) vol=  766.8cm3 watertight=True bottom_y=+0.0cm
+[09:45:04]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:45:04]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:45:04] 沉降完成，下落量: sleeve_01=-0.2cm, hand_02=-0.5cm, hand_01=+1.9cm, block_17=-0.4cm, block_15=-0.1cm, block_14=-0.0cm, block_13=-0.0cm, block_12=-0.4cm, block_11=-0.4cm, block_10=-0.2cm, block_09=+0.0cm, block_07=+0.3cm, block_06=-0.1cm, block_05=-0.2cm, block_04=-0.0cm, block_03=+0.0cm, block_02=-0.5cm, block_01=+0.9cm, block_16=+4.4cm, block_08=-0.1cm
+[09:45:04] 推 block_16: 1.3N x 0.0250s = 0.03N·s
+[09:45:17] 视频：out/b0_cases_v3/stack_remove_jenga__16__hard_contact/sim_tiny.mp4
+[09:45:17] 完成：60 帧 @30fps，接触事件 35 条
+[09:45:17] [stack_remove_jenga__16] 三分支完成

physworld_p1_20261018/build_cases_v3b.log

@@ -0,0 +1,595 @@
+pybullet build time: Jan 29 2025 23:17:20
+[09:46:53] 发现 6 个场景 GLB
+[09:46:53]   [skip] domino_10: 退化网格（1 顶点）
+[09:46:53]   [skip] domino_09: 退化网格（1 顶点）
+[09:46:53]   [skip] domino_08: 退化网格（1 顶点）
+[09:46:54]   [skip] chair_02: 退化网格（1 顶点）
+[09:46:54]   [skip] chair_01: 退化网格（1 顶点）
+[09:46:54] [arrange_topple_dominoes__1] pusher=domino_04 target=domino_01 gap=0.60m m=0.02kg 冲量=(0.0497, 0.0613, 0.0788)
+[09:46:54] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:46:54]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:46:54]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:46:54]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:46:54]   [skip] domino_10: 退化网格（1 顶点）
+[09:46:54]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:46:54]   [skip] domino_09: 退化网格（1 顶点）
+[09:46:54]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:46:54]   [skip] domino_08: 退化网格（1 顶点）
+[09:46:54]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:46:54]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:46:54]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:46:54]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:46:54]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:46:54]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:46:54]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:46:54]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:46:54]   [skip] chair_02: 退化网格（1 顶点）
+[09:46:54]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:46:54]   [skip] chair_01: 退化网格（1 顶点）
+[09:46:54]   [isolate] 保留 3/9 个物体
+[09:46:54]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:46:54]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:46:54]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:46:54]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:46:54] 沉降完成，下落量: table_01=-1.2cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:46:54] 推 domino_04: 2.0N x 0.0250s = 0.05N·s
+[09:46:54] 完成：60 帧 @30fps，接触事件 3 条
+[09:46:54] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:46:54]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:46:54]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:46:54]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:46:54]   [skip] domino_10: 退化网格（1 顶点）
+[09:46:54]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:46:54]   [skip] domino_09: 退化网格（1 顶点）
+[09:46:54]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:46:54]   [skip] domino_08: 退化网格（1 顶点）
+[09:46:55]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:46:55]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:46:55]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:46:55]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:46:55]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:46:55]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:46:55]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:46:55]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:46:55]   [skip] chair_02: 退化网格（1 顶点）
+[09:46:55]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:46:55]   [skip] chair_01: 退化网格（1 顶点）
+[09:46:55]   [isolate] 保留 3/9 个物体
+[09:46:55]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:46:55]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:46:55]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:46:55]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:46:55] 沉降完成，下落量: table_01=-1.2cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:46:55] 推 domino_04: 2.5N x 0.0250s = 0.06N·s
+[09:46:55] 完成：60 帧 @30fps，接触事件 4 条
+[09:46:55] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:46:55]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:46:55]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:46:55]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:46:55]   [skip] domino_10: 退化网格（1 顶点）
+[09:46:55]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:46:55]   [skip] domino_09: 退化网格（1 顶点）
+[09:46:55]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:46:55]   [skip] domino_08: 退化网格（1 顶点）
+[09:46:55]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:46:55]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:46:55]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:46:55]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:46:55]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:46:55]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:46:56]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:46:56]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:46:56]   [skip] chair_02: 退化网格（1 顶点）
+[09:46:56]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:46:56]   [skip] chair_01: 退化网格（1 顶点）
+[09:46:56]   [isolate] 保留 3/9 个物体
+[09:46:56]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:46:56]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:46:56]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:46:56]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:46:56] 沉降完成，下落量: table_01=-1.2cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:46:56] 推 domino_04: 3.2N x 0.0250s = 0.08N·s
+[09:46:56] 完成：60 帧 @30fps，接触事件 4 条
+[09:46:56] [arrange_topple_dominoes__1] 三分支完成
+[09:46:56]   [skip] domino_11: 退化网格（1 顶点）
+[09:46:56]   [skip] domino_10: 退化网格（1 顶点）
+[09:46:56]   [skip] domino_09: 退化网格（1 顶点）
+[09:46:56] [arrange_topple_dominoes__2] pusher=domino_05 target=bracelet_01 gap=0.37m m=0.00kg 冲量=(0.006, 0.0074, 0.0095)
+[09:46:56] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:46:56]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:46:56]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:46:56]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:46:57]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:46:57]   [skip] domino_11: 退化网格（1 顶点）
+[09:46:57]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:46:57]   [skip] domino_10: 退化网格（1 顶点）
+[09:46:57]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:46:57]   [skip] domino_09: 退化网格（1 顶点）
+[09:46:57]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:46:57]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:46:57]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:46:57]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:46:57]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:46:57]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:46:57]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:46:57]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:46:57]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:46:57]   [isolate] 保留 3/12 个物体
+[09:46:57]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:46:57]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:46:57]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:46:57]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:46:57] 沉降完成，下落量: table_01=-7.0cm, domino_05=-0.0cm, bracelet_01=+3.4cm
+[09:46:57] 推 domino_05: 0.2N x 0.0250s = 0.01N·s
+[09:46:57] 完成：60 帧 @30fps，接触事件 5 条
+[09:46:57] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:46:57]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:46:57]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:46:57]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:46:57]   [phys] domino_11: 底面��角 90.0° 质心平移 0cm
+[09:46:57]   [skip] domino_11: 退化网格（1 顶点）
+[09:46:57]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:46:57]   [skip] domino_10: 退化网格（1 顶点）
+[09:46:57]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:46:57]   [skip] domino_09: 退化网格（1 顶点）
+[09:46:57]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:46:58]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:46:58]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:46:58]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:46:58]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:46:58]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:46:58]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:46:58]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:46:58]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:46:58]   [isolate] 保留 3/12 个物体
+[09:46:58]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:46:58]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:46:58]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:46:58]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:46:58] 沉降完成，下落量: table_01=-7.0cm, domino_05=-0.0cm, bracelet_01=+3.4cm
+[09:46:58] 推 domino_05: 0.3N x 0.0250s = 0.01N·s
+[09:46:58] 完成：60 帧 @30fps，接触事件 5 条
+[09:46:58] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:46:58]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:46:58]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:46:58]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:46:58]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:46:58]   [skip] domino_11: 退化网格（1 顶点）
+[09:46:58]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:46:58]   [skip] domino_10: 退化网格（1 顶点）
+[09:46:58]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:46:58]   [skip] domino_09: 退化网格（1 顶点）
+[09:46:58]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:46:58]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:46:58]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:46:58]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:46:59]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:46:59]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:46:59]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:46:59]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:46:59]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:46:59]   [isolate] 保留 3/12 个物体
+[09:46:59]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:46:59]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:46:59]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:46:59]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:46:59] 沉降完成，下落量: table_01=-7.0cm, domino_05=-0.0cm, bracelet_01=+3.4cm
+[09:46:59] 推 domino_05: 0.4N x 0.0250s = 0.01N·s
+[09:46:59] 完成：60 帧 @30fps，接触事件 6 条
+[09:46:59] [arrange_topple_dominoes__2] 三分支完成
+[09:46:59]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:46:59]   [skip] jenga_01: 退化网格（1 顶点）
+[09:47:00] [stack_remove_jenga__2] pusher=block_02 target=block_01 gap=0.25m m=0.02kg 冲量=(0.0229, 0.0281, 0.0359)
+[09:47:00] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:47:00]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:47:00]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:47:00]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:47:00]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:47:00]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:00]   [skip] jenga_01: 退化网格（1 顶点）
+[09:47:00]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:47:00]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:47:00]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:47:00]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:47:00]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:47:00]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:47:00]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:47:00]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:47:00]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:47:01]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:47:01]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:47:01]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:47:01]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:47:01]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:47:01]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:47:01]   [isolate] 保留 2/17 个物体
+[09:47:01]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:47:01]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:47:01]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:47:01] 沉降完成，下落量: block_02=+0.0cm, block_01=-0.0cm
+[09:47:01] 推 block_02: 0.9N x 0.0250s = 0.02N·s
+[09:47:01] 完成：60 帧 @30fps，接触事件 3 条
+[09:47:01] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:47:01]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:47:01]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:47:01]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:47:01]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:47:01]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:01]   [skip] jenga_01: 退化网格（1 顶点）
+[09:47:01]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:47:01]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:47:01]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:47:01]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:47:01]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:47:01]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:47:02]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:47:02]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:47:02]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:47:02]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:47:02]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:47:02]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:47:02]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:47:02]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:47:02]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:47:02]   [isolate] 保留 2/17 个物体
+[09:47:02]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:47:02]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:47:02]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:47:02] 沉降完成，下落量: block_02=+0.0cm, block_01=-0.0cm
+[09:47:02] 推 block_02: 1.1N x 0.0250s = 0.03N·s
+[09:47:02] 完成：60 帧 @30fps，接触事件 3 条
+[09:47:02] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:47:02]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:47:02]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:47:02]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:47:02]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:47:02]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:02]   [skip] jenga_01: 退化网格（1 顶点）
+[09:47:02]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:47:02]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:47:02]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:47:02]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:47:02]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:47:02]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:47:03]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:47:03]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:47:03]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:47:03]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:47:03]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:47:03]   [phys] block_04: 底面倾角 9.29° 质��平移 0.57cm
+[09:47:03]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:47:03]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:47:03]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:47:03]   [isolate] 保留 2/17 个物体
+[09:47:03]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:47:03]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:47:03]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:47:03] 沉降完成，下落量: block_02=+0.0cm, block_01=-0.0cm
+[09:47:03] 推 block_02: 1.4N x 0.0250s = 0.04N·s
+[09:47:03] 完成：60 帧 @30fps，接触事件 3 条
+[09:47:03] [stack_remove_jenga__2] 三分支完成
+[09:47:03]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:47:05] [stack_remove_jenga__5] pusher=block_08 target=block_04 gap=0.32m m=0.05kg 冲量=(0.0839, 0.1032, 0.132)
+[09:47:05] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:47:05]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:47:05]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:47:05]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:47:05]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:47:05]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:47:05]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:47:05]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:47:05]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:47:05]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:47:05]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:47:05]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:47:05]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:47:05]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:47:05]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:47:06]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:47:06]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:47:06]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:47:06]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:47:06]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:47:06]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:47:06]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:47:06]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:47:06]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:47:06]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:47:06]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:47:07]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:47:07]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:47:07]   [isolate] 保留 3/25 个物体
+[09:47:07]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:47:07]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:47:07]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:47:07]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:47:07] 沉降完成，下落量: table_01=+9.9cm, block_08=-0.0cm, block_04=+0.0cm
+[09:47:07] 推 block_08: 3.4N x 0.0250s = 0.08N·s
+[09:47:07] 完成：60 帧 @30fps，接触事件 5 条
+[09:47:07] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:47:07]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:47:07]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:47:07]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:47:07]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:47:07]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:47:07]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:47:07]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:47:07]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:47:07]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:47:07]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:47:07]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:47:08]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:47:08]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:47:08]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:47:08]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:47:08]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:47:08]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:47:08]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:47:08]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:47:08]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:47:09]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:47:09]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:47:09]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:47:09]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:47:09]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:47:09]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:47:09]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:47:09]   [isolate] 保留 3/25 个物体
+[09:47:09]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:47:09]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:47:09]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:47:09]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:47:09] 沉降完成，下落量: table_01=+9.9cm, block_08=-0.0cm, block_04=+0.0cm
+[09:47:09] 推 block_08: 4.1N x 0.0250s = 0.10N·s
+[09:47:09] 完成：60 帧 @30fps，接触事件 5 条
+[09:47:09] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:47:09]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:47:09]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:47:09]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:47:09]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:47:09]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:47:09]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:47:10]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:47:10]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:47:10]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:47:10]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:47:10]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:47:10]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:47:10]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:47:10]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:47:10]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:47:10]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:47:10]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:47:10]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:47:11]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:47:11]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:47:11]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:47:11]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:47:11]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:47:11]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:47:11]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:47:11]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:47:11]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:47:11]   [isolate] 保留 3/25 个物体
+[09:47:11]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:47:11]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:47:11]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:47:11]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:47:11] 沉降完成，下落量: table_01=+9.9cm, block_08=-0.0cm, block_04=+0.0cm
+[09:47:11] 推 block_08: 5.3N x 0.0250s = 0.13N·s
+[09:47:11] 完成：60 帧 @30fps，接触事件 5 条
+[09:47:11] [stack_remove_jenga__5] 三分支完成
+[09:47:12]   [skip] block_15: 退化网格（1 顶点）
+[09:47:12]   [skip] bed_01: 退化网格（1 顶点）
+[09:47:12] [stack_remove_jenga__21] pusher=sleeve_01 target=block_02 gap=0.36m m=0.09kg 冲量=(0.1482, 0.1823, 0.2335)
+[09:47:12] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:47:12]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:47:12]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:47:12]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:47:13]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:47:13]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:47:13]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:47:13]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:47:13]   [skip] block_15: 退化网格（1 顶点）
+[09:47:13]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:47:13]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:47:13]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:47:13]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:47:13]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:47:13]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:47:13]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:47:13]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:47:13]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:47:13]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:47:13]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:47:13]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:47:13]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:47:13]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:47:13]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:13]   [skip] bed_01: 退化网格（1 顶点）
+[09:47:13]   [isolate] 保留 2/20 个物体
+[09:47:13]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:47:13]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:47:13]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:47:13] 沉降完成，下落量: sleeve_01=+0.2cm, block_02=+0.1cm
+[09:47:13] 推 sleeve_01: 5.9N x 0.0250s = 0.15N·s
+[09:47:13] 完成：60 帧 @30fps，接触事件 3 条
+[09:47:13] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:47:13]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:47:13]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:47:14]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:47:14]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:47:14]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:47:14]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:47:14]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:47:14]   [skip] block_15: 退化网格（1 顶点）
+[09:47:14]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:47:14]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:47:14]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:47:14]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:47:14]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:47:14]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:47:14]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:47:14]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:47:14]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:47:14]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:47:14]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:47:14]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:47:14]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:47:14]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:47:14]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:14]   [skip] bed_01: 退化网格（1 顶点）
+[09:47:14]   [isolate] 保留 2/20 个物体
+[09:47:14]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:47:14]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:47:14]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:47:14] 沉降完成，下落量: sleeve_01=+0.2cm, block_02=+0.1cm
+[09:47:14] 推 sleeve_01: 7.3N x 0.0250s = 0.18N·s
+[09:47:14] 完成：60 帧 @30fps，接触事件 3 条
+[09:47:14] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:47:15]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:47:15]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:47:15]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:47:15]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:47:15]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:47:15]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:47:15]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:47:15]   [skip] block_15: 退化网格（1 顶点）
+[09:47:15]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:47:15]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:47:15]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:47:15]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:47:15]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:47:15]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:47:15]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:47:15]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:47:15]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:47:15]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:47:15]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:47:15]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:47:15]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:47:15]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:47:16]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:16]   [skip] bed_01: 退化网格（1 顶点）
+[09:47:16]   [isolate] 保留 2/20 个物体
+[09:47:16]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:47:16]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:47:16]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:47:16] 沉降完成，下落量: sleeve_01=+0.2cm, block_02=+0.1cm
+[09:47:16] 推 sleeve_01: 9.3N x 0.0250s = 0.23N·s
+[09:47:16] 完成：60 帧 @30fps，接触事件 3 条
+[09:47:16] [stack_remove_jenga__21] 三分支完成
+[09:47:16]   [skip] sweater_01: 退化网格（1 顶点）
+[09:47:16]   [skip] jenga_01: 退化网格（1 顶点）
+[09:47:16]   [skip] block_19: 退化网格（1 顶点）
+[09:47:16]   [skip] block_18: 退化网格（1 顶点）
+[09:47:17] [stack_remove_jenga__16] pusher=block_16 target=block_08 gap=0.25m m=0.01kg 冲量=(0.0207, 0.0253, 0.0324)
+[09:47:17] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:47:17]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:17]   [skip] sweater_01: 退化网格（1 顶点）
+[09:47:17]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:47:17]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:17]   [skip] jenga_01: 退化网格（1 顶点）
+[09:47:17]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:47:17]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:47:17]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:47:17]   [skip] block_19: 退化网格（1 顶点）
+[09:47:17]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:47:17]   [skip] block_18: 退化网格（1 顶点）
+[09:47:17]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:47:17]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:47:17]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:47:17]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:47:18]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:47:18]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:47:18]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:47:18]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:47:18]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:47:18]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:47:18]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:47:18]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:47:18]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:47:19]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:47:19]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:47:19]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:47:19]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:47:19]   [isolate] 保留 2/20 个物体
+[09:47:19]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:47:19]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:47:19]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:47:19] 沉降完成，下落量: block_16=-0.0cm, block_08=-0.1cm
+[09:47:19] 推 block_16: 0.8N x 0.0250s = 0.02N·s
+[09:47:19] 完成：60 帧 @30fps，接触事件 6 条
+[09:47:19] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:47:19]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:19]   [skip] sweater_01: 退化网格（1 顶点）
+[09:47:19]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:47:19]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:19]   [skip] jenga_01: 退化网格（1 顶点）
+[09:47:19]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:47:19]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:47:19]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:47:19]   [skip] block_19: 退化网格（1 顶点）
+[09:47:19]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:47:19]   [skip] block_18: 退化网格（1 顶点）
+[09:47:19]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:47:19]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:47:19]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:47:19]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:47:20]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:47:20]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:47:20]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:47:20]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:47:20]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:47:20]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:47:20]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:47:20]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:47:20]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:47:20]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:47:21]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:47:21]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:47:21]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:47:21]   [isolate] 保留 2/20 个物体
+[09:47:21]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:47:21]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:47:21]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:47:21] 沉降完成，下落量: block_16=-0.0cm, block_08=-0.1cm
+[09:47:21] 推 block_16: 1.0N x 0.0250s = 0.03N·s
+[09:47:21] 完成：60 帧 @30fps，接触事件 5 条
+[09:47:21] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:47:21]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:21]   [skip] sweater_01: 退化网格（1 顶点）
+[09:47:21]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:47:21]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:47:21]   [skip] jenga_01: 退化网格（1 顶点）
+[09:47:21]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:47:21]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:47:21]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:47:21]   [skip] block_19: 退化网格（1 顶点）
+[09:47:21]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:47:21]   [skip] block_18: 退化网格（1 顶点）
+[09:47:21]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:47:21]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:47:21]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:47:21]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:47:22]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:47:22]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:47:22]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:47:22]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:47:22]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:47:22]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:47:22]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:47:22]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:47:22]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:47:23]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:47:23]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:47:23]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:47:23]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:47:23]   [isolate] 保留 2/20 个物体
+[09:47:23]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:47:23]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:47:23]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:47:23] 沉降完成，下落量: block_16=-0.0cm, block_08=-0.1cm
+[09:47:23] 推 block_16: 1.3N x 0.0250s = 0.03N·s
+[09:47:23] 完成：60 帧 @30fps，接触事件 4 条
+[09:47:23] [stack_remove_jenga__16] 三分支完成

physworld_p1_20261018/build_cases_v3c.log

@@ -0,0 +1,595 @@
+pybullet build time: Jan 29 2025 23:17:20
+[09:49:07] 发现 6 个场景 GLB
+[09:49:07]   [skip] domino_10: 退化网格（1 顶点）
+[09:49:07]   [skip] domino_09: 退化网格（1 顶点）
+[09:49:07]   [skip] domino_08: 退化网格（1 顶点）
+[09:49:08]   [skip] chair_02: 退化网格（1 顶点）
+[09:49:08]   [skip] chair_01: 退化网格（1 顶点）
+[09:49:08] [arrange_topple_dominoes__1] pusher=domino_04 target=domino_01 gap=0.60m m=0.02kg 冲量=(0.0446, 0.0571, 0.0696)
+[09:49:08] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:49:08]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:49:08]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:49:08]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:49:08]   [skip] domino_10: 退化网格（1 顶点）
+[09:49:08]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:49:08]   [skip] domino_09: 退化网格（1 顶点）
+[09:49:08]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:49:08]   [skip] domino_08: 退化网格（1 顶点）
+[09:49:08]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:49:08]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:49:08]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:49:08]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:49:08]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:49:08]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:49:08]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:49:08]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:49:08]   [skip] chair_02: 退化网格（1 顶点）
+[09:49:08]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:08]   [skip] chair_01: 退化网格（1 顶点）
+[09:49:08]   [isolate] 保留 3/9 个物体
+[09:49:08]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:49:08]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:49:08]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:49:08]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:49:08] 沉降完成，下落量: table_01=-1.2cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:49:08] 推 domino_04: 1.8N x 0.0250s = 0.04N·s
+[09:49:08] 完成：60 帧 @30fps，接触事件 3 条
+[09:49:08] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:49:08]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:49:08]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:49:08]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:49:08]   [skip] domino_10: 退化网格（1 顶点）
+[09:49:08]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:49:08]   [skip] domino_09: 退化网格（1 顶点）
+[09:49:08]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:49:08]   [skip] domino_08: 退化网格（1 顶点）
+[09:49:09]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:49:09]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:49:09]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:49:09]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:49:09]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:49:09]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:49:09]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:49:09]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:49:09]   [skip] chair_02: 退化网格（1 顶点）
+[09:49:09]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:09]   [skip] chair_01: 退化网格（1 顶点）
+[09:49:09]   [isolate] 保留 3/9 个物体
+[09:49:09]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:49:09]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:49:09]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:49:09]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:49:09] 沉降完成，下落量: table_01=-1.2cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:49:09] 推 domino_04: 2.3N x 0.0250s = 0.06N·s
+[09:49:09] 完成：60 帧 @30fps，接触事件 3 条
+[09:49:09] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:49:09]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:49:09]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:49:09]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:49:09]   [skip] domino_10: 退化网格（1 顶点）
+[09:49:09]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:49:09]   [skip] domino_09: 退化网格（1 顶点）
+[09:49:09]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:49:09]   [skip] domino_08: 退化网格（1 顶点）
+[09:49:09]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:49:09]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:49:09]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:49:09]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:49:09]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:49:09]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:49:09]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:49:10]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:49:10]   [skip] chair_02: 退化网格（1 顶点）
+[09:49:10]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:10]   [skip] chair_01: 退化网格（1 顶点）
+[09:49:10]   [isolate] 保留 3/9 个物体
+[09:49:10]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:49:10]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:49:10]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:49:10]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:49:10] 沉降完成，下落量: table_01=-1.2cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:49:10] 推 domino_04: 2.8N x 0.0250s = 0.07N·s
+[09:49:10] 完成：60 帧 @30fps，接触事件 4 条
+[09:49:10] [arrange_topple_dominoes__1] 三分支完成
+[09:49:10]   [skip] domino_11: 退化网格（1 顶点）
+[09:49:10]   [skip] domino_10: 退化网格（1 顶点）
+[09:49:10]   [skip] domino_09: 退化网格（1 顶点）
+[09:49:10] [arrange_topple_dominoes__2] pusher=domino_05 target=bracelet_01 gap=0.37m m=0.00kg 冲量=(0.0053, 0.0067, 0.0082)
+[09:49:10] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:49:10]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:49:10]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:49:10]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:49:10]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:49:10]   [skip] domino_11: 退化网格（1 顶点）
+[09:49:10]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:49:10]   [skip] domino_10: 退化网格（1 顶点）
+[09:49:10]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:49:10]   [skip] domino_09: 退化网格（1 顶点）
+[09:49:11]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:49:11]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:49:11]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:49:11]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:49:11]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:49:11]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:49:11]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:49:11]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:49:11]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:49:11]   [isolate] 保留 3/12 个物体
+[09:49:11]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:49:11]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:49:11]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:49:11]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:49:11] 沉降完成，下落量: table_01=-7.0cm, domino_05=-0.0cm, bracelet_01=+3.4cm
+[09:49:11] 推 domino_05: 0.2N x 0.0250s = 0.01N·s
+[09:49:11] 完成：60 帧 @30fps，接触事件 4 条
+[09:49:11] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:49:11]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:49:11]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:49:11]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:49:11]   [phys] domino_11: 底面���角 90.0° 质心平移 0cm
+[09:49:11]   [skip] domino_11: 退化网格（1 顶点）
+[09:49:11]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:49:11]   [skip] domino_10: 退化网格（1 顶点）
+[09:49:11]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:49:11]   [skip] domino_09: 退化网格（1 顶点）
+[09:49:11]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:49:11]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:49:11]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:49:11]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:49:11]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:49:12]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:49:12]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:49:12]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:49:12]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:49:12]   [isolate] 保留 3/12 个物体
+[09:49:12]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:49:12]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:49:12]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:49:12]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:49:12] 沉降完成，下落量: table_01=-7.0cm, domino_05=-0.0cm, bracelet_01=+3.4cm
+[09:49:12] 推 domino_05: 0.3N x 0.0250s = 0.01N·s
+[09:49:12] 完成：60 帧 @30fps，接触事件 5 条
+[09:49:12] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:49:12]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:49:12]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:49:12]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:49:12]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:49:12]   [skip] domino_11: 退化网格（1 顶点）
+[09:49:12]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:49:12]   [skip] domino_10: 退化网格（1 顶点）
+[09:49:12]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:49:12]   [skip] domino_09: 退化网格（1 顶点）
+[09:49:12]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:49:12]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:49:12]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:49:12]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:49:12]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:49:12]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:49:12]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:49:12]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:49:13]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:49:13]   [isolate] 保留 3/12 个物体
+[09:49:13]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:49:13]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:49:13]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:49:13]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:49:13] 沉降完成，下落量: table_01=-7.0cm, domino_05=-0.0cm, bracelet_01=+3.4cm
+[09:49:13] 推 domino_05: 0.3N x 0.0250s = 0.01N·s
+[09:49:13] 完成：60 帧 @30fps，接触事件 6 条
+[09:49:13] [arrange_topple_dominoes__2] 三分支完成
+[09:49:13]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:49:13]   [skip] jenga_01: 退化网格（1 顶点）
+[09:49:13] [stack_remove_jenga__2] pusher=block_02 target=block_01 gap=0.25m m=0.02kg 冲量=(0.0166, 0.0211, 0.0255)
+[09:49:13] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:49:14]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:49:14]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:49:14]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:49:14]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:49:14]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:14]   [skip] jenga_01: 退化网格（1 顶点）
+[09:49:14]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:49:14]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:49:14]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:49:14]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:49:14]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:49:14]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:49:14]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:49:14]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:49:14]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:49:14]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:49:14]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:49:14]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:49:14]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:49:14]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:49:14]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:49:14]   [isolate] 保留 2/17 个物体
+[09:49:14]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:49:14]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:49:14]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:49:14] 沉降完成，下落量: block_02=+0.0cm, block_01=-0.0cm
+[09:49:14] 推 block_02: 0.7N x 0.0250s = 0.02N·s
+[09:49:15] 完成：60 帧 @30fps，接触事件 2 条
+[09:49:15] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:49:15]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:49:15]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:49:15]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:49:15]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:49:15]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:15]   [skip] jenga_01: 退化网格（1 顶点）
+[09:49:15]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:49:15]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:49:15]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:49:15]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:49:15]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:49:15]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:49:15]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:49:15]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:49:15]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:49:15]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:49:15]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:49:15]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:49:15]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:49:15]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:49:15]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:49:15]   [isolate] 保留 2/17 个物体
+[09:49:15]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:49:15]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:49:15]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:49:15] 沉降完成，下落量: block_02=+0.0cm, block_01=-0.0cm
+[09:49:15] 推 block_02: 0.8N x 0.0250s = 0.02N·s
+[09:49:15] 完成：60 帧 @30fps，接触事件 2 条
+[09:49:15] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:49:16]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:49:16]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:49:16]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:49:16]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:49:16]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:16]   [skip] jenga_01: 退化网格（1 顶点）
+[09:49:16]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:49:16]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:49:16]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:49:16]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:49:16]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:49:16]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:49:16]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:49:16]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:49:16]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:49:16]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:49:16]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:49:16]   [phys] block_04: 底面倾角 9.29° 质���平移 0.57cm
+[09:49:16]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:49:16]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:49:16]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:49:16]   [isolate] 保留 2/17 个物体
+[09:49:16]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:49:17]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:49:17]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:49:17] 沉降完成，下落量: block_02=+0.0cm, block_01=-0.0cm
+[09:49:17] 推 block_02: 1.0N x 0.0250s = 0.03N·s
+[09:49:17] 完成：60 帧 @30fps，接触事件 3 条
+[09:49:17] [stack_remove_jenga__2] 三分支完成
+[09:49:17]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:49:18] [stack_remove_jenga__5] pusher=block_08 target=block_04 gap=0.32m m=0.05kg 冲量=(0.0504, 0.0639, 0.0775)
+[09:49:18] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:49:18]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:49:18]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:49:18]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:49:18]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:49:18]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:49:18]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:49:18]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:49:19]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:49:19]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:49:19]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:49:19]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:49:19]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:49:19]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:49:19]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:49:19]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:49:19]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:49:20]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:49:20]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:49:20]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:49:20]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:49:20]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:49:20]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:49:20]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:49:20]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:49:20]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:49:20]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:49:20]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:49:20]   [isolate] 保留 3/25 个物体
+[09:49:20]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:49:20]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:49:20]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:49:20]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:49:20] 沉降完成，下落量: table_01=+9.9cm, block_08=-0.0cm, block_04=+0.0cm
+[09:49:20] 推 block_08: 2.0N x 0.0250s = 0.05N·s
+[09:49:20] 完成：60 帧 @30fps，接触事件 3 条
+[09:49:20] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:49:21]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:49:21]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:49:21]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:49:21]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:49:21]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:49:21]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:49:21]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:49:21]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:49:21]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:49:21]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:49:21]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:49:21]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:49:21]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:49:22]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:49:22]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:49:22]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:49:22]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:49:22]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:49:22]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:49:22]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:49:22]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:49:22]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:49:22]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:49:23]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:49:23]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:49:23]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:49:23]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:49:23]   [isolate] 保留 3/25 个物体
+[09:49:23]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:49:23]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:49:23]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:49:23]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:49:23] 沉降完成，下落量: table_01=+9.9cm, block_08=-0.0cm, block_04=+0.0cm
+[09:49:23] 推 block_08: 2.6N x 0.0250s = 0.06N·s
+[09:49:23] 完成：60 帧 @30fps，接触事件 3 条
+[09:49:23] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:49:23]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:49:23]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:49:23]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:49:23]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:49:23]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:49:23]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:49:23]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:49:23]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:49:23]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:49:23]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:49:23]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:49:23]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:49:24]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:49:24]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:49:24]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:49:24]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:49:24]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:49:24]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:49:24]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:49:24]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:49:24]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:49:24]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:49:24]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:49:24]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:49:24]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:49:25]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:49:25]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:49:25]   [isolate] 保留 3/25 个物体
+[09:49:25]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:49:25]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:49:25]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:49:25]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:49:25] 沉降完成，下落量: table_01=+9.9cm, block_08=-0.0cm, block_04=+0.0cm
+[09:49:25] 推 block_08: 3.1N x 0.0250s = 0.08N·s
+[09:49:25] 完成：60 帧 @30fps，接触事件 4 条
+[09:49:25] [stack_remove_jenga__5] 三分支完成
+[09:49:25]   [skip] block_15: 退化网格（1 顶点）
+[09:49:26]   [skip] bed_01: 退化网格（1 顶点）
+[09:49:26] [stack_remove_jenga__21] pusher=sleeve_01 target=block_02 gap=0.36m m=0.09kg 冲量=(0.1118, 0.1426, 0.1732)
+[09:49:26] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:49:26]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:49:26]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:49:26]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:49:26]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:49:26]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:49:26]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:49:26]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:49:26]   [skip] block_15: 退化网格（1 顶点）
+[09:49:26]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:49:26]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:49:26]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:49:26]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:49:26]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:49:26]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:49:26]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:49:26]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:49:26]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:49:26]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:49:27]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:49:27]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:49:27]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:49:27]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:49:27]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:27]   [skip] bed_01: 退化网格（1 顶点）
+[09:49:27]   [isolate] 保留 2/20 个物体
+[09:49:27]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:49:27]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:49:27]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:49:27] 沉降完成，下落量: sleeve_01=+0.2cm, block_02=+0.1cm
+[09:49:27] 推 sleeve_01: 4.5N x 0.0250s = 0.11N·s
+[09:49:27] 完成：60 帧 @30fps，接触事件 2 条
+[09:49:27] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:49:27]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:49:27]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:49:27]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:49:27]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:49:27]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:49:27]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:49:27]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:49:27]   [skip] block_15: 退化网格（1 顶点）
+[09:49:27]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:49:27]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:49:27]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:49:27]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:49:27]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:49:27]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:49:27]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:49:28]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:49:28]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:49:28]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:49:28]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:49:28]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:49:28]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:49:28]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:49:28]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:28]   [skip] bed_01: 退化网格（1 顶点）
+[09:49:28]   [isolate] 保留 2/20 个物体
+[09:49:28]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:49:28]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:49:28]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:49:28] 沉降完成，下落量: sleeve_01=+0.2cm, block_02=+0.1cm
+[09:49:28] 推 sleeve_01: 5.7N x 0.0250s = 0.14N·s
+[09:49:28] 完成：60 帧 @30fps，接触事件 2 条
+[09:49:28] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:49:28]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:49:28]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:49:28]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:49:28]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:49:28]   [phys] hand_02: 底面倾��� 0.66° 质心平移 9.52cm
+[09:49:28]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:49:28]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:49:28]   [skip] block_15: 退化网格（1 顶点）
+[09:49:28]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:49:28]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:49:29]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:49:29]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:49:29]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:49:29]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:49:29]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:49:29]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:49:29]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:49:29]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:49:29]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:49:29]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:49:29]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:49:29]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:49:29]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:29]   [skip] bed_01: 退化网格（1 顶点）
+[09:49:29]   [isolate] 保留 2/20 个物体
+[09:49:29]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:49:29]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:49:29]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:49:29] 沉降完成，下落量: sleeve_01=+0.2cm, block_02=+0.1cm
+[09:49:29] 推 sleeve_01: 6.9N x 0.0250s = 0.17N·s
+[09:49:29] 完成：60 帧 @30fps，接触事件 3 条
+[09:49:29] [stack_remove_jenga__21] 三分支完成
+[09:49:29]   [skip] sweater_01: 退化网格（1 顶点）
+[09:49:29]   [skip] jenga_01: 退化网格（1 顶点）
+[09:49:29]   [skip] block_19: 退化网格（1 顶点）
+[09:49:30]   [skip] block_18: 退化网格（1 顶点）
+[09:49:31] [stack_remove_jenga__16] pusher=block_16 target=block_08 gap=0.25m m=0.01kg 冲量=(0.0166, 0.0212, 0.0257)
+[09:49:31] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:49:31]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:31]   [skip] sweater_01: 退化网格（1 顶点）
+[09:49:31]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:49:31]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:31]   [skip] jenga_01: 退化网格（1 顶点）
+[09:49:31]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:49:31]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:49:31]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:49:31]   [skip] block_19: 退化网格（1 顶点）
+[09:49:31]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:49:31]   [skip] block_18: 退化网格（1 顶点）
+[09:49:32]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:49:32]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:49:32]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:49:32]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:49:32]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:49:33]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:49:33]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:49:33]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:49:33]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:49:33]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:49:34]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:49:34]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:49:34]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:49:34]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:49:34]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:49:34]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:49:34]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:49:34]   [isolate] 保留 2/20 个物体
+[09:49:34]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:49:34]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:49:34]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:49:34] 沉降完成，下落量: block_16=-0.0cm, block_08=-0.1cm
+[09:49:34] 推 block_16: 0.7N x 0.0250s = 0.02N·s
+[09:49:34] 完成：60 帧 @30fps，接触事件 4 条
+[09:49:34] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:49:35]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:35]   [skip] sweater_01: 退化网格（1 顶点）
+[09:49:35]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:49:35]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:35]   [skip] jenga_01: 退化网格（1 顶点）
+[09:49:35]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:49:35]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:49:35]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:49:35]   [skip] block_19: 退化网格（1 顶点）
+[09:49:35]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:49:35]   [skip] block_18: 退化网格（1 顶点）
+[09:49:35]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:49:35]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:49:35]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:49:35]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:49:35]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:49:35]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:49:35]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:49:35]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:49:35]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:49:35]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:49:36]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:49:36]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:49:36]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:49:36]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:49:36]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:49:36]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:49:36]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:49:36]   [isolate] 保留 2/20 个物体
+[09:49:36]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:49:36]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:49:36]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:49:36] 沉降完成，下落量: block_16=-0.0cm, block_08=-0.1cm
+[09:49:36] 推 block_16: 0.8N x 0.0250s = 0.02N·s
+[09:49:36] 完成：60 帧 @30fps，接触事件 6 条
+[09:49:36] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:49:36]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:36]   [skip] sweater_01: 退化网格（1 顶点）
+[09:49:36]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:49:36]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:49:36]   [skip] jenga_01: 退化网格（1 顶点）
+[09:49:36]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:49:36]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:49:36]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:49:36]   [skip] block_19: 退化网格（1 顶点）
+[09:49:37]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:49:37]   [skip] block_18: 退化网格（1 顶点）
+[09:49:37]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:49:37]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:49:37]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:49:37]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:49:37]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:49:37]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:49:37]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:49:37]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:49:38]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:49:38]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:49:38]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:49:38]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:49:38]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:49:38]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:49:38]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:49:38]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:49:39]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:49:39]   [isolate] 保留 2/20 个物体
+[09:49:39]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:49:39]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:49:39]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:49:39] 沉降完成，下落量: block_16=-0.0cm, block_08=-0.1cm
+[09:49:39] 推 block_16: 1.0N x 0.0250s = 0.03N·s
+[09:49:39] 完成：60 帧 @30fps，接触事件 5 条
+[09:49:39] [stack_remove_jenga__16] 三分支完成

physworld_p1_20261018/build_cases_v3d.log

@@ -0,0 +1,613 @@
+pybullet build time: Jan 29 2025 23:17:20
+[09:51:26] 发现 6 个场景 GLB
+[09:51:26]   [skip] domino_10: 退化网格（1 顶点）
+[09:51:26]   [skip] domino_09: 退化网格（1 顶点）
+[09:51:26]   [skip] domino_08: 退化网格（1 顶点）
+[09:51:27]   [skip] chair_02: 退化网格（1 顶点）
+[09:51:27]   [skip] chair_01: 退化网格（1 顶点）
+[09:51:27] [arrange_topple_dominoes__1] pusher=domino_04 target=domino_01 gap=0.60m m=0.02kg 冲量=(0.0446, 0.0571, 0.0696)
+[09:51:27] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:51:27]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:51:27]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:51:27]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:51:27]   [skip] domino_10: 退化网格（1 顶点）
+[09:51:27]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:51:27]   [skip] domino_09: 退化网格（1 顶点）
+[09:51:27]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:51:27]   [skip] domino_08: 退化网格（1 顶点）
+[09:51:27]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:51:27]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:51:27]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:51:27]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:51:27]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:51:27]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:51:27]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:51:27]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:51:27]   [skip] chair_02: 退化网格（1 顶点）
+[09:51:27]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:51:27]   [skip] chair_01: 退化网格（1 顶点）
+[09:51:27]   [isolate] 保留 3/9 个物体
+[09:51:27]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:51:27]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:51:27]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:51:27]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:51:27] 沉降完成，下落量: table_01=-1.2cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:51:27] 推 domino_04: 1.8N x 0.0250s = 0.04N·s
+[09:51:32] 视频：out/b0_cases_v3d/arrange_topple_dominoes__1__near_miss/sim_tiny.mp4
+[09:51:32] 完成：60 帧 @30fps，接触事件 3 条
+[09:51:32] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:51:32]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:51:32]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:51:32]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:51:32]   [skip] domino_10: 退化网格（1 顶点）
+[09:51:32]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:51:32]   [skip] domino_09: 退化网格（1 顶点）
+[09:51:32]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:51:32]   [skip] domino_08: 退化网格（1 顶点）
+[09:51:32]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:51:32]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:51:32]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:51:32]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:51:32]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:51:32]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:51:32]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:51:32]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:51:32]   [skip] chair_02: 退化网格（1 顶点）
+[09:51:32]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:51:32]   [skip] chair_01: 退化网格（1 顶点）
+[09:51:32]   [isolate] 保留 3/9 个物体
+[09:51:32]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:51:33]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:51:33]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:51:33]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:51:33] 沉降完成，下落量: table_01=-1.2cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:51:33] 推 domino_04: 2.3N x 0.0250s = 0.06N·s
+[09:51:37] 视频：out/b0_cases_v3d/arrange_topple_dominoes__1__light_contact/sim_tiny.mp4
+[09:51:37] 完成：60 帧 @30fps，接触��件 3 条
+[09:51:37] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__1_20261020_090444_0ff31ebf8c5b/video_pipeline_20261020_091808/arrange_topple_dominoes__1/scene_anim_blender_physics_with_deform.glb
+[09:51:37]   [phys] table_01: 底面倾角 1.63° 质心平移 43.19cm
+[09:51:37]   [phys] sweater_01: 底面倾角 58.26° 质心平移 103.51cm
+[09:51:37]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:51:37]   [skip] domino_10: 退化网格（1 顶点）
+[09:51:37]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:51:37]   [skip] domino_09: 退化网格（1 顶点）
+[09:51:37]   [phys] domino_08: 底面倾角 90.0° 质心平移 0cm
+[09:51:37]   [skip] domino_08: 退化网格（1 顶点）
+[09:51:37]   [phys] domino_07: 底面倾角 0.59° 质心平移 0.61cm
+[09:51:37]   [phys] domino_06: 底面倾角 1.21° 质心平移 4.45cm
+[09:51:37]   [phys] domino_05: 底面倾角 2.56° 质心平移 2.51cm
+[09:51:37]   [phys] domino_04: 底面倾角 0.39° 质心平移 7.79cm
+[09:51:37]   [phys] domino_03: 底面倾角 0.91° 质心平移 2.73cm
+[09:51:37]   [phys] domino_02: 底面倾角 1.53° 质心平移 3.09cm
+[09:51:37]   [phys] domino_01: 底面倾角 2.84° 质心平移 5.4cm
+[09:51:38]   [phys] chair_02: 底面倾角 90.0° 质心平移 0cm
+[09:51:38]   [skip] chair_02: 退化网格（1 顶点）
+[09:51:38]   [phys] chair_01: 底面倾角 90.0° 质心平移 0cm
+[09:51:38]   [skip] chair_01: 退化网格（1 顶点）
+[09:51:38]   [isolate] 保留 3/9 个物体
+[09:51:38]   [layout] domino_04 -> domino_01 间距 0.6m 行程 0.6m 桌半宽 x=2.33 z=2.33
+[09:51:38]   table_01               mass=34.034kg (density) vol=113445.5cm3 watertight=False bottom_y=+0.0cm
+[09:51:38]   domino_04              mass=0.023kg (density) vol=   76.2cm3 watertight=True bottom_y=+0.0cm
+[09:51:38]   domino_01              mass=0.010kg (density) vol=   32.0cm3 watertight=True bottom_y=+0.0cm
+[09:51:38] 沉降完成，下落量: table_01=-1.2cm, domino_04=-0.0cm, domino_01=-0.0cm
+[09:51:38] 推 domino_04: 2.8N x 0.0250s = 0.07N·s
+[09:51:42] 视频：out/b0_cases_v3d/arrange_topple_dominoes__1__hard_contact/sim_tiny.mp4
+[09:51:42] 完成：60 帧 @30fps，接触事件 4 条
+[09:51:42] [arrange_topple_dominoes__1] 三分支完成
+[09:51:42]   [skip] domino_11: 退化网格（1 顶点）
+[09:51:42]   [skip] domino_10: 退化网格（1 顶点）
+[09:51:42]   [skip] domino_09: 退化网格（1 顶点）
+[09:51:43] [arrange_topple_dominoes__2] pusher=domino_05 target=bracelet_01 gap=0.37m m=0.00kg 冲量=(0.0053, 0.0067, 0.0082)
+[09:51:43] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:51:43]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:51:43]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:51:43]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:51:43]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:51:43]   [skip] domino_11: 退化网格（1 顶点）
+[09:51:43]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:51:43]   [skip] domino_10: 退化网格（1 顶点）
+[09:51:43]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:51:43]   [skip] domino_09: 退化网格（1 顶点）
+[09:51:43]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:51:43]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:51:43]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:51:43]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:51:43]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:51:43]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:51:43]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:51:43]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:51:44]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:51:44]   [isolate] 保留 3/12 个物体
+[09:51:44]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:51:44]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:51:44]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:51:44]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:51:44] 沉降完成，下落量: table_01=-7.0cm, domino_05=-0.0cm, bracelet_01=+3.4cm
+[09:51:44] 推 domino_05: 0.2N x 0.0250s = 0.01N·s
+[09:51:49] 视频：out/b0_cases_v3d/arrange_topple_dominoes__2__near_miss/sim_tiny.mp4
+[09:51:49] 完成：60 帧 @30fps，接触事件 4 条
+[09:51:49] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:51:50]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:51:50]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:51:50]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:51:50]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:51:50]   [skip] domino_11: 退化网格（1 顶点）
+[09:51:50]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:51:50]   [skip] domino_10: 退化网格（1 顶点）
+[09:51:50]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:51:50]   [skip] domino_09: 退化网格（1 顶点）
+[09:51:50]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:51:50]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:51:50]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:51:50]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:51:50]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:51:50]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:51:50]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:51:50]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:51:50]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:51:50]   [isolate] 保留 3/12 个物体
+[09:51:50]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:51:50]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:51:50]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:51:50]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:51:50] 沉降完成，下落量: table_01=-7.0cm, domino_05=-0.0cm, bracelet_01=+3.4cm
+[09:51:50] 推 domino_05: 0.3N x 0.0250s = 0.01N·s
+[09:51:56] 视频：out/b0_cases_v3d/arrange_topple_dominoes__2__light_contact/sim_tiny.mp4
+[09:51:56] 完成：60 帧 @30fps，接触事件 5 条
+[09:51:56] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/arrange_topple_dominoes__2_20261020_094453_9e7a1e6d94b1/video_pipeline_20261020_094621/arrange_topple_dominoes__2/scene_anim_blender_physics_with_deform.glb
+[09:51:56]   [phys] table_01: 底面倾角 7.76° 质心平移 4.1cm
+[09:51:56]   [phys] hand_02: 底面倾角 2.98° 质心平移 4.17cm
+[09:51:56]   [phys] hand_01: 底面倾角 7.03° 质心平移 6.88cm
+[09:51:56]   [phys] domino_11: 底面倾角 90.0° 质心平移 0cm
+[09:51:56]   [skip] domino_11: 退化网格（1 顶点）
+[09:51:56]   [phys] domino_10: 底面倾角 90.0° 质心平移 0cm
+[09:51:56]   [skip] domino_10: 退化网格（1 顶点）
+[09:51:56]   [phys] domino_09: 底面倾角 90.0° 质心平移 0cm
+[09:51:56]   [skip] domino_09: 退化网格（1 顶点）
+[09:51:56]   [phys] domino_08: 底面倾角 2.87° 质心平移 2.49cm
+[09:51:56]   [phys] domino_07: 底面倾角 1.17° 质心平移 12.17cm
+[09:51:56]   [phys] domino_06: 底面倾角 3.26° 质心平移 0.92cm
+[09:51:56]   [phys] domino_05: 底面倾角 5.87° 质心平移 2.35cm
+[09:51:56]   [phys] domino_04: 底面倾角 1.67° 质心平移 3.34cm
+[09:51:57]   [phys] domino_03: 底面倾角 2.09° 质心平移 2.63cm
+[09:51:57]   [phys] domino_02: 底面倾角 2.66° 质心平移 1.22cm
+[09:51:57]   [phys] domino_01: 底面倾角 5.23° 质心平移 0.35cm
+[09:51:57]   [phys] bracelet_01: 底面倾角 3.42° 质心平移 2.21cm
+[09:51:57]   [isolate] 保留 3/12 个物体
+[09:51:57]   [layout] domino_05 -> bracelet_01 间距 0.3733971361907859m 行程 0.6m 桌半宽 x=0.94 z=0.94
+[09:51:57]   table_01               mass=48.528kg (density) vol=161759.2cm3 watertight=True bottom_y=+0.0cm
+[09:51:57]   domino_05              mass=0.003kg (density) vol=   11.6cm3 watertight=False bottom_y=+0.0cm
+[09:51:57]   bracelet_01            mass=0.007kg (density) vol=   23.7cm3 watertight=True bottom_y=+0.0cm
+[09:51:57] 沉降完成，下落量: table_01=-7.0cm, domino_05=-0.0cm, bracelet_01=+3.4cm
+[09:51:57] 推 domino_05: 0.3N x 0.0250s = 0.01N·s
+[09:52:03] 视频：out/b0_cases_v3d/arrange_topple_dominoes__2__hard_contact/sim_tiny.mp4
+[09:52:03] 完成：60 帧 @30fps，接触事件 6 条
+[09:52:03] [arrange_topple_dominoes__2] 三分支完成
+[09:52:03]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:52:03]   [skip] jenga_01: 退化网格（1 顶点）
+[09:52:03] [stack_remove_jenga__2] pusher=block_02 target=block_01 gap=0.25m m=0.02kg 冲量=(0.0166, 0.0211, 0.0255)
+[09:52:03] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:52:04]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:52:04]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:52:04]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:52:04]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:52:04]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:52:04]   [skip] jenga_01: 退化网格（1 顶点）
+[09:52:04]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:52:04]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:52:04]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:52:04]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:52:04]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:52:04]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:52:04]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:52:04]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:52:04]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:52:04]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:52:04]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:52:04]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:52:04]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:52:05]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:52:05]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:52:05]   [isolate] 保留 2/17 个物体
+[09:52:05]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:52:05]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:52:05]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:52:05] 沉降完成，下落量: block_02=+0.0cm, block_01=-0.0cm
+[09:52:05] 推 block_02: 0.7N x 0.0250s = 0.02N·s
+[09:52:09] 视频：out/b0_cases_v3d/stack_remove_jenga__2__near_miss/sim_tiny.mp4
+[09:52:09] 完成：60 帧 @30fps，接触事件 2 条
+[09:52:09] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:52:09]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:52:09]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:52:09]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:52:09]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:52:09]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:52:09]   [skip] jenga_01: 退化网格（1 顶点）
+[09:52:09]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:52:09]   [phys] hand_01: 底面倾角 1.13° 质心平移 5.24cm
+[09:52:09]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:52:09]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:52:09]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:52:09]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:52:10]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:52:10]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:52:10]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:52:10]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:52:10]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:52:10]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:52:10]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:52:10]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:52:10]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:52:10]   [isolate] 保留 2/17 个物体
+[09:52:10]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:52:10]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:52:10]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:52:10] 沉降完成，下落量: block_02=+0.0cm, block_01=-0.0cm
+[09:52:10] 推 block_02: 0.8N x 0.0250s = 0.02N·s
+[09:52:14] 视频：out/b0_cases_v3d/stack_remove_jenga__2__light_contact/sim_tiny.mp4
+[09:52:14] 完成：60 帧 @30fps，接触事件 2 条
+[09:52:14] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__2_20261020_134600_2861c25f16f1/video_pipeline_20261020_134819/stack_remove_jenga__2/scene_anim_blender_physics_with_deform.glb
+[09:52:14]   [phys] sweater_sleeve_01: 底面倾角 6.37° 质心平移 25.6cm
+[09:52:14]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:52:14]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:52:15]   [phys] sleeve_01: 底面倾角 2.27° 质心平移 18.53cm
+[09:52:15]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:52:15]   [skip] jenga_01: 退化网格（1 顶点）
+[09:52:15]   [phys] hand_02: 底面倾角 2.35° 质心平移 6.7cm
+[09:52:15]   [phys] hand_01: 底面倾角 1.13° ��心平移 5.24cm
+[09:52:15]   [phys] block_stack_01: 底面倾角 4.47° 质心平移 14.72cm
+[09:52:15]   [phys] block_12: 底面倾角 2.43° 质心平移 6.93cm
+[09:52:15]   [phys] block_11: 底面倾角 4.5° 质心平移 5.91cm
+[09:52:15]   [phys] block_10: 底面倾角 16.58° 质心平移 2.03cm
+[09:52:15]   [phys] block_09: 底面倾角 26.58° 质心平移 0.03cm
+[09:52:15]   [phys] block_08: 底面倾角 85.2° 质心平移 1.24cm
+[09:52:15]   [phys] block_07: 底面倾角 7.22° 质心平移 1.18cm
+[09:52:15]   [phys] block_06: 底面倾角 0.42° 质心平移 0.46cm
+[09:52:15]   [phys] block_05: 底面倾角 2.23° 质心平移 1.27cm
+[09:52:15]   [phys] block_04: 底面倾角 9.29° 质心平移 0.57cm
+[09:52:15]   [phys] block_03: 底面倾角 2.93° 质心平移 0.43cm
+[09:52:15]   [phys] block_02: 底面倾角 10.8° 质心平移 7.64cm
+[09:52:15]   [phys] block_01: 底面倾角 28.14° 质心平移 9.9cm
+[09:52:15]   [isolate] 保留 2/17 个物体
+[09:52:15]   [layout] block_02 -> block_01 间距 0.25228141060657105m 行程 0.6m 桌半宽 x=1.20 z=1.20
+[09:52:15]   block_02               mass=0.016kg (density) vol=   52.5cm3 watertight=False bottom_y=+0.0cm
+[09:52:15]   block_01               mass=0.031kg (density) vol=  103.9cm3 watertight=False bottom_y=+0.0cm
+[09:52:16] 沉降完成，下落量: block_02=+0.0cm, block_01=-0.0cm
+[09:52:16] 推 block_02: 1.0N x 0.0250s = 0.03N·s
+[09:52:20] 视频：out/b0_cases_v3d/stack_remove_jenga__2__hard_contact/sim_tiny.mp4
+[09:52:20] 完成：60 帧 @30fps，接触事件 3 条
+[09:52:20] [stack_remove_jenga__2] 三分支完成
+[09:52:20]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:52:21] [stack_remove_jenga__5] pusher=block_08 target=block_04 gap=0.32m m=0.05kg 冲量=(0.0504, 0.0639, 0.0775)
+[09:52:21] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:52:21]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:52:22]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:52:22]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:52:22]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:52:22]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:52:22]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:52:22]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:52:22]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:52:22]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:52:22]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:52:22]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:52:22]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:52:22]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:52:22]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:52:23]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:52:23]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:52:23]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:52:23]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:52:23]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:52:23]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:52:23]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:52:23]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:52:23]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:52:23]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:52:23]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:52:23]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:52:24]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:52:24]   [isolate] 保留 3/25 个物体
+[09:52:24]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:52:24]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:52:24]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:52:24]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:52:24] 沉降完成，下落量: table_01=+9.9cm, block_08=-0.0cm, block_04=+0.0cm
+[09:52:24] 推 block_08: 2.0N x 0.0250s = 0.05N·s
+[09:52:29] 视频：out/b0_cases_v3d/stack_remove_jenga__5__near_miss/sim_tiny.mp4
+[09:52:29] 完成：60 帧 @30fps，接触事件 3 条
+[09:52:29] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:52:29]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:52:29]   [phys] sleeve_02: 底面倾角 90.0�� 质心平移 0cm
+[09:52:29]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:52:29]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:52:29]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:52:29]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:52:29]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:52:29]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:52:29]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:52:29]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:52:29]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:52:30]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:52:30]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:52:30]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:52:30]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:52:30]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:52:30]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:52:30]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:52:30]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:52:30]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:52:31]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:52:31]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:52:31]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:52:31]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:52:31]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:52:31]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:52:31]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:52:31]   [isolate] 保留 3/25 个物体
+[09:52:31]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:52:31]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:52:31]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:52:31]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:52:31] 沉降完成，下落量: table_01=+9.9cm, block_08=-0.0cm, block_04=+0.0cm
+[09:52:31] 推 block_08: 2.6N x 0.0250s = 0.06N·s
+[09:52:36] 视频：out/b0_cases_v3d/stack_remove_jenga__5__light_contact/sim_tiny.mp4
+[09:52:36] 完成：60 帧 @30fps，接触事件 3 条
+[09:52:36] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__5_20261020_151134_322ec9eb2fdc/video_pipeline_20261020_151442/stack_remove_jenga__5/scene_anim_blender_physics_with_deform.glb
+[09:52:37]   [phys] table_01: 底面倾角 78.31° 质心平移 1.15cm
+[09:52:37]   [phys] sleeve_02: 底面倾角 90.0° 质心平移 0cm
+[09:52:37]   [skip] sleeve_02: 退化网格（1 顶点）
+[09:52:37]   [phys] sleeve_01: 底面倾角 7.85° 质心平移 120.06cm
+[09:52:37]   [phys] jenga_01: 底面倾角 3.38° 质心平移 12.28cm
+[09:52:37]   [phys] hand_02: 底面倾角 2.19° 质心平移 8.97cm
+[09:52:37]   [phys] hand_01: 底面倾角 5.4° 质心平移 10.81cm
+[09:52:37]   [phys] block_tower_01: 底面倾角 6.7° 质心平移 11.48cm
+[09:52:37]   [phys] block_20: 底面倾角 5.36° 质心平移 5.37cm
+[09:52:37]   [phys] block_19: 底面倾角 9.87° 质心平移 7.13cm
+[09:52:37]   [phys] block_18: 底面倾角 9.52° 质心平移 1.39cm
+[09:52:37]   [phys] block_17: 底面倾角 8.69° 质心平移 3.19cm
+[09:52:37]   [phys] block_16: 底面倾角 4.04° 质心平移 0.85cm
+[09:52:38]   [phys] block_15: 底面倾角 7.38° 质心平移 0.96cm
+[09:52:38]   [phys] block_14: 底面倾角 1.4° 质心平移 0.22cm
+[09:52:38]   [phys] block_13: 底面倾角 4.67° 质心平移 2.12cm
+[09:52:38]   [phys] block_12: 底面倾角 3.66° 质心平移 2.85cm
+[09:52:38]   [phys] block_11: 底面倾角 4.54° 质心平移 11.81cm
+[09:52:38]   [phys] block_10: 底面倾角 3.99° 质心平移 0.39cm
+[09:52:38]   [phys] block_09: 底面倾角 1.94° 质心平移 0.5cm
+[09:52:38]   [phys] block_08: 底面倾角 3.82° 质心平移 10.21cm
+[09:52:38]   [phys] block_07: 底面倾角 3.06° 质心平移 3.66cm
+[09:52:38]   [phys] block_05: 底面倾角 64.53° 质心平移 0.15cm
+[09:52:39]   [phys] block_04: 底面倾角 2.77° 质心平移 6.59cm
+[09:52:39]   [phys] block_03: 底面倾角 7.84° 质心平移 0.67cm
+[09:52:39]   [phys] block_02: 底面倾角 7.77° 质心平移 0.73cm
+[09:52:39]   [phys] block_01: 底面倾角 6.0° 质心平移 0.49cm
+[09:52:39]   [isolate] 保留 3/25 个物体
+[09:52:39]   [layout] block_08 -> block_04 间距 0.3242055831247627m 行程 0.6m 桌半宽 x=2.36 z=2.36
+[09:52:39]   table_01               mass=16.519kg (density) vol=55064.3cm3 watertight=True bottom_y=+0.0cm
+[09:52:39]   block_08               mass=0.051kg (density) vol=  171.5cm3 watertight=True bottom_y=+0.0cm
+[09:52:39]   block_04               mass=0.021kg (density) vol=   71.0cm3 watertight=True bottom_y=+0.0cm
+[09:52:39] 沉降完成，下落量: table_01=+9.9cm, block_08=-0.0cm, block_04=+0.0cm
+[09:52:39] 推 block_08: 3.1N x 0.0250s = 0.08N·s
+[09:52:44] 视频：out/b0_cases_v3d/stack_remove_jenga__5__hard_contact/sim_tiny.mp4
+[09:52:44] 完成：60 帧 @30fps，接触事件 4 条
+[09:52:44] [stack_remove_jenga__5] 三分支完成
+[09:52:45]   [skip] block_15: 退化网格（1 顶点）
+[09:52:45]   [skip] bed_01: 退化网格（1 顶点）
+[09:52:45] [stack_remove_jenga__21] pusher=sleeve_01 target=block_02 gap=0.36m m=0.09kg 冲量=(0.1118, 0.1426, 0.1732)
+[09:52:45] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:52:46]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:52:46]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:52:46]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:52:46]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:52:46]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:52:46]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:52:46]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:52:46]   [skip] block_15: 退化网格（1 顶点）
+[09:52:46]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:52:46]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:52:46]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:52:46]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:52:46]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:52:46]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:52:46]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:52:46]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:52:46]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:52:46]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:52:46]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:52:46]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:52:47]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:52:47]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:52:47]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:52:47]   [skip] bed_01: 退化网格（1 顶点）
+[09:52:47]   [isolate] 保留 2/20 个物体
+[09:52:47]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:52:47]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:52:47]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:52:47] 沉降完成，下落量: sleeve_01=+0.2cm, block_02=+0.1cm
+[09:52:47] 推 sleeve_01: 4.5N x 0.0250s = 0.11N·s
+[09:52:51] 视频：out/b0_cases_v3d/stack_remove_jenga__21__near_miss/sim_tiny.mp4
+[09:52:51] 完成：60 帧 @30fps，接触事件 2 条
+[09:52:51] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:52:51]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:52:51]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:52:51]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:52:51]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:52:51]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:52:51]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:52:51]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:52:51]   [skip] block_15: 退化网格（1 顶点）
+[09:52:51]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:52:51]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:52:51]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:52:51]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:52:51]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:52:51]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:52:51]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:52:51]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:52:52]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:52:52]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:52:52]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:52:52]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:52:52]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:52:52]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:52:52]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:52:52]   [skip] bed_01: 退化网格���1 顶点）
+[09:52:52]   [isolate] 保留 2/20 个物体
+[09:52:52]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:52:52]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:52:52]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:52:52] 沉降完成，下落量: sleeve_01=+0.2cm, block_02=+0.1cm
+[09:52:52] 推 sleeve_01: 5.7N x 0.0250s = 0.14N·s
+[09:52:56] 视频：out/b0_cases_v3d/stack_remove_jenga__21__light_contact/sim_tiny.mp4
+[09:52:56] 完成：60 帧 @30fps，接触事件 2 条
+[09:52:56] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__21_20261020_141925_2744a2f4e0cf/video_pipeline_20261020_142158/stack_remove_jenga__21/scene_anim_blender_physics_with_deform.glb
+[09:52:56]   [phys] sweater_01: 底面倾角 1.13° 质心平移 5.81cm
+[09:52:56]   [phys] sleeve_02: 底面倾角 1.08° 质心平移 9.32cm
+[09:52:56]   [phys] sleeve_01: 底面倾角 1.87° 质心平移 8.36cm
+[09:52:56]   [phys] jenga_01: 底面倾角 2.15° 质心平移 5.44cm
+[09:52:56]   [phys] hand_02: 底面倾角 0.66° 质心平移 9.52cm
+[09:52:56]   [phys] hand_01: 底面倾角 7.49° 质心平移 6.36cm
+[09:52:57]   [phys] block_15: 底面倾角 90.0° 质心平移 0cm
+[09:52:57]   [skip] block_15: 退化网格（1 顶点）
+[09:52:57]   [phys] block_14: 底面倾角 1.29° 质心平移 1.04cm
+[09:52:57]   [phys] block_13: 底面倾角 8.84° 质心平移 0.58cm
+[09:52:57]   [phys] block_12: 底面倾角 9.8° 质心平移 4.89cm
+[09:52:57]   [phys] block_11: 底面倾角 0.19° 质心平移 0.13cm
+[09:52:57]   [phys] block_10: 底面倾角 1.55° 质心平移 0.83cm
+[09:52:57]   [phys] block_09: 底面倾角 1.41° 质心平移 0.41cm
+[09:52:57]   [phys] block_08: 底面倾角 3.53° 质心平移 1.27cm
+[09:52:57]   [phys] block_07: 底面倾角 2.44° 质心平移 0.17cm
+[09:52:57]   [phys] block_06: 底面倾角 0.76° 质心平移 6.93cm
+[09:52:57]   [phys] block_05: 底面倾角 7.7° 质心平移 0.14cm
+[09:52:57]   [phys] block_04: 底面倾角 0.36° 质心平移 0.26cm
+[09:52:57]   [phys] block_03: 底面倾角 13.76° 质心平移 0.42cm
+[09:52:57]   [phys] block_02: 底面倾角 5.86° 质心平移 1.68cm
+[09:52:57]   [phys] block_01: 底面倾角 0.78° 质心平移 0.1cm
+[09:52:57]   [phys] bed_01: 底面倾角 90.0° 质心平移 0cm
+[09:52:57]   [skip] bed_01: 退化网格（1 顶点）
+[09:52:57]   [isolate] 保留 2/20 个物体
+[09:52:57]   [layout] sleeve_01 -> block_02 间距 0.3603281689932908m 行程 0.6m 桌半宽 x=0.88 z=0.88
+[09:52:57]   sleeve_01              mass=0.087kg (density) vol=  288.5cm3 watertight=True bottom_y=+0.0cm
+[09:52:57]   block_02               mass=0.001kg (density) vol=    3.1cm3 watertight=True bottom_y=+0.0cm
+[09:52:57] 沉降完成，下落量: sleeve_01=+0.2cm, block_02=+0.1cm
+[09:52:57] 推 sleeve_01: 6.9N x 0.0250s = 0.17N·s
+[09:53:01] 视频：out/b0_cases_v3d/stack_remove_jenga__21__hard_contact/sim_tiny.mp4
+[09:53:01] 完成：60 帧 @30fps，接触事件 3 条
+[09:53:01] [stack_remove_jenga__21] 三分支完成
+[09:53:01]   [skip] sweater_01: 退化网格（1 顶点）
+[09:53:01]   [skip] jenga_01: 退化网格（1 顶点）
+[09:53:01]   [skip] block_19: 退化网格（1 顶点）
+[09:53:01]   [skip] block_18: 退化网格（1 顶点）
+[09:53:03] [stack_remove_jenga__16] pusher=block_16 target=block_08 gap=0.25m m=0.01kg 冲量=(0.0166, 0.0212, 0.0257)
+[09:53:03] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:53:03]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:53:03]   [skip] sweater_01: 退化网格（1 顶点）
+[09:53:03]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:53:03]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:53:03]   [skip] jenga_01: 退化网格（1 顶点）
+[09:53:03]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:53:03]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:53:03]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:53:03]   [skip] block_19: 退化网格（1 顶点）
+[09:53:03]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:53:03]   [skip] block_18: 退化网格（1 顶点）
+[09:53:03]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:53:03]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:53:03]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:53:03]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:53:04]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:53:04]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:53:04]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:53:04]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:53:04]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:53:04]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:53:04]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:53:04]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:53:04]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:53:04]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:53:05]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:53:05]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:53:05]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:53:05]   [isolate] 保留 2/20 个物体
+[09:53:05]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:53:05]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:53:05]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:53:05] 沉降完成，下落量: block_16=-0.0cm, block_08=-0.1cm
+[09:53:05] 推 block_16: 0.7N x 0.0250s = 0.02N·s
+[09:53:08] 视频：out/b0_cases_v3d/stack_remove_jenga__16__near_miss/sim_tiny.mp4
+[09:53:08] 完成：60 帧 @30fps，接触事件 4 条
+[09:53:08] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:53:08]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:53:08]   [skip] sweater_01: 退化网格（1 顶点）
+[09:53:08]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:53:08]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:53:08]   [skip] jenga_01: 退化网格（1 顶点）
+[09:53:08]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:53:08]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:53:08]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:53:08]   [skip] block_19: 退化网格（1 顶点）
+[09:53:08]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:53:08]   [skip] block_18: 退化网格（1 顶点）
+[09:53:08]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:53:08]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:53:09]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:53:09]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:53:09]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:53:09]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:53:09]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:53:09]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:53:09]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:53:09]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:53:09]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:53:10]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:53:10]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:53:10]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:53:10]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:53:10]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:53:10]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:53:10]   [isolate] 保留 2/20 个物体
+[09:53:10]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:53:10]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:53:10]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:53:10] 沉降完成，下落量: block_16=-0.0cm, block_08=-0.1cm
+[09:53:10] 推 block_16: 0.8N x 0.0250s = 0.02N·s
+[09:53:13] 视频：out/b0_cases_v3d/stack_remove_jenga__16__light_contact/sim_tiny.mp4
+[09:53:13] 完成：60 帧 @30fps，接触事件 6 条
+[09:53:13] 读取 /mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/OVOW/outputs/egodex_p2_batch/ws/stack_remove_jenga__16_20261020_124902_f97631a68011/video_pipeline_20261020_125155/stack_remove_jenga__16/scene_anim_blender_physics_with_deform.glb
+[09:53:14]   [phys] sweater_01: 底面倾角 90.0° 质心平移 0cm
+[09:53:14]   [skip] sweater_01: 退化网格（1 顶点）
+[09:53:14]   [phys] sleeve_01: 底面倾角 4.33° 质心平移 8.27cm
+[09:53:14]   [phys] jenga_01: 底面倾角 90.0° 质心平移 0cm
+[09:53:14]   [skip] jenga_01: 退化网格（1 顶点）
+[09:53:14]   [phys] hand_02: 底面倾角 10.02° 质心平移 3.84cm
+[09:53:14]   [phys] hand_01: 底面倾角 2.85° 质心平移 5.94cm
+[09:53:14]   [phys] block_19: 底面倾角 90.0° 质心平移 0cm
+[09:53:14]   [skip] block_19: 退化网格（1 顶点）
+[09:53:14]   [phys] block_18: 底面倾角 90.0° 质心平移 0cm
+[09:53:14]   [skip] block_18: 退化网格（1 顶点）
+[09:53:14]   [phys] block_17: 底面倾角 1.08° 质心平移 5.25cm
+[09:53:14]   [phys] block_16: 底面倾角 1.98° 质心平移 0.76cm
+[09:53:14]   [phys] block_15: 底面倾角 2.53° 质心平移 2.59cm
+[09:53:14]   [phys] block_14: 底面倾角 11.31° 质心平移 2.69cm
+[09:53:14]   [phys] block_13: 底面倾角 7.55° 质心平移 0.8cm
+[09:53:14]   [phys] block_12: 底面倾角 5.18° 质心平移 3.5cm
+[09:53:14]   [phys] block_11: 底面倾角 17.5° 质心平移 2.26cm
+[09:53:15]   [phys] block_10: 底面倾角 5.52° 质心平移 0.82cm
+[09:53:15]   [phys] block_09: 底面倾角 8.3° 质心平移 2.28cm
+[09:53:15]   [phys] block_08: 底面倾角 1.31° 质心平移 0.29cm
+[09:53:15]   [phys] block_07: 底面倾角 4.37° 质心平移 1.31cm
+[09:53:15]   [phys] block_06: 底面倾角 7.3° 质心平移 3.79cm
+[09:53:15]   [phys] block_05: 底面倾角 4.11° 质心平移 1.9cm
+[09:53:15]   [phys] block_04: 底面倾角 0.18° 质心平移 1.06cm
+[09:53:15]   [phys] block_03: 底面倾角 8.43° 质心平移 1.33cm
+[09:53:15]   [phys] block_02: 底面倾角 2.19° 质心平移 2.23cm
+[09:53:16]   [phys] block_01: 底面倾角 0.22° 质心平移 0.53cm
+[09:53:16]   [isolate] 保留 2/20 个物体
+[09:53:16]   [layout] block_16 -> block_08 间距 0.25m 行程 0.6m 桌半宽 x=0.57 z=0.55
+[09:53:16]   block_16               mass=0.014kg (density) vol=   47.5cm3 watertight=True bottom_y=+0.0cm
+[09:53:16]   block_08               mass=0.080kg (density) vol=  265.4cm3 watertight=False bottom_y=+0.0cm
+[09:53:16] 沉降完成，下落量: block_16=-0.0cm, block_08=-0.1cm
+[09:53:16] 推 block_16: 1.0N x 0.0250s = 0.03N·s
+[09:53:19] 视频：out/b0_cases_v3d/stack_remove_jenga__16__hard_contact/sim_tiny.mp4
+[09:53:19] 完成：60 帧 @30fps，接触事件 5 条
+[09:53:19] [stack_remove_jenga__16] 三分支完成

physworld_p1_20261018/data/desk_banana_scene_anim.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18bf39874fb5b5d10807926844fee0e51f8c738d7492f88f558bd8f3e08689cf
+size 5242056

physworld_p1_20261018/envs/p1/bin/2to3

@@ -0,0 +1,5 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+import sys
+from lib2to3.main import main
+
+sys.exit(main("lib2to3.fixes"))

physworld_p1_20261018/envs/p1/bin/2to3-3.11

@@ -0,0 +1,5 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+import sys
+from lib2to3.main import main
+
+sys.exit(main("lib2to3.fixes"))

physworld_p1_20261018/envs/p1/bin/bunzip2

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e70507329524ed1439e800c7af7cd807236013a05749b5ca604412a2bf92c678
+size 313616

physworld_p1_20261018/envs/p1/bin/bzcat

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e70507329524ed1439e800c7af7cd807236013a05749b5ca604412a2bf92c678
+size 313616

physworld_p1_20261018/envs/p1/bin/bzcmp

@@ -0,0 +1,76 @@
+#!/bin/sh
+# sh is buggy on RS/6000 AIX 3.2. Replace above line with #!/bin/ksh
+
+# Bzcmp/diff wrapped for bzip2, 
+# adapted from zdiff by Philippe Troin <phil@fifi.org> for Debian GNU/Linux.
+
+# Bzcmp and bzdiff are used to invoke the cmp or the  diff  pro-
+# gram  on compressed files.  All options specified are passed
+# directly to cmp or diff.  If only 1 file is specified,  then
+# the  files  compared  are file1 and an uncompressed file1.gz.
+# If two files are specified, then they are  uncompressed  (if
+# necessary) and fed to cmp or diff.  The exit status from cmp
+# or diff is preserved.
+
+PATH="/usr/bin:/bin:$PATH"; export PATH
+prog=`echo $0 | sed 's|.*/||'`
+case "$prog" in
+  *cmp) comp=${CMP-cmp}   ;;
+  *)    comp=${DIFF-diff} ;;
+esac
+
+OPTIONS=
+FILES=
+for ARG
+do
+    case "$ARG" in
+    -*)	OPTIONS="$OPTIONS $ARG";;
+     *)	if test -f "$ARG"; then
+            FILES="$FILES $ARG"
+        else
+            echo "${prog}: $ARG not found or not a regular file"
+	    exit 1
+        fi ;;
+    esac
+done
+if test -z "$FILES"; then
+	echo "Usage: $prog [${comp}_options] file [file]"
+	exit 1
+fi
+set $FILES
+if test $# -eq 1; then
+	FILE=`echo "$1" | sed 's/.bz2$//'`
+	bzip2 -cd "$FILE.bz2" | $comp $OPTIONS - "$FILE"
+	STAT="$?"
+
+elif test $# -eq 2; then
+	case "$1" in
+        *.bz2)
+                case "$2" in
+	        *.bz2)
+			F=`echo "$2" | sed 's|.*/||;s|.bz2$||'`
+			tmp=`mktemp "${TMPDIR:-/tmp}"/bzdiff.XXXXXXXXXX` || {
+			      echo 'cannot create a temporary file' >&2
+			      exit 1
+			}
+                        bzip2 -cdfq "$2" > "$tmp"
+                        bzip2 -cdfq "$1" | $comp $OPTIONS - "$tmp"
+                        STAT="$?"
+			/bin/rm -f "$tmp";;
+
+                *)      bzip2 -cdfq "$1" | $comp $OPTIONS - "$2"
+                        STAT="$?";;
+                esac;;
+        *)      case "$2" in
+	        *.bz2)
+                        bzip2 -cdfq "$2" | $comp $OPTIONS "$1" -
+                        STAT="$?";;
+                *)      $comp $OPTIONS "$1" "$2"
+                        STAT="$?";;
+                esac;;
+	esac
+else
+	echo "Usage: $prog [${comp}_options] file [file]"
+	exit 1
+fi
+exit "$STAT"

physworld_p1_20261018/envs/p1/bin/bzdiff

@@ -0,0 +1,76 @@
+#!/bin/sh
+# sh is buggy on RS/6000 AIX 3.2. Replace above line with #!/bin/ksh
+
+# Bzcmp/diff wrapped for bzip2, 
+# adapted from zdiff by Philippe Troin <phil@fifi.org> for Debian GNU/Linux.
+
+# Bzcmp and bzdiff are used to invoke the cmp or the  diff  pro-
+# gram  on compressed files.  All options specified are passed
+# directly to cmp or diff.  If only 1 file is specified,  then
+# the  files  compared  are file1 and an uncompressed file1.gz.
+# If two files are specified, then they are  uncompressed  (if
+# necessary) and fed to cmp or diff.  The exit status from cmp
+# or diff is preserved.
+
+PATH="/usr/bin:/bin:$PATH"; export PATH
+prog=`echo $0 | sed 's|.*/||'`
+case "$prog" in
+  *cmp) comp=${CMP-cmp}   ;;
+  *)    comp=${DIFF-diff} ;;
+esac
+
+OPTIONS=
+FILES=
+for ARG
+do
+    case "$ARG" in
+    -*)	OPTIONS="$OPTIONS $ARG";;
+     *)	if test -f "$ARG"; then
+            FILES="$FILES $ARG"
+        else
+            echo "${prog}: $ARG not found or not a regular file"
+	    exit 1
+        fi ;;
+    esac
+done
+if test -z "$FILES"; then
+	echo "Usage: $prog [${comp}_options] file [file]"
+	exit 1
+fi
+set $FILES
+if test $# -eq 1; then
+	FILE=`echo "$1" | sed 's/.bz2$//'`
+	bzip2 -cd "$FILE.bz2" | $comp $OPTIONS - "$FILE"
+	STAT="$?"
+
+elif test $# -eq 2; then
+	case "$1" in
+        *.bz2)
+                case "$2" in
+	        *.bz2)
+			F=`echo "$2" | sed 's|.*/||;s|.bz2$||'`
+			tmp=`mktemp "${TMPDIR:-/tmp}"/bzdiff.XXXXXXXXXX` || {
+			      echo 'cannot create a temporary file' >&2
+			      exit 1
+			}
+                        bzip2 -cdfq "$2" > "$tmp"
+                        bzip2 -cdfq "$1" | $comp $OPTIONS - "$tmp"
+                        STAT="$?"
+			/bin/rm -f "$tmp";;
+
+                *)      bzip2 -cdfq "$1" | $comp $OPTIONS - "$2"
+                        STAT="$?";;
+                esac;;
+        *)      case "$2" in
+	        *.bz2)
+                        bzip2 -cdfq "$2" | $comp $OPTIONS "$1" -
+                        STAT="$?";;
+                *)      $comp $OPTIONS "$1" "$2"
+                        STAT="$?";;
+                esac;;
+	esac
+else
+	echo "Usage: $prog [${comp}_options] file [file]"
+	exit 1
+fi
+exit "$STAT"

physworld_p1_20261018/envs/p1/bin/bzegrep

@@ -0,0 +1,85 @@
+#!/bin/sh
+
+# Bzgrep wrapped for bzip2, 
+# adapted from zgrep by Philippe Troin <phil@fifi.org> for Debian GNU/Linux.
+## zgrep notice:
+## zgrep -- a wrapper around a grep program that decompresses files as needed
+## Adapted from a version sent by Charles Levert <charles@comm.polymtl.ca>
+
+PATH="/usr/bin:$PATH"; export PATH
+
+prog=`echo $0 | sed 's|.*/||'`
+case "$prog" in
+	*egrep)	grep=${EGREP-egrep}	;;
+	*fgrep)	grep=${FGREP-fgrep}	;;
+	*)	grep=${GREP-grep}	;;
+esac
+pat=""
+while test $# -ne 0; do
+  case "$1" in
+  -e | -f) opt="$opt $1"; shift; pat="$1"
+           if test "$grep" = grep; then  # grep is buggy with -e on SVR4
+             grep=egrep
+           fi;;
+  -A | -B) opt="$opt $1 $2"; shift;;
+  -*)	   opt="$opt $1";;
+   *)      if test -z "$pat"; then
+	     pat="$1"
+	   else
+	     break;
+           fi;;
+  esac
+  shift
+done
+
+if test -z "$pat"; then
+  echo "grep through bzip2 files"
+  echo "usage: $prog [grep_options] pattern [files]"
+  exit 1
+fi
+
+list=0
+silent=0
+op=`echo "$opt" | sed -e 's/ //g' -e 's/-//g'`
+case "$op" in
+  *l*) list=1
+esac
+case "$op" in
+  *h*) silent=1
+esac
+
+if test $# -eq 0; then
+  bzip2 -cdfq | $grep $opt "$pat"
+  exit $?
+fi
+
+res=0
+for i do
+  if test -f "$i"; then :; else if test -f "$i.bz2"; then i="$i.bz2"; fi; fi
+  if test $list -eq 1; then
+    bzip2 -cdfq "$i" | $grep $opt "$pat" 2>&1 > /dev/null && echo $i
+    r=$?
+  elif test $# -eq 1 -o $silent -eq 1; then
+    bzip2 -cdfq "$i" | $grep $opt "$pat"
+    r=$?
+  else
+    j=$(echo "$i" | sed 's/\\/&&/g;s/|/\\&/g;s/&/\\&/g')
+    j=`printf "%s" "$j" | tr '\n' ' '`
+    # A trick adapted from
+    # https://groups.google.com/forum/#!original/comp.unix.shell/x1345iu10eg/Nn1n-1r1uU0J
+    # that has the same effect as the following bash code:
+    # bzip2 -cdfq "$i" | $grep $opt "$pat" | sed "s|^|${j}:|"
+    # r=${PIPESTATUS[1]}
+    exec 3>&1
+    eval `
+      exec 4>&1 >&3 3>&-
+      {
+        bzip2 -cdfq "$i" 4>&-
+      } | {
+        $grep $opt "$pat" 4>&-; echo "r=$?;" >&4
+      } | sed "s|^|${j}:|"
+    `
+  fi
+  test "$r" -ne 0 && res="$r"
+done
+exit $res

physworld_p1_20261018/envs/p1/bin/bzfgrep

@@ -0,0 +1,85 @@
+#!/bin/sh
+
+# Bzgrep wrapped for bzip2, 
+# adapted from zgrep by Philippe Troin <phil@fifi.org> for Debian GNU/Linux.
+## zgrep notice:
+## zgrep -- a wrapper around a grep program that decompresses files as needed
+## Adapted from a version sent by Charles Levert <charles@comm.polymtl.ca>
+
+PATH="/usr/bin:$PATH"; export PATH
+
+prog=`echo $0 | sed 's|.*/||'`
+case "$prog" in
+	*egrep)	grep=${EGREP-egrep}	;;
+	*fgrep)	grep=${FGREP-fgrep}	;;
+	*)	grep=${GREP-grep}	;;
+esac
+pat=""
+while test $# -ne 0; do
+  case "$1" in
+  -e | -f) opt="$opt $1"; shift; pat="$1"
+           if test "$grep" = grep; then  # grep is buggy with -e on SVR4
+             grep=egrep
+           fi;;
+  -A | -B) opt="$opt $1 $2"; shift;;
+  -*)	   opt="$opt $1";;
+   *)      if test -z "$pat"; then
+	     pat="$1"
+	   else
+	     break;
+           fi;;
+  esac
+  shift
+done
+
+if test -z "$pat"; then
+  echo "grep through bzip2 files"
+  echo "usage: $prog [grep_options] pattern [files]"
+  exit 1
+fi
+
+list=0
+silent=0
+op=`echo "$opt" | sed -e 's/ //g' -e 's/-//g'`
+case "$op" in
+  *l*) list=1
+esac
+case "$op" in
+  *h*) silent=1
+esac
+
+if test $# -eq 0; then
+  bzip2 -cdfq | $grep $opt "$pat"
+  exit $?
+fi
+
+res=0
+for i do
+  if test -f "$i"; then :; else if test -f "$i.bz2"; then i="$i.bz2"; fi; fi
+  if test $list -eq 1; then
+    bzip2 -cdfq "$i" | $grep $opt "$pat" 2>&1 > /dev/null && echo $i
+    r=$?
+  elif test $# -eq 1 -o $silent -eq 1; then
+    bzip2 -cdfq "$i" | $grep $opt "$pat"
+    r=$?
+  else
+    j=$(echo "$i" | sed 's/\\/&&/g;s/|/\\&/g;s/&/\\&/g')
+    j=`printf "%s" "$j" | tr '\n' ' '`
+    # A trick adapted from
+    # https://groups.google.com/forum/#!original/comp.unix.shell/x1345iu10eg/Nn1n-1r1uU0J
+    # that has the same effect as the following bash code:
+    # bzip2 -cdfq "$i" | $grep $opt "$pat" | sed "s|^|${j}:|"
+    # r=${PIPESTATUS[1]}
+    exec 3>&1
+    eval `
+      exec 4>&1 >&3 3>&-
+      {
+        bzip2 -cdfq "$i" 4>&-
+      } | {
+        $grep $opt "$pat" 4>&-; echo "r=$?;" >&4
+      } | sed "s|^|${j}:|"
+    `
+  fi
+  test "$r" -ne 0 && res="$r"
+done
+exit $res

physworld_p1_20261018/envs/p1/bin/bzgrep

@@ -0,0 +1,85 @@
+#!/bin/sh
+
+# Bzgrep wrapped for bzip2, 
+# adapted from zgrep by Philippe Troin <phil@fifi.org> for Debian GNU/Linux.
+## zgrep notice:
+## zgrep -- a wrapper around a grep program that decompresses files as needed
+## Adapted from a version sent by Charles Levert <charles@comm.polymtl.ca>
+
+PATH="/usr/bin:$PATH"; export PATH
+
+prog=`echo $0 | sed 's|.*/||'`
+case "$prog" in
+	*egrep)	grep=${EGREP-egrep}	;;
+	*fgrep)	grep=${FGREP-fgrep}	;;
+	*)	grep=${GREP-grep}	;;
+esac
+pat=""
+while test $# -ne 0; do
+  case "$1" in
+  -e | -f) opt="$opt $1"; shift; pat="$1"
+           if test "$grep" = grep; then  # grep is buggy with -e on SVR4
+             grep=egrep
+           fi;;
+  -A | -B) opt="$opt $1 $2"; shift;;
+  -*)	   opt="$opt $1";;
+   *)      if test -z "$pat"; then
+	     pat="$1"
+	   else
+	     break;
+           fi;;
+  esac
+  shift
+done
+
+if test -z "$pat"; then
+  echo "grep through bzip2 files"
+  echo "usage: $prog [grep_options] pattern [files]"
+  exit 1
+fi
+
+list=0
+silent=0
+op=`echo "$opt" | sed -e 's/ //g' -e 's/-//g'`
+case "$op" in
+  *l*) list=1
+esac
+case "$op" in
+  *h*) silent=1
+esac
+
+if test $# -eq 0; then
+  bzip2 -cdfq | $grep $opt "$pat"
+  exit $?
+fi
+
+res=0
+for i do
+  if test -f "$i"; then :; else if test -f "$i.bz2"; then i="$i.bz2"; fi; fi
+  if test $list -eq 1; then
+    bzip2 -cdfq "$i" | $grep $opt "$pat" 2>&1 > /dev/null && echo $i
+    r=$?
+  elif test $# -eq 1 -o $silent -eq 1; then
+    bzip2 -cdfq "$i" | $grep $opt "$pat"
+    r=$?
+  else
+    j=$(echo "$i" | sed 's/\\/&&/g;s/|/\\&/g;s/&/\\&/g')
+    j=`printf "%s" "$j" | tr '\n' ' '`
+    # A trick adapted from
+    # https://groups.google.com/forum/#!original/comp.unix.shell/x1345iu10eg/Nn1n-1r1uU0J
+    # that has the same effect as the following bash code:
+    # bzip2 -cdfq "$i" | $grep $opt "$pat" | sed "s|^|${j}:|"
+    # r=${PIPESTATUS[1]}
+    exec 3>&1
+    eval `
+      exec 4>&1 >&3 3>&-
+      {
+        bzip2 -cdfq "$i" 4>&-
+      } | {
+        $grep $opt "$pat" 4>&-; echo "r=$?;" >&4
+      } | sed "s|^|${j}:|"
+    `
+  fi
+  test "$r" -ne 0 && res="$r"
+done
+exit $res

physworld_p1_20261018/envs/p1/bin/bzip2

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e70507329524ed1439e800c7af7cd807236013a05749b5ca604412a2bf92c678
+size 313616

physworld_p1_20261018/envs/p1/bin/bzless

@@ -0,0 +1,61 @@
+#!/bin/sh
+
+# Bzmore wrapped for bzip2, 
+# adapted from zmore by Philippe Troin <phil@fifi.org> for Debian GNU/Linux.
+
+PATH="/usr/bin:$PATH"; export PATH
+
+prog=`echo $0 | sed 's|.*/||'`
+case "$prog" in
+	*less)	more=less	;;
+	*)	more=more       ;;
+esac
+
+if test "`echo -n a`" = "-n a"; then
+  # looks like a SysV system:
+  n1=''; n2='\c'
+else
+  n1='-n'; n2=''
+fi
+oldtty=`stty -g 2>/dev/null`
+if stty -cbreak 2>/dev/null; then
+  cb='cbreak'; ncb='-cbreak'
+else
+  # 'stty min 1' resets eof to ^a on both SunOS and SysV!
+  cb='min 1 -icanon'; ncb='icanon eof ^d'
+fi
+if test $? -eq 0 -a -n "$oldtty"; then
+   trap 'stty $oldtty 2>/dev/null; exit' 0 2 3 5 10 13 15
+else
+   trap 'stty $ncb echo 2>/dev/null; exit' 0 2 3 5 10 13 15
+fi
+
+if test $# = 0; then
+    if test -t 0; then
+	echo usage: $prog files...
+    else
+	bzip2 -cdfq | eval $more
+    fi
+else
+    FIRST=1
+    for FILE
+    do
+	if test $FIRST -eq 0; then
+		echo $n1 "--More--(Next file: $FILE)$n2"
+		stty $cb -echo 2>/dev/null
+		ANS=`dd bs=1 count=1 2>/dev/null` 
+		stty $ncb echo 2>/dev/null
+		echo " "
+		if test "$ANS" = 'e' -o "$ANS" = 'q'; then
+			exit
+		fi
+	fi
+	if test "$ANS" != 's'; then
+		echo "------> $FILE <------"
+		bzip2 -cdfq "$FILE" | eval $more
+	fi
+	if test -t; then
+		FIRST=0
+	fi
+    done
+fi

physworld_p1_20261018/envs/p1/bin/bzmore

@@ -0,0 +1,61 @@
+#!/bin/sh
+
+# Bzmore wrapped for bzip2, 
+# adapted from zmore by Philippe Troin <phil@fifi.org> for Debian GNU/Linux.
+
+PATH="/usr/bin:$PATH"; export PATH
+
+prog=`echo $0 | sed 's|.*/||'`
+case "$prog" in
+	*less)	more=less	;;
+	*)	more=more       ;;
+esac
+
+if test "`echo -n a`" = "-n a"; then
+  # looks like a SysV system:
+  n1=''; n2='\c'
+else
+  n1='-n'; n2=''
+fi
+oldtty=`stty -g 2>/dev/null`
+if stty -cbreak 2>/dev/null; then
+  cb='cbreak'; ncb='-cbreak'
+else
+  # 'stty min 1' resets eof to ^a on both SunOS and SysV!
+  cb='min 1 -icanon'; ncb='icanon eof ^d'
+fi
+if test $? -eq 0 -a -n "$oldtty"; then
+   trap 'stty $oldtty 2>/dev/null; exit' 0 2 3 5 10 13 15
+else
+   trap 'stty $ncb echo 2>/dev/null; exit' 0 2 3 5 10 13 15
+fi
+
+if test $# = 0; then
+    if test -t 0; then
+	echo usage: $prog files...
+    else
+	bzip2 -cdfq | eval $more
+    fi
+else
+    FIRST=1
+    for FILE
+    do
+	if test $FIRST -eq 0; then
+		echo $n1 "--More--(Next file: $FILE)$n2"
+		stty $cb -echo 2>/dev/null
+		ANS=`dd bs=1 count=1 2>/dev/null` 
+		stty $ncb echo 2>/dev/null
+		echo " "
+		if test "$ANS" = 'e' -o "$ANS" = 'q'; then
+			exit
+		fi
+	fi
+	if test "$ANS" != 's'; then
+		echo "------> $FILE <------"
+		bzip2 -cdfq "$FILE" | eval $more
+	fi
+	if test -t; then
+		FIRST=0
+	fi
+    done
+fi

physworld_p1_20261018/envs/p1/bin/c_rehash

@@ -0,0 +1,253 @@
+#!/usr/bin/env perl
+
+# WARNING: do not edit!
+# Generated by Makefile from tools/c_rehash.in
+# Copyright 1999-2025 The OpenSSL Project Authors. All Rights Reserved.
+#
+# Licensed under the Apache License 2.0 (the "License").  You may not use
+# this file except in compliance with the License.  You can obtain a copy
+# in the file LICENSE in the source distribution or at
+# https://www.openssl.org/source/license.html
+
+# Perl c_rehash script, scan all files in a directory
+# and add symbolic links to their hash values.
+
+my $dir = "";
+my $prefix = "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1";
+
+my $errorcount = 0;
+my $openssl = $ENV{OPENSSL} || "openssl";
+my $pwd;
+my $x509hash = "-subject_hash";
+my $crlhash = "-hash";
+my $verbose = 0;
+my $symlink_exists=eval {symlink("",""); 1};
+my $removelinks = 1;
+
+##  Parse flags.
+while ( $ARGV[0] =~ /^-/ ) {
+    my $flag = shift @ARGV;
+    last if ( $flag eq '--');
+    if ( $flag eq '-old') {
+        $x509hash = "-subject_hash_old";
+        $crlhash = "-hash_old";
+    } elsif ( $flag eq '-h' || $flag eq '-help' ) {
+        help();
+    } elsif ( $flag eq '-n' ) {
+        $removelinks = 0;
+    } elsif ( $flag eq '-v' ) {
+        $verbose++;
+    }
+    else {
+        print STDERR "Usage error; try -h.\n";
+        exit 1;
+    }
+}
+
+sub help {
+    print "Usage: c_rehash [-old] [-h] [-help] [-v] [dirs...]\n";
+    print "   -old use old-style digest\n";
+    print "   -h or -help print this help text\n";
+    print "   -v print files removed and linked\n";
+    exit 0;
+}
+
+eval "require Cwd";
+if (defined(&Cwd::getcwd)) {
+    $pwd=Cwd::getcwd();
+} else {
+    $pwd=`pwd`;
+    chomp($pwd);
+}
+
+# DOS/Win32 or Unix delimiter?  Prefix our installdir, then search.
+my $path_delim = ($pwd =~ /^[a-z]\:/i) ? ';' : ':';
+$ENV{PATH} = "$prefix/bin" . ($ENV{PATH} ? $path_delim . $ENV{PATH} : "");
+
+if (!(-f $openssl && -x $openssl)) {
+    my $found = 0;
+    foreach (split /$path_delim/, $ENV{PATH}) {
+        if (-f "$_/$openssl" && -x "$_/$openssl") {
+            $found = 1;
+            $openssl = "$_/$openssl";
+            last;
+        }
+    }
+    if ($found == 0) {
+        print STDERR "c_rehash: rehashing skipped ('openssl' program not available)\n";
+        exit 0;
+    }
+}
+
+if (@ARGV) {
+    @dirlist = @ARGV;
+} elsif ($ENV{SSL_CERT_DIR}) {
+    @dirlist = split /$path_delim/, $ENV{SSL_CERT_DIR};
+} else {
+    $dirlist[0] = "$dir/certs";
+}
+
+if (-d $dirlist[0]) {
+    chdir $dirlist[0];
+    $openssl="$pwd/$openssl" if (!(-f $openssl && -x $openssl));
+    chdir $pwd;
+}
+
+foreach (@dirlist) {
+    if (-d $_ ) {
+        if ( -w $_) {
+            hash_dir($_);
+        } else {
+            print "Skipping $_, can't write\n";
+            $errorcount++;
+        }
+    }
+}
+exit($errorcount);
+
+sub copy_file {
+    my ($src_fname, $dst_fname) = @_;
+
+    if (open(my $in, "<", $src_fname)) {
+        if (open(my $out, ">", $dst_fname)) {
+            print $out $_ while (<$in>);
+            close $out;
+        } else {
+            warn "Cannot open $dst_fname for write, $!";
+        }
+        close $in;
+    } else {
+        warn "Cannot open $src_fname for read, $!";
+    }
+}
+
+sub hash_dir {
+    my $dir = shift;
+    my %hashlist;
+
+    print "Doing $dir\n";
+
+    if (!chdir $dir) {
+        print STDERR "WARNING: Cannot chdir to '$dir', $!\n";
+        return;
+    }
+
+    opendir(DIR, ".") || print STDERR "WARNING: Cannot opendir '.', $!\n";
+    my @flist = sort readdir(DIR);
+    closedir DIR;
+    if ( $removelinks ) {
+        # Delete any existing symbolic links
+        foreach (grep {/^[\da-f]+\.r{0,1}\d+$/} @flist) {
+            if (-l $_) {
+                print "unlink $_\n" if $verbose;
+                unlink $_ || warn "Can't unlink $_, $!\n";
+            }
+        }
+    }
+    FILE: foreach $fname (grep {/\.(pem|crt|cer|crl)$/} @flist) {
+        # Check to see if certificates and/or CRLs present.
+        my ($cert, $crl) = check_file($fname);
+        if (!$cert && !$crl) {
+            print STDERR "WARNING: $fname does not contain a certificate or CRL: skipping\n";
+            next;
+        }
+        link_hash_cert($fname) if ($cert);
+        link_hash_crl($fname) if ($crl);
+    }
+
+    chdir $pwd;
+}
+
+sub check_file {
+    my ($is_cert, $is_crl) = (0,0);
+    my $fname = $_[0];
+
+    open(my $in, "<", $fname);
+    while(<$in>) {
+        if (/^-----BEGIN (.*)-----/) {
+            my $hdr = $1;
+            if ($hdr =~ /^(X509 |TRUSTED |)CERTIFICATE$/) {
+                $is_cert = 1;
+                last if ($is_crl);
+            } elsif ($hdr eq "X509 CRL") {
+                $is_crl = 1;
+                last if ($is_cert);
+            }
+        }
+    }
+    close $in;
+    return ($is_cert, $is_crl);
+}
+
+sub compute_hash {
+    my $fh;
+    if ( $^O eq "VMS" ) {
+        # VMS uses the open through shell
+        # The file names are safe there and list form is unsupported
+        if (!open($fh, "-|", join(' ', @_))) {
+            print STDERR "Cannot compute hash on '$fname'\n";
+            return;
+        }
+    } else {
+        if (!open($fh, "-|", @_)) {
+            print STDERR "Cannot compute hash on '$fname'\n";
+            return;
+        }
+        binmode($fh, ":crlf");
+    }
+    return (<$fh>, <$fh>);
+}
+
+# Link a certificate to its subject name hash value, each hash is of
+# the form <hash>.<n> where n is an integer. If the hash value already exists
+# then we need to up the value of n, unless its a duplicate in which
+# case we skip the link. We check for duplicates by comparing the
+# certificate fingerprints
+
+sub link_hash_cert {
+    link_hash($_[0], 'cert');
+}
+
+# Same as above except for a CRL. CRL links are of the form <hash>.r<n>
+
+sub link_hash_crl {
+    link_hash($_[0], 'crl');
+}
+
+sub link_hash {
+    my ($fname, $type) = @_;
+    my $is_cert = $type eq 'cert';
+
+    my ($hash, $fprint) = compute_hash($openssl,
+                                       $is_cert ? "x509" : "crl",
+                                       $is_cert ? $x509hash : $crlhash,
+                                       "-fingerprint", "-noout",
+                                       "-in", $fname);
+    chomp $hash;
+    $hash =~ s/^.*=// if !$is_cert;
+    chomp $fprint;
+    return if !$hash;
+    $fprint =~ s/^.*=//;
+    $fprint =~ tr/://d;
+    my $suffix = 0;
+    # Search for an unused hash filename
+    my $crlmark = $is_cert ? "" : "r";
+    while(exists $hashlist{"$hash.$crlmark$suffix"}) {
+        # Hash matches: if fingerprint matches its a duplicate cert
+        if ($hashlist{"$hash.$crlmark$suffix"} eq $fprint) {
+            my $what = $is_cert ? 'certificate' : 'CRL';
+            print STDERR "WARNING: Skipping duplicate $what $fname\n";
+            return;
+        }
+        $suffix++;
+    }
+    $hash .= ".$crlmark$suffix";
+    if ($symlink_exists) {
+        print "link $fname -> $hash\n" if $verbose;
+        symlink $fname, $hash || warn "Can't symlink, $!";
+    } else {
+        print "copy $fname -> $hash\n" if $verbose;
+        copy_file($fname, $hash);
+    }
+    $hashlist{$hash} = $fprint;
+}

physworld_p1_20261018/envs/p1/bin/f2py

@@ -0,0 +1,6 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+import sys
+from numpy.f2py.f2py2e import main
+if __name__ == '__main__':
+    sys.argv[0] = sys.argv[0].removesuffix('.exe')
+    sys.exit(main())

physworld_p1_20261018/envs/p1/bin/hf

@@ -0,0 +1,6 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+import sys
+from huggingface_hub.cli.hf import main
+if __name__ == '__main__':
+    sys.argv[0] = sys.argv[0].removesuffix('.exe')
+    sys.exit(main())

physworld_p1_20261018/envs/p1/bin/httpx2

@@ -0,0 +1,6 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+import sys
+from httpx2._main import main
+if __name__ == '__main__':
+    sys.argv[0] = sys.argv[0].removesuffix('.exe')
+    sys.exit(main())

physworld_p1_20261018/envs/p1/bin/idle3

@@ -0,0 +1,5 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+
+from idlelib.pyshell import main
+if __name__ == '__main__':
+    main()

physworld_p1_20261018/envs/p1/bin/idle3.11

@@ -0,0 +1,5 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+
+from idlelib.pyshell import main
+if __name__ == '__main__':
+    main()

physworld_p1_20261018/envs/p1/bin/idna

@@ -0,0 +1,6 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+import sys
+from idna.cli import main
+if __name__ == '__main__':
+    sys.argv[0] = sys.argv[0].removesuffix('.exe')
+    sys.exit(main())

physworld_p1_20261018/envs/p1/bin/imageio_download_bin

@@ -0,0 +1,6 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+import sys
+from imageio.__main__ import download_bin_main
+if __name__ == '__main__':
+    sys.argv[0] = sys.argv[0].removesuffix('.exe')
+    sys.exit(download_bin_main())

physworld_p1_20261018/envs/p1/bin/imageio_remove_bin

@@ -0,0 +1,6 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+import sys
+from imageio.__main__ import remove_bin_main
+if __name__ == '__main__':
+    sys.argv[0] = sys.argv[0].removesuffix('.exe')
+    sys.exit(remove_bin_main())

physworld_p1_20261018/envs/p1/bin/ncurses6-config

@@ -0,0 +1,383 @@
+#!/bin/sh
+# $Id: ncurses-config.in,v 1.63 2025/11/22 19:19:28 tom Exp $
+##############################################################################
+# Copyright 2018-2024,2025 Thomas E. Dickey                                  #
+# Copyright 2006-2015,2017 Free Software Foundation, Inc.                    #
+#                                                                            #
+# Permission is hereby granted, free of charge, to any person obtaining a    #
+# copy of this software and associated documentation files (the "Software"), #
+# to deal in the Software without restriction, including without limitation  #
+# the rights to use, copy, modify, merge, publish, distribute, distribute    #
+# with modifications, sublicense, and/or sell copies of the Software, and to #
+# permit persons to whom the Software is furnished to do so, subject to the  #
+# following conditions:                                                      #
+#                                                                            #
+# The above copyright notice and this permission notice shall be included in #
+# all copies or substantial portions of the Software.                        #
+#                                                                            #
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR #
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,   #
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL    #
+# THE ABOVE COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER      #
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING    #
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER        #
+# DEALINGS IN THE SOFTWARE.                                                  #
+#                                                                            #
+# Except as contained in this notice, the name(s) of the above copyright     #
+# holders shall not be used in advertising or otherwise to promote the sale, #
+# use or other dealings in this Software without prior written               #
+# authorization.                                                             #
+##############################################################################
+#
+# Author: Thomas E. Dickey, 2006-on
+
+LANG=C;		export LANG
+LANGUAGE=C;	export LANGUAGE
+LC_ALL=C;	export LC_ALL
+LC_CTYPE=C;	export LC_CTYPE
+
+prefix="/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1"
+exec_prefix="${prefix}"
+
+bindir="${exec_prefix}/bin"
+includedir="${prefix}/include"
+libdir="${exec_prefix}/lib"
+datarootdir="${prefix}/share"
+datadir="${datarootdir}"
+mandir="${datarootdir}/man"
+
+CURSES_LIB="ncurses"
+TINFO_LIB="tinfo"
+RPATH_LIST="${libdir}"
+
+# Ensure that RPATH_LIST contains only absolute pathnames, if it is nonempty.
+# We cannot filter it out within the build-process since the variable is used
+# in some special cases of installation using a relative path.
+if [ -n "$RPATH_LIST" ]
+then
+	save_IFS="$IFS"
+	IFS=':'
+	filtered=
+	for item in $RPATH_LIST
+	do
+		case "$item" in
+		./*|../*|*/..|*/../*)
+			;;
+		*)
+			[ -n "$filtered" ] && filtered="${filtered}:"
+			filtered="${filtered}${item}"
+			;;
+		esac
+	done
+	IFS="$save_IFS"
+	# if the result is empty, there is little we can do to fix it
+	RPATH_LIST="$filtered"
+fi
+
+# with --disable-overwrite, we installed into a subdirectory, but transformed
+# the headers to include like this:
+#	<ncurses/curses.h>
+if [ xno = xno ]; then
+	includesubdir="${prefix}/include/${CURSES_LIB}"
+	case $includedir in
+	$prefix/include/ncurses)
+		includedir=`echo "$includedir" | sed -e 's,/[^/]*$,,'`
+		;;
+	esac
+else
+	includesubdir="${prefix}/include"
+fi
+
+LIBS=""
+if [ "tinfo" = "ncurses" ]; then
+	LIBS="-l${CURSES_LIB} $LIBS"
+else
+	LIBS="-l${CURSES_LIB} -l${TINFO_LIB} $LIBS"
+fi
+
+CFLAGS=" -D_GNU_SOURCE"
+if [ "$includesubdir" != "/usr/include" ]; then
+	CFLAGS="$CFLAGS -I${includesubdir}"
+	if [ "$includedir" != "/usr/include" ]; then
+		[ xno = xno ] && CFLAGS="$CFLAGS -I${includedir}"
+	fi
+fi
+
+# Ignore -L options which do not correspond to an actual directory, or which
+# are standard library directories (i.e., the linker is supposed to search
+# those directories).
+#
+# There is no portable way to find the list of standard library directories.
+# Require a POSIX shell anyway, to keep this simple.
+lib_flags=
+for opt in -L$libdir -Wl,-O2 -Wl,--sort-common -Wl,--as-needed -Wl,-z,relro -Wl,-z,now -Wl,--disable-new-dtags -Wl,--gc-sections -Wl,--allow-shlib-undefined -Wl,-rpath,/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/lib -Wl,-rpath-link,/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/lib -L/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/lib  $LIBS
+do
+	case $opt in
+	-specs*) # ignore linker specs-files which were used to build library
+		continue
+		;;
+	-Wl,-z*) # ignore flags used to manipulate shared image
+		continue
+		;;
+	-Wl,--dynamic-linker*) # ignore ELF interpreter
+		continue
+		;;
+	-Wl,--as-needed|-Wl,--build-id=*|-Wl,-dT,*|-Wl,-T,*)
+		continue
+		;;
+	-L*)
+		lib_check=`echo "x$opt" | sed -e 's/^.-L//'`
+		[ -d "$lib_check" ] || continue
+		case "$lib_check" in
+		/usr/local/lib64|/lib64|/usr/lib64|/home/conda/feedstock_root/build_artifacts/ncurses_1786354885305/_build_env/x86_64-conda-linux-gnu/lib|/home/conda/feedstock_root/build_artifacts/ncurses_1786354885305/_build_env/lib|/usr/local/lib|/lib|/usr/lib) # skip standard libdir
+			if [ "$lib_check" = "$libdir" ]
+			then
+				lib_first=no
+				IFS_save="$IFS"
+				IFS='|'
+				LIBDIRS="/usr/local/lib64|/lib64|/usr/lib64|/home/conda/feedstock_root/build_artifacts/ncurses_1786354885305/_build_env/x86_64-conda-linux-gnu/lib|/home/conda/feedstock_root/build_artifacts/ncurses_1786354885305/_build_env/lib|/usr/local/lib|/lib|/usr/lib"
+				for lib_check in $LIBDIRS
+				do
+					if [ -d "$lib_check" ]
+					then
+						if [ "$lib_check" = "$libdir" ]
+						then
+							lib_first=yes
+							break
+						fi
+					fi
+				done
+				IFS="$IFS_save"
+				[ $lib_first = yes ] && continue
+				found=no
+				for check in $lib_flags
+				do
+					if [ "x$check" = "x$opt" ]
+					then
+						found=yes
+						break
+					fi
+				done
+				[ $found = yes ] && continue
+				:
+			else
+				continue
+			fi
+			;;
+		*)
+			found=no
+			for check in $lib_flags
+			do
+				if [ "x$check" = "x$opt" ]
+				then
+					found=yes
+					break
+				fi
+			done
+			[ $found = yes ] && continue
+			;;
+		esac
+		;;
+	esac
+	lib_flags="$lib_flags $opt"
+done
+
+[ $# = 0 ] && exec /bin/sh "$0" --error
+
+while [ $# -gt 0 ]; do
+	case "$1" in
+	# basic configuration
+	--prefix)
+		echo "$prefix"
+		;;
+	--exec-prefix)
+		echo "$exec_prefix"
+		;;
+	# compile/link
+	--cflags)
+		OPTS=
+		for opt in $CFLAGS
+		do
+			case "x$opt" in
+			x-[fgOW]*)
+				opt=
+				;;
+			esac
+			if [ -n "$opt" ]
+			then
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="$OPTS$opt"
+			fi
+		done
+		printf "%s\n" "$OPTS"
+		;;
+	--cflags-only-I)
+		OPTS=
+		for opt in $CFLAGS
+		do
+			case "x$opt" in
+			x-[I]*)
+				;;
+			*)
+				opt=
+				;;
+			esac
+			if [ -n "$opt" ]
+			then
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="$OPTS$opt"
+			fi
+		done
+		printf "%s\n" "$OPTS"
+		;;
+	--cflags-only-other)
+		OPTS=
+		for opt in $CFLAGS
+		do
+			case "x$opt" in
+			x-[I]*|x-[fgOW]*)
+				opt=
+				;;
+			esac
+			if [ -n "$opt" ]
+			then
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="$OPTS$opt"
+			fi
+		done
+		printf "%s\n" "$OPTS"
+		;;
+	--libs)
+		OPTS=
+		for opt in $lib_flags
+		do
+			[ -n "$OPTS" ] && OPTS="$OPTS "
+			OPTS="${OPTS}${opt}"
+		done
+		printf '%s\n' "$OPTS"
+		;;
+	--libs-only-L)
+		OPTS=
+		for opt in $lib_flags
+		do
+			case "x$opt" in
+			x-L*)
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="${OPTS}${opt}"
+				;;
+			esac
+		done
+		printf '%s\n' "$OPTS"
+		;;
+	--libs-only-l)
+		OPTS=
+		for opt in $lib_flags
+		do
+			case "x$opt" in
+			x-l*)
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="${OPTS}${opt}"
+				;;
+			esac
+		done
+		printf '%s\n' "$OPTS"
+		;;
+	--libs-only-other)
+		OPTS=
+		for opt in $lib_flags
+		do
+			case "x$opt" in
+			x-[lL]*)
+				;;
+			*)
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="${OPTS}${opt}"
+				;;
+			esac
+		done
+		printf '%s\n' "$OPTS"
+		;;
+	# identification
+	--version)
+		echo "6.6.20251230"
+		;;
+	--abi-version)
+		echo "6"
+		;;
+	--mouse-version)
+		echo "2"
+		;;
+	# locations
+	--bindir)
+		echo "${bindir}"
+		;;
+	--datadir)
+		echo "${datadir}"
+		;;
+	--includedir)
+		INCS=
+		if [ "xno" = xno ]; then
+			INCS="${includesubdir}"
+		elif [ "${includedir}" != /usr/include ]; then
+			INCS="${includedir}"
+		fi
+		echo "$INCS"
+		;;
+	--libdir)
+		echo "${libdir}"
+		;;
+	--mandir)
+		echo "${mandir}"
+		;;
+	--terminfo)
+		echo "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/share/terminfo"
+		;;
+	--terminfo-dirs)
+		echo "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/share/terminfo"
+		;;
+	--termpath)
+		echo "/etc/termcap:/usr/share/misc/termcap"
+		;;
+	# general info
+	--help)
+		cat <<ENDHELP
+Usage: `basename "$0"` [options]
+
+Options:
+  --prefix            echoes the package-prefix of ${CURSES_LIB}
+  --exec-prefix       echoes the executable-prefix of ${CURSES_LIB}
+
+  --cflags            echoes the C compiler flags needed to compile for ${CURSES_LIB}
+  --cflags-only-I     echoes only -I C compiler flags needed with ${CURSES_LIB}
+  --cflags-only-other echoes only C compiler flags other than -I for ${CURSES_LIB}
+  --libs              echoes the libraries needed to link with ${CURSES_LIB}
+
+  --libs-only-L       echoes -L linker options (search path) for ${CURSES_LIB}
+  --libs-only-l       echoes -l linker options (libraries) for ${CURSES_LIB}
+  --libs-only-other   echoes linker options other than -L/-l
+
+  --version           echoes the release+patchdate version of ${CURSES_LIB}
+  --abi-version       echoes the ABI version of ${CURSES_LIB}
+  --mouse-version     echoes the mouse-interface version of ${CURSES_LIB}
+
+  --bindir            echoes the directory containing ${CURSES_LIB} programs
+  --datadir           echoes the directory containing ${CURSES_LIB} data
+  --includedir        echoes the directory containing ${CURSES_LIB} header files
+  --libdir            echoes the directory containing ${CURSES_LIB} libraries
+  --mandir            echoes the directory containing ${CURSES_LIB} man pages
+  --terminfo          echoes the \$TERMINFO terminfo database path
+  --terminfo-dirs     echoes the \$TERMINFO_DIRS directory list
+  --termpath          echoes the \$TERMPATH termcap list
+
+  --help              prints this message
+ENDHELP
+		;;
+	--error|*)
+		/bin/sh "$0" --help 1>&2
+		exit 1
+		;;
+	esac
+	shift
+done
+# vi:ts=4 sw=4
+# vile:shmode

physworld_p1_20261018/envs/p1/bin/ncursesw6-config

@@ -0,0 +1,383 @@
+#!/bin/sh
+# $Id: ncurses-config.in,v 1.63 2025/11/22 19:19:28 tom Exp $
+##############################################################################
+# Copyright 2018-2024,2025 Thomas E. Dickey                                  #
+# Copyright 2006-2015,2017 Free Software Foundation, Inc.                    #
+#                                                                            #
+# Permission is hereby granted, free of charge, to any person obtaining a    #
+# copy of this software and associated documentation files (the "Software"), #
+# to deal in the Software without restriction, including without limitation  #
+# the rights to use, copy, modify, merge, publish, distribute, distribute    #
+# with modifications, sublicense, and/or sell copies of the Software, and to #
+# permit persons to whom the Software is furnished to do so, subject to the  #
+# following conditions:                                                      #
+#                                                                            #
+# The above copyright notice and this permission notice shall be included in #
+# all copies or substantial portions of the Software.                        #
+#                                                                            #
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR #
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,   #
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL    #
+# THE ABOVE COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER      #
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING    #
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER        #
+# DEALINGS IN THE SOFTWARE.                                                  #
+#                                                                            #
+# Except as contained in this notice, the name(s) of the above copyright     #
+# holders shall not be used in advertising or otherwise to promote the sale, #
+# use or other dealings in this Software without prior written               #
+# authorization.                                                             #
+##############################################################################
+#
+# Author: Thomas E. Dickey, 2006-on
+
+LANG=C;		export LANG
+LANGUAGE=C;	export LANGUAGE
+LC_ALL=C;	export LC_ALL
+LC_CTYPE=C;	export LC_CTYPE
+
+prefix="/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1"
+exec_prefix="${prefix}"
+
+bindir="${exec_prefix}/bin"
+includedir="${prefix}/include"
+libdir="${exec_prefix}/lib"
+datarootdir="${prefix}/share"
+datadir="${datarootdir}"
+mandir="${datarootdir}/man"
+
+CURSES_LIB="ncursesw"
+TINFO_LIB="tinfow"
+RPATH_LIST="${libdir}"
+
+# Ensure that RPATH_LIST contains only absolute pathnames, if it is nonempty.
+# We cannot filter it out within the build-process since the variable is used
+# in some special cases of installation using a relative path.
+if [ -n "$RPATH_LIST" ]
+then
+	save_IFS="$IFS"
+	IFS=':'
+	filtered=
+	for item in $RPATH_LIST
+	do
+		case "$item" in
+		./*|../*|*/..|*/../*)
+			;;
+		*)
+			[ -n "$filtered" ] && filtered="${filtered}:"
+			filtered="${filtered}${item}"
+			;;
+		esac
+	done
+	IFS="$save_IFS"
+	# if the result is empty, there is little we can do to fix it
+	RPATH_LIST="$filtered"
+fi
+
+# with --disable-overwrite, we installed into a subdirectory, but transformed
+# the headers to include like this:
+#	<ncursesw/curses.h>
+if [ xno = xno ]; then
+	includesubdir="${prefix}/include/${CURSES_LIB}"
+	case $includedir in
+	$prefix/include/ncursesw)
+		includedir=`echo "$includedir" | sed -e 's,/[^/]*$,,'`
+		;;
+	esac
+else
+	includesubdir="${prefix}/include"
+fi
+
+LIBS=""
+if [ "tinfo" = "ncurses" ]; then
+	LIBS="-l${CURSES_LIB} $LIBS"
+else
+	LIBS="-l${CURSES_LIB} -l${TINFO_LIB} $LIBS"
+fi
+
+CFLAGS=" -D_GNU_SOURCE -DNCURSES_WIDECHAR"
+if [ "$includesubdir" != "/usr/include" ]; then
+	CFLAGS="$CFLAGS -I${includesubdir}"
+	if [ "$includedir" != "/usr/include" ]; then
+		[ xno = xno ] && CFLAGS="$CFLAGS -I${includedir}"
+	fi
+fi
+
+# Ignore -L options which do not correspond to an actual directory, or which
+# are standard library directories (i.e., the linker is supposed to search
+# those directories).
+#
+# There is no portable way to find the list of standard library directories.
+# Require a POSIX shell anyway, to keep this simple.
+lib_flags=
+for opt in -L$libdir -Wl,-O2 -Wl,--sort-common -Wl,--as-needed -Wl,-z,relro -Wl,-z,now -Wl,--disable-new-dtags -Wl,--gc-sections -Wl,--allow-shlib-undefined -Wl,-rpath,/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/lib -Wl,-rpath-link,/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/lib -L/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/lib  $LIBS
+do
+	case $opt in
+	-specs*) # ignore linker specs-files which were used to build library
+		continue
+		;;
+	-Wl,-z*) # ignore flags used to manipulate shared image
+		continue
+		;;
+	-Wl,--dynamic-linker*) # ignore ELF interpreter
+		continue
+		;;
+	-Wl,--as-needed|-Wl,--build-id=*|-Wl,-dT,*|-Wl,-T,*)
+		continue
+		;;
+	-L*)
+		lib_check=`echo "x$opt" | sed -e 's/^.-L//'`
+		[ -d "$lib_check" ] || continue
+		case "$lib_check" in
+		/usr/local/lib64|/lib64|/usr/lib64|/home/conda/feedstock_root/build_artifacts/ncurses_1786354885305/_build_env/x86_64-conda-linux-gnu/lib|/home/conda/feedstock_root/build_artifacts/ncurses_1786354885305/_build_env/lib|/usr/local/lib|/lib|/usr/lib) # skip standard libdir
+			if [ "$lib_check" = "$libdir" ]
+			then
+				lib_first=no
+				IFS_save="$IFS"
+				IFS='|'
+				LIBDIRS="/usr/local/lib64|/lib64|/usr/lib64|/home/conda/feedstock_root/build_artifacts/ncurses_1786354885305/_build_env/x86_64-conda-linux-gnu/lib|/home/conda/feedstock_root/build_artifacts/ncurses_1786354885305/_build_env/lib|/usr/local/lib|/lib|/usr/lib"
+				for lib_check in $LIBDIRS
+				do
+					if [ -d "$lib_check" ]
+					then
+						if [ "$lib_check" = "$libdir" ]
+						then
+							lib_first=yes
+							break
+						fi
+					fi
+				done
+				IFS="$IFS_save"
+				[ $lib_first = yes ] && continue
+				found=no
+				for check in $lib_flags
+				do
+					if [ "x$check" = "x$opt" ]
+					then
+						found=yes
+						break
+					fi
+				done
+				[ $found = yes ] && continue
+				:
+			else
+				continue
+			fi
+			;;
+		*)
+			found=no
+			for check in $lib_flags
+			do
+				if [ "x$check" = "x$opt" ]
+				then
+					found=yes
+					break
+				fi
+			done
+			[ $found = yes ] && continue
+			;;
+		esac
+		;;
+	esac
+	lib_flags="$lib_flags $opt"
+done
+
+[ $# = 0 ] && exec /bin/sh "$0" --error
+
+while [ $# -gt 0 ]; do
+	case "$1" in
+	# basic configuration
+	--prefix)
+		echo "$prefix"
+		;;
+	--exec-prefix)
+		echo "$exec_prefix"
+		;;
+	# compile/link
+	--cflags)
+		OPTS=
+		for opt in $CFLAGS
+		do
+			case "x$opt" in
+			x-[fgOW]*)
+				opt=
+				;;
+			esac
+			if [ -n "$opt" ]
+			then
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="$OPTS$opt"
+			fi
+		done
+		printf "%s\n" "$OPTS"
+		;;
+	--cflags-only-I)
+		OPTS=
+		for opt in $CFLAGS
+		do
+			case "x$opt" in
+			x-[I]*)
+				;;
+			*)
+				opt=
+				;;
+			esac
+			if [ -n "$opt" ]
+			then
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="$OPTS$opt"
+			fi
+		done
+		printf "%s\n" "$OPTS"
+		;;
+	--cflags-only-other)
+		OPTS=
+		for opt in $CFLAGS
+		do
+			case "x$opt" in
+			x-[I]*|x-[fgOW]*)
+				opt=
+				;;
+			esac
+			if [ -n "$opt" ]
+			then
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="$OPTS$opt"
+			fi
+		done
+		printf "%s\n" "$OPTS"
+		;;
+	--libs)
+		OPTS=
+		for opt in $lib_flags
+		do
+			[ -n "$OPTS" ] && OPTS="$OPTS "
+			OPTS="${OPTS}${opt}"
+		done
+		printf '%s\n' "$OPTS"
+		;;
+	--libs-only-L)
+		OPTS=
+		for opt in $lib_flags
+		do
+			case "x$opt" in
+			x-L*)
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="${OPTS}${opt}"
+				;;
+			esac
+		done
+		printf '%s\n' "$OPTS"
+		;;
+	--libs-only-l)
+		OPTS=
+		for opt in $lib_flags
+		do
+			case "x$opt" in
+			x-l*)
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="${OPTS}${opt}"
+				;;
+			esac
+		done
+		printf '%s\n' "$OPTS"
+		;;
+	--libs-only-other)
+		OPTS=
+		for opt in $lib_flags
+		do
+			case "x$opt" in
+			x-[lL]*)
+				;;
+			*)
+				[ -n "$OPTS" ] && OPTS="$OPTS "
+				OPTS="${OPTS}${opt}"
+				;;
+			esac
+		done
+		printf '%s\n' "$OPTS"
+		;;
+	# identification
+	--version)
+		echo "6.6.20251230"
+		;;
+	--abi-version)
+		echo "6"
+		;;
+	--mouse-version)
+		echo "2"
+		;;
+	# locations
+	--bindir)
+		echo "${bindir}"
+		;;
+	--datadir)
+		echo "${datadir}"
+		;;
+	--includedir)
+		INCS=
+		if [ "xno" = xno ]; then
+			INCS="${includesubdir}"
+		elif [ "${includedir}" != /usr/include ]; then
+			INCS="${includedir}"
+		fi
+		echo "$INCS"
+		;;
+	--libdir)
+		echo "${libdir}"
+		;;
+	--mandir)
+		echo "${mandir}"
+		;;
+	--terminfo)
+		echo "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/share/terminfo"
+		;;
+	--terminfo-dirs)
+		echo "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/share/terminfo"
+		;;
+	--termpath)
+		echo "/etc/termcap:/usr/share/misc/termcap"
+		;;
+	# general info
+	--help)
+		cat <<ENDHELP
+Usage: `basename "$0"` [options]
+
+Options:
+  --prefix            echoes the package-prefix of ${CURSES_LIB}
+  --exec-prefix       echoes the executable-prefix of ${CURSES_LIB}
+
+  --cflags            echoes the C compiler flags needed to compile for ${CURSES_LIB}
+  --cflags-only-I     echoes only -I C compiler flags needed with ${CURSES_LIB}
+  --cflags-only-other echoes only C compiler flags other than -I for ${CURSES_LIB}
+  --libs              echoes the libraries needed to link with ${CURSES_LIB}
+
+  --libs-only-L       echoes -L linker options (search path) for ${CURSES_LIB}
+  --libs-only-l       echoes -l linker options (libraries) for ${CURSES_LIB}
+  --libs-only-other   echoes linker options other than -L/-l
+
+  --version           echoes the release+patchdate version of ${CURSES_LIB}
+  --abi-version       echoes the ABI version of ${CURSES_LIB}
+  --mouse-version     echoes the mouse-interface version of ${CURSES_LIB}
+
+  --bindir            echoes the directory containing ${CURSES_LIB} programs
+  --datadir           echoes the directory containing ${CURSES_LIB} data
+  --includedir        echoes the directory containing ${CURSES_LIB} header files
+  --libdir            echoes the directory containing ${CURSES_LIB} libraries
+  --mandir            echoes the directory containing ${CURSES_LIB} man pages
+  --terminfo          echoes the \$TERMINFO terminfo database path
+  --terminfo-dirs     echoes the \$TERMINFO_DIRS directory list
+  --termpath          echoes the \$TERMPATH termcap list
+
+  --help              prints this message
+ENDHELP
+		;;
+	--error|*)
+		/bin/sh "$0" --help 1>&2
+		exit 1
+		;;
+	esac
+	shift
+done
+# vi:ts=4 sw=4
+# vile:shmode

physworld_p1_20261018/envs/p1/bin/numpy-config

@@ -0,0 +1,6 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+import sys
+from numpy._configtool import main
+if __name__ == '__main__':
+    sys.argv[0] = sys.argv[0].removesuffix('.exe')
+    sys.exit(main())

physworld_p1_20261018/envs/p1/bin/openssl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36c57dc318a720cff9acde104f633fd4b8eef0f5a4cba0dbbc3869cd026aec41
+size 1309928

physworld_p1_20261018/envs/p1/bin/pip

@@ -0,0 +1,10 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+# -*- coding: utf-8 -*-
+import re
+import sys
+
+from pip._internal.cli.main import main
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(main())

physworld_p1_20261018/envs/p1/bin/pip3

@@ -0,0 +1,10 @@
+#!/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/jiayin/physworld_p1_20261018/envs/p1/bin/python3.11
+# -*- coding: utf-8 -*-
+import re
+import sys
+
+from pip._internal.cli.main import main
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(main())