  Existing methods for reconstructing interactive scenes primarily focus on
replacing reconstructed objects with CAD models retrieved from a limited
database, resulting in significant discrepancies between the reconstructed and
observed scenes. To address this issue, our work introduces a part-level
reconstruction approach that reassembles objects using primitive shapes. This
enables us to precisely replicate the observed physical scenes and simulate
robot interactions with both rigid and articulated objects. By segmenting
reconstructed objects into semantic parts and aligning primitive shapes to
these parts, we assemble them as CAD models while estimating kinematic
relations, including parent-child contact relations, joint types, and
parameters. Specifically, we derive the optimal primitive alignment by solving
a series of optimization problems, and estimate kinematic relations based on
part semantics and geometry. Our experiments demonstrate that part-level scene
reconstruction outperforms object-level reconstruction by accurately capturing
finer details and improving precision. These reconstructed part-level
interactive scenes provide valuable kinematic information for various robotic
applications; we showcase the feasibility of certifying mobile manipulation
planning in these interactive scenes before executing tasks in the physical
world.
