feat(artvip): upload normalized assets batch 09/25

.gitattributes

@@ -927,3 +927,6 @@ assets/articulated/artvip/chest_of_drawers_4/meshes/visual/E_body_1/E_body_1_0.o
 assets/articulated/artvip/chest_of_drawers_4/meshes/visual/E_body_1/E_body_1_10.obj filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/chest_of_drawers_4/meshes/visual/E_body_1/E_body_1_20.obj filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/chest_of_drawers_4/meshes/visual/E_body_1/E_body_1_30.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/chest_of_drawers_4/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/collected_airfryer1/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/collected_airfryer2/usd/model.usd filter=lfs diff=lfs merge=lfs -text

assets/articulated/artvip/chest_of_drawers_4/meshes/visual/E_body_1/E_body_1_9.obj

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assets/articulated/artvip/chest_of_drawers_4/mjcf/model.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="model_chest_of_drawers_4">
+  <compiler angle="radian" />
+  <asset>
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+    <mesh name="E_body_1_3" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_3.obj" />
+    <mesh name="E_body_1_4" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_4.obj" />
+    <mesh name="E_body_1_5" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_5.obj" />
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+    <mesh name="E_body_1_7" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_7.obj" />
+    <mesh name="E_body_1_8" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_8.obj" />
+    <mesh name="E_body_1_9" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_9.obj" />
+    <mesh name="E_body_1_10" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_10.obj" />
+    <mesh name="E_body_1_11" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_11.obj" />
+    <mesh name="E_body_1_12" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_12.obj" />
+    <mesh name="E_body_1_13" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_13.obj" />
+    <mesh name="E_body_1_14" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_14.obj" />
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+  <contact>
+    <exclude body1="E_body_1" body2="E_drawer_1_56" />
+    <exclude body1="E_body_1" body2="E_door_1_68" />
+    <exclude body1="E_body_1" body2="E_door_2_71" />
+    <exclude body1="E_drawer_1_56" body2="E_door_1_68" />
+    <exclude body1="E_drawer_1_56" body2="E_door_2_71" />
+    <exclude body1="E_door_1_68" body2="E_door_2_71" />
+  </contact>
+</mujoco>

assets/articulated/artvip/chest_of_drawers_4/reports/collision_audit.json

@@ -0,0 +1,375 @@
+{
+  "asset_id": "chest_of_drawers_4",
+  "failures": [],
+  "frame": "final URDF owner-link local frame",
+  "links": [
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+      "link": "E_body_1",
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+        "collision_bounds_m": [
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+            0.6841951
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+        "collision_part_count": 45,
+        "collision_to_visual": {
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+          "p50_m": 0.022996117783227233,
+          "p95_m": 0.04044603889839927
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+  "warnings": [
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+    "E_body_1: collision_to_visual p95 0.040446 m exceeds 0.0312484 m",
+    "E_drawer_1_56: visual_to_collision p95 0.0218317 m exceeds 0.0215297 m",
+    "E_door_1_68: visual_to_collision p95 0.0190085 m exceeds 0.0161993 m",
+    "E_door_2_71: extent ratio outside pass band: [1.023938908546841, 1.5602973415193389, 1.0205480851473172]",
+    "E_door_2_71: visual_to_collision p95 0.0243177 m exceeds 0.0161994 m"
+  ]
+}

assets/articulated/artvip/chest_of_drawers_4/reports/collision_passthrough.json

@@ -0,0 +1,32 @@
+{
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+  "passthrough_urdf_count": 0,
+  "proxies": [],
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+  "source_usd_sha256": "5eb1d6b54175146e24c1ec56abfebf76b88eaaffa45414770076a89dfcd6c996",
+  "status": "passed"
+}

assets/articulated/artvip/chest_of_drawers_4/reports/joint_sweep.json

@@ -0,0 +1,54 @@
+{
+  "joints": [
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+      "bad_qacc": false,
+      "joint": "PrismaticJoint_chest_of_drawers_4_up",
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+      "joint": "RevoluteJoint_chest_of_drawers_4_right",
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+      "type": "hinge"
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+      "joint": "RevoluteJoint_chest_of_drawers_4_left",
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+  "status": "passed",
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+  "swept_joint_count": 3
+}

assets/articulated/artvip/chest_of_drawers_4/reports/usd_dependencies.json

@@ -0,0 +1,58 @@
+{
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+    "::OmniSurface::",
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+    "removed_collision_schemas": 0,
+    "removed_drive_schemas": 3,
+    "removed_invalid_articulation_roots": [],
+    "removed_lights": []
+  }
+}

assets/articulated/artvip/chest_of_drawers_4/reports/usd_frame_normalization.json

@@ -0,0 +1,840 @@
+{
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+        "/root/E_body_1/E_Component42M1_54",
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+}

assets/articulated/artvip/chest_of_drawers_4/reports/usd_physics_overlay.json

@@ -0,0 +1,144 @@
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+}

assets/articulated/artvip/chest_of_drawers_4/reports/usd_visual_equivalence.json

@@ -0,0 +1,123 @@
+{
+  "canonical_renderable_count": 66,
+  "canonical_visual_digest": "78235213225762a640517fcb05a57b0e6bfe4b9cdf050e48bf82a726e53a05f8",
+  "excluded_collision_renderables": [
+    "/root/E_body_1/RoboVerseCollision/collision_000",
+    "/root/E_body_1/RoboVerseCollision/collision_001",
+    "/root/E_body_1/RoboVerseCollision/collision_002",
+    "/root/E_body_1/RoboVerseCollision/collision_003",
+    "/root/E_body_1/RoboVerseCollision/collision_004",
+    "/root/E_body_1/RoboVerseCollision/collision_005",
+    "/root/E_body_1/RoboVerseCollision/collision_006",
+    "/root/E_body_1/RoboVerseCollision/collision_007",
+    "/root/E_body_1/RoboVerseCollision/collision_008",
+    "/root/E_body_1/RoboVerseCollision/collision_009",
+    "/root/E_body_1/RoboVerseCollision/collision_010",
+    "/root/E_body_1/RoboVerseCollision/collision_011",
+    "/root/E_body_1/RoboVerseCollision/collision_012",
+    "/root/E_body_1/RoboVerseCollision/collision_013",
+    "/root/E_body_1/RoboVerseCollision/collision_014",
+    "/root/E_body_1/RoboVerseCollision/collision_015",
+    "/root/E_body_1/RoboVerseCollision/collision_016",
+    "/root/E_body_1/RoboVerseCollision/collision_017",
+    "/root/E_body_1/RoboVerseCollision/collision_018",
+    "/root/E_body_1/RoboVerseCollision/collision_019",
+    "/root/E_body_1/RoboVerseCollision/collision_020",
+    "/root/E_body_1/RoboVerseCollision/collision_021",
+    "/root/E_body_1/RoboVerseCollision/collision_022",
+    "/root/E_body_1/RoboVerseCollision/collision_023",
+    "/root/E_body_1/RoboVerseCollision/collision_024",
+    "/root/E_body_1/RoboVerseCollision/collision_025",
+    "/root/E_body_1/RoboVerseCollision/collision_026",
+    "/root/E_body_1/RoboVerseCollision/collision_027",
+    "/root/E_body_1/RoboVerseCollision/collision_028",
+    "/root/E_body_1/RoboVerseCollision/collision_029",
+    "/root/E_body_1/RoboVerseCollision/collision_030",
+    "/root/E_body_1/RoboVerseCollision/collision_031",
+    "/root/E_body_1/RoboVerseCollision/collision_032",
+    "/root/E_body_1/RoboVerseCollision/collision_033",
+    "/root/E_body_1/RoboVerseCollision/collision_034",
+    "/root/E_body_1/RoboVerseCollision/collision_035",
+    "/root/E_body_1/RoboVerseCollision/collision_036",
+    "/root/E_body_1/RoboVerseCollision/collision_037",
+    "/root/E_body_1/RoboVerseCollision/collision_038",
+    "/root/E_body_1/RoboVerseCollision/collision_039",
+    "/root/E_body_1/RoboVerseCollision/collision_040",
+    "/root/E_body_1/RoboVerseCollision/collision_041",
+    "/root/E_body_1/RoboVerseCollision/collision_042",
+    "/root/E_body_1/RoboVerseCollision/collision_043",
+    "/root/E_body_1/RoboVerseCollision/collision_044",
+    "/root/E_door_1_68/RoboVerseCollision/collision_000",
+    "/root/E_door_1_68/RoboVerseCollision/collision_001",
+    "/root/E_door_1_68/RoboVerseCollision/collision_002",
+    "/root/E_door_1_68/RoboVerseCollision/collision_003",
+    "/root/E_door_1_68/RoboVerseCollision/collision_004",
+    "/root/E_door_1_68/RoboVerseCollision/collision_005",
+    "/root/E_door_1_68/RoboVerseCollision/collision_006",
+    "/root/E_door_1_68/RoboVerseCollision/collision_007",
+    "/root/E_door_1_68/RoboVerseCollision/collision_008",
+    "/root/E_door_1_68/RoboVerseCollision/collision_009",
+    "/root/E_door_1_68/RoboVerseCollision/collision_010",
+    "/root/E_door_1_68/RoboVerseCollision/collision_011",
+    "/root/E_door_1_68/RoboVerseCollision/collision_012",
+    "/root/E_door_1_68/RoboVerseCollision/collision_013",
+    "/root/E_door_1_68/RoboVerseCollision/collision_014",
+    "/root/E_door_1_68/RoboVerseCollision/collision_015",
+    "/root/E_door_2_71/RoboVerseCollision/collision_000",
+    "/root/E_door_2_71/RoboVerseCollision/collision_001",
+    "/root/E_door_2_71/RoboVerseCollision/collision_002",
+    "/root/E_door_2_71/RoboVerseCollision/collision_003",
+    "/root/E_door_2_71/RoboVerseCollision/collision_004",
+    "/root/E_door_2_71/RoboVerseCollision/collision_005",
+    "/root/E_door_2_71/RoboVerseCollision/collision_006",
+    "/root/E_door_2_71/RoboVerseCollision/collision_007",
+    "/root/E_door_2_71/RoboVerseCollision/collision_008",
+    "/root/E_door_2_71/RoboVerseCollision/collision_009",
+    "/root/E_door_2_71/RoboVerseCollision/collision_010",
+    "/root/E_door_2_71/RoboVerseCollision/collision_011",
+    "/root/E_door_2_71/RoboVerseCollision/collision_012",
+    "/root/E_door_2_71/RoboVerseCollision/collision_013",
+    "/root/E_door_2_71/RoboVerseCollision/collision_014",
+    "/root/E_door_2_71/RoboVerseCollision/collision_015",
+    "/root/E_door_2_71/RoboVerseCollision/collision_016",
+    "/root/E_door_2_71/RoboVerseCollision/collision_017",
+    "/root/E_door_2_71/RoboVerseCollision/collision_018",
+    "/root/E_door_2_71/RoboVerseCollision/collision_019",
+    "/root/E_door_2_71/RoboVerseCollision/collision_020",
+    "/root/E_door_2_71/RoboVerseCollision/collision_021",
+    "/root/E_door_2_71/RoboVerseCollision/collision_022",
+    "/root/E_door_2_71/RoboVerseCollision/collision_023",
+    "/root/E_door_2_71/RoboVerseCollision/collision_024",
+    "/root/E_door_2_71/RoboVerseCollision/collision_025",
+    "/root/E_door_2_71/RoboVerseCollision/collision_026",
+    "/root/E_door_2_71/RoboVerseCollision/collision_027",
+    "/root/E_door_2_71/RoboVerseCollision/collision_028",
+    "/root/E_door_2_71/RoboVerseCollision/collision_029",
+    "/root/E_door_2_71/RoboVerseCollision/collision_030",
+    "/root/E_door_2_71/RoboVerseCollision/collision_031",
+    "/root/E_door_2_71/RoboVerseCollision/collision_032",
+    "/root/E_door_2_71/RoboVerseCollision/collision_033",
+    "/root/E_door_2_71/RoboVerseCollision/collision_034",
+    "/root/E_door_2_71/RoboVerseCollision/collision_035",
+    "/root/E_door_2_71/RoboVerseCollision/collision_036",
+    "/root/E_drawer_1_56/RoboVerseCollision/collision_000",
+    "/root/E_drawer_1_56/RoboVerseCollision/collision_001",
+    "/root/E_drawer_1_56/RoboVerseCollision/collision_002",
+    "/root/E_drawer_1_56/RoboVerseCollision/collision_003",
+    "/root/E_drawer_1_56/RoboVerseCollision/collision_004",
+    "/root/E_drawer_1_56/RoboVerseCollision/collision_005",
+    "/root/E_drawer_1_56/RoboVerseCollision/collision_006"
+  ],
+  "extra_renderables": [],
+  "failures": [],
+  "missing_renderables": [],
+  "provenance": {
+    "canonical_usd_sha256": "bed7aebf361ecc531a93592126a00951cba142275da68abd1d26ccda4c85b090",
+    "dependency_closure_sha256": "63d2cec6455af26e14655f98e64928c3be398591eace104e1fb6a81de58a522b",
+    "properties_sha256": "594326d48e3882bd882328f682e4b6b0540f2aefa3f1340b0e46259824d118c5",
+    "source_sha256": "5eb1d6b54175146e24c1ec56abfebf76b88eaaffa45414770076a89dfcd6c996"
+  },
+  "source_renderable_count": 66,
+  "source_visual_digest": "78235213225762a640517fcb05a57b0e6bfe4b9cdf050e48bf82a726e53a05f8",
+  "status": "passed"
+}

assets/articulated/artvip/chest_of_drawers_4/reports/validation.json

@@ -0,0 +1,352 @@
+{
+  "asset_id": "chest_of_drawers_4",
+  "checks": {
+    "articulated": {
+      "joint_count": 3,
+      "link_count": 4,
+      "status": "passed",
+      "usd": "generated",
+      "warnings": [
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+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_12/P_ab785e46a87c59a",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_14/P_b071bc3ef95f81c3",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_15/P_d908c4eeec139ea3",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_16/P_ddc82d2bdc9f9ea3",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component19_22/P_bfeddd2daba9ea3",
+        "link E_body_1: thin mesh /root/E_body_1/E_Component38_21/E_Component19_22/P_bfeddd2daba9ea3 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component20_24/P_5d7686319a879ea3",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component80_29/P_e27f43da7f3f9ea3",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component77_30/P_c32c8e6554719ea3",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component79_31/P_4d640d1d29d8dea3",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component19_33/P_8af330e1585a3fb4",
+        "link E_body_1: thin mesh /root/E_body_1/E_Component39_32/E_Component19_33/P_8af330e1585a3fb4 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component20_35/P_613a0c5fafe777b4",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component79_40/P_c37ac3c256a777b4",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component80_41/P_7a6a5275bfd29fb4",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component77_42/P_81d3322901e177b4",
+        "link E_body_1: thin mesh /root/E_body_1/E_Component40_43/E_Component19_44/P_88e683835e59cbb4 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_45/P_a5483260945577b4",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_47/P_5afef1377c6e57b4",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_48/P_1c92c3b222c4f7b4",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_49/P_8db01202683777b4",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component42M1_54/P_e4e8e516887f50bc",
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component30_9/P_14de1a3ea287c59a",
+        "link E_body_1_collision: thin mesh /root/E_body_1/E_Component41_10/E_Component19_11/P_cc394d46bd89649a slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_12/P_ab785e46a87c59a",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_14/P_b071bc3ef95f81c3",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_15/P_d908c4eeec139ea3",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_16/P_ddc82d2bdc9f9ea3",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component19_22/P_bfeddd2daba9ea3",
+        "link E_body_1_collision: thin mesh /root/E_body_1/E_Component38_21/E_Component19_22/P_bfeddd2daba9ea3 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component20_24/P_5d7686319a879ea3",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component80_29/P_e27f43da7f3f9ea3",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component77_30/P_c32c8e6554719ea3",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component79_31/P_4d640d1d29d8dea3",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component19_33/P_8af330e1585a3fb4",
+        "link E_body_1_collision: thin mesh /root/E_body_1/E_Component39_32/E_Component19_33/P_8af330e1585a3fb4 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component20_35/P_613a0c5fafe777b4",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component79_40/P_c37ac3c256a777b4",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component80_41/P_7a6a5275bfd29fb4",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component77_42/P_81d3322901e177b4",
+        "link E_body_1_collision: thin mesh /root/E_body_1/E_Component40_43/E_Component19_44/P_88e683835e59cbb4 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_45/P_a5483260945577b4",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_47/P_5afef1377c6e57b4",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_48/P_1c92c3b222c4f7b4",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_49/P_8db01202683777b4",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component42M1_54/P_e4e8e516887f50bc",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component30_9/P_14de1a3ea287c59a",
+        "link E_drawer_1_56: thin mesh /root/E_drawer_1_56/E_Component129_58/E_Component128_59/P_9599ae91716750bc slab-extruded to 0.0030 m for MuJoCo",
+        "link E_drawer_1_56: flipped inward winding of mesh /root/E_drawer_1_56/E_Component129_58/E_Component128_59/P_52055612395190bc",
+        "link E_drawer_1_56: flipped inward winding of mesh /root/E_drawer_1_56/E_Component45_64/P_fd0a10ead19054bc",
+        "link E_drawer_1_56: flipped inward winding of mesh /root/E_drawer_1_56/E_Component44_66/P_724f60051a32a9ca",
+        "link E_drawer_1_56_collision: thin mesh /root/E_drawer_1_56/E_Component129_58/E_Component128_59/P_9599ae91716750bc slab-extruded to 0.0030 m for MuJoCo",
+        "link E_drawer_1_56_collision: flipped inward winding of mesh /root/E_drawer_1_56/E_Component129_58/E_Component128_59/P_52055612395190bc",
+        "link E_drawer_1_56_collision: flipped inward winding of mesh /root/E_drawer_1_56/E_Component45_64/P_fd0a10ead19054bc",
+        "link E_drawer_1_56_collision: flipped inward winding of mesh /root/E_drawer_1_56/E_Component44_66/P_724f60051a32a9ca",
+        "link E_door_1_68: flipped inward winding of mesh /root/E_door_1_68/E_Component7_69/P_9df0983007f959ca",
+        "link E_door_1_68_collision: flipped inward winding of mesh /root/E_door_1_68/E_Component7_69/P_9df0983007f959ca",
+        "link E_door_2_71: flipped inward winding of mesh /root/E_door_2_71/E_Component8_73/P_43c0edc4927549ca",
+        "link E_door_2_71: flipped inward winding of mesh /root/E_door_2_71/E_Component8_73/P_ac1e7b2b232769ca",
+        "link E_door_2_71: flipped inward winding of mesh /root/E_door_2_71/handle_2/P_c03a619b38d429ca",
+        "link E_door_2_71_collision: flipped inward winding of mesh /root/E_door_2_71/E_Component8_73/P_43c0edc4927549ca",
+        "link E_door_2_71_collision: flipped inward winding of mesh /root/E_door_2_71/E_Component8_73/P_ac1e7b2b232769ca",
+        "link E_door_2_71_collision: flipped inward winding of mesh /root/E_door_2_71/handle_2/P_c03a619b38d429ca",
+        "link E_door_1_68: cavity-repair voxbox collision (16 boxes, free 1%->44%)",
+        "link E_door_2_71: cavity-repair voxbox collision (37 boxes, free 1%->89%)",
+        "preview pending: mujoco import failed: RuntimeError('invalid value for environment variable MUJOCO_GL: egl')"
+      ]
+    },
+    "collision_passthrough": {
+      "passthrough_urdf_count": 0,
+      "report": "reports/collision_passthrough.json",
+      "source_proxy_count": 0,
+      "status": "passed"
+    },
+    "collision_render_groups": {
+      "collision_geom_count": 105,
+      "default_rendered_count": 0,
+      "status": "passed"
+    },
+    "joint_frame_sanity": {
+      "checked_joint_count": 2,
+      "joints": [
+        {
+          "joint": "PrismaticJoint_chest_of_drawers_4_up",
+          "reason": "only hinge anchors are checked",
+          "status": "skipped"
+        },
+        {
+          "anchor_m": [
+            0.233451,
+            -0.262139,
+            0.46575
+          ],
+          "bounds": [
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+                  -0.288309,
+                  1e-06
+                ],
+                [
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+                ]
+              ],
+              "body": "E_door_1_68",
+              "geom_source": "visual",
+              "margin_m": 0.161993
+            },
+            {
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+                ],
+                [
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+              "body": "E_body_1",
+              "geom_source": "visual",
+              "margin_m": 0.312484
+            }
+          ],
+          "geom_source": "visual",
+          "joint": "RevoluteJoint_chest_of_drawers_4_right",
+          "status": "passed"
+        },
+        {
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+            -0.272079,
+            0.469842
+          ],
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+                  1e-06
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+                ]
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+              "body": "E_door_2_71",
+              "geom_source": "visual",
+              "margin_m": 0.161994
+            },
+            {
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+              ],
+              "body": "E_body_1",
+              "geom_source": "visual",
+              "margin_m": 0.312484
+            }
+          ],
+          "geom_source": "visual",
+          "joint": "RevoluteJoint_chest_of_drawers_4_left",
+          "status": "passed"
+        }
+      ],
+      "status": "passed"
+    },
+    "joint_sweep": {
+      "report": "reports/joint_sweep.json",
+      "status": "passed",
+      "swept_joint_count": 3
+    },
+    "layout": {
+      "layout": {
+        "path_in_repo": "assets/articulated/chest/of_drawers_4",
+        "root": "assets/articulated/chest/of_drawers_4",
+        "source": "manifest_yaml",
+        "type": "articulated_v1"
+      },
+      "status": "passed"
+    },
+    "protocol": {
+      "failures": [],
+      "files": {
+        "manifest.yaml": {
+          "exists": true
+        },
+        "mjcf/model.xml": {
+          "exists": true
+        },
+        "reports/joint_sweep.json": {
+          "exists": true
+        },
+        "reports/usd_dependencies.json": {
+          "exists": true
+        },
+        "reports/usd_physics_overlay.json": {
+          "exists": true
+        },
+        "reports/usd_visual_equivalence.json": {
+          "exists": true
+        },
+        "reports/validation.json": {
+          "exists": true
+        },
+        "urdf/model.urdf": {
+          "exists": true
+        },
+        "usd/model.usd": {
+          "exists": true
+        }
+      },
+      "layout_type": "articulated_v1",
+      "status": "passed"
+    },
+    "source_provenance": {
+      "dataset_id": "X-Humanoid/ArtVIP",
+      "dataset_revision": "d22f2095bc9db29fdd4b60f4a3c4f8177e1f5e9e",
+      "normalization_required": false,
+      "normalized_source_sha256": "5eb1d6b54175146e24c1ec56abfebf76b88eaaffa45414770076a89dfcd6c996",
+      "status": "passed",
+      "upstream_path": "Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_4/model_chest_of_drawers_4.usda",
+      "upstream_sha256": "5eb1d6b54175146e24c1ec56abfebf76b88eaaffa45414770076a89dfcd6c996"
+    },
+    "usd_dependencies": {
+      "canonical_usd_sha256": "bed7aebf361ecc531a93592126a00951cba142275da68abd1d26ccda4c85b090",
+      "dependency_closure_sha256": "63d2cec6455af26e14655f98e64928c3be398591eace104e1fb6a81de58a522b",
+      "report": "reports/usd_dependencies.json",
+      "status": "passed"
+    },
+    "usd_frame_normalization": {
+      "canonical_usd_sha256": "bed7aebf361ecc531a93592126a00951cba142275da68abd1d26ccda4c85b090",
+      "dependency_closure_sha256": "63d2cec6455af26e14655f98e64928c3be398591eace104e1fb6a81de58a522b",
+      "report": "reports/usd_frame_normalization.json",
+      "status": "passed"
+    },
+    "usd_physics_overlay": {
+      "canonical_usd_sha256": "bed7aebf361ecc531a93592126a00951cba142275da68abd1d26ccda4c85b090",
+      "dependency_closure_sha256": "63d2cec6455af26e14655f98e64928c3be398591eace104e1fb6a81de58a522b",
+      "report": "reports/usd_physics_overlay.json",
+      "status": "passed"
+    },
+    "usd_visual_equivalence": {
+      "canonical_usd_sha256": "bed7aebf361ecc531a93592126a00951cba142275da68abd1d26ccda4c85b090",
+      "dependency_closure_sha256": "63d2cec6455af26e14655f98e64928c3be398591eace104e1fb6a81de58a522b",
+      "report": "reports/usd_visual_equivalence.json",
+      "status": "passed"
+    }
+  },
+  "layout": {
+    "path_in_repo": "assets/articulated/chest/of_drawers_4",
+    "root": "assets/articulated/chest/of_drawers_4",
+    "source": "manifest_yaml",
+    "type": "articulated_v1"
+  },
+  "profile": "production",
+  "status": "passed",
+  "warnings": [
+    "link E_body_1: thin mesh /root/E_body_1/E_Component41_10/E_Component19_11/P_cc394d46bd89649a slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_12/P_ab785e46a87c59a",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_14/P_b071bc3ef95f81c3",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_15/P_d908c4eeec139ea3",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_16/P_ddc82d2bdc9f9ea3",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component19_22/P_bfeddd2daba9ea3",
+    "link E_body_1: thin mesh /root/E_body_1/E_Component38_21/E_Component19_22/P_bfeddd2daba9ea3 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component20_24/P_5d7686319a879ea3",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component80_29/P_e27f43da7f3f9ea3",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component77_30/P_c32c8e6554719ea3",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component79_31/P_4d640d1d29d8dea3",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component19_33/P_8af330e1585a3fb4",
+    "link E_body_1: thin mesh /root/E_body_1/E_Component39_32/E_Component19_33/P_8af330e1585a3fb4 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component20_35/P_613a0c5fafe777b4",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component79_40/P_c37ac3c256a777b4",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component80_41/P_7a6a5275bfd29fb4",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component77_42/P_81d3322901e177b4",
+    "link E_body_1: thin mesh /root/E_body_1/E_Component40_43/E_Component19_44/P_88e683835e59cbb4 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_45/P_a5483260945577b4",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_47/P_5afef1377c6e57b4",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_48/P_1c92c3b222c4f7b4",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_49/P_8db01202683777b4",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component42M1_54/P_e4e8e516887f50bc",
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component30_9/P_14de1a3ea287c59a",
+    "link E_body_1_collision: thin mesh /root/E_body_1/E_Component41_10/E_Component19_11/P_cc394d46bd89649a slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_12/P_ab785e46a87c59a",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_14/P_b071bc3ef95f81c3",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_15/P_d908c4eeec139ea3",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component41_10/E_Component17_16/P_ddc82d2bdc9f9ea3",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component19_22/P_bfeddd2daba9ea3",
+    "link E_body_1_collision: thin mesh /root/E_body_1/E_Component38_21/E_Component19_22/P_bfeddd2daba9ea3 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component20_24/P_5d7686319a879ea3",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component80_29/P_e27f43da7f3f9ea3",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component77_30/P_c32c8e6554719ea3",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component38_21/E_Component95_28/E_Component79_31/P_4d640d1d29d8dea3",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component19_33/P_8af330e1585a3fb4",
+    "link E_body_1_collision: thin mesh /root/E_body_1/E_Component39_32/E_Component19_33/P_8af330e1585a3fb4 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component20_35/P_613a0c5fafe777b4",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component79_40/P_c37ac3c256a777b4",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component80_41/P_7a6a5275bfd29fb4",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component39_32/E_Component96_39/E_Component77_42/P_81d3322901e177b4",
+    "link E_body_1_collision: thin mesh /root/E_body_1/E_Component40_43/E_Component19_44/P_88e683835e59cbb4 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_45/P_a5483260945577b4",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_47/P_5afef1377c6e57b4",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_48/P_1c92c3b222c4f7b4",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component40_43/E_Component17_49/P_8db01202683777b4",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component42M1_54/P_e4e8e516887f50bc",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component30_9/P_14de1a3ea287c59a",
+    "link E_drawer_1_56: thin mesh /root/E_drawer_1_56/E_Component129_58/E_Component128_59/P_9599ae91716750bc slab-extruded to 0.0030 m for MuJoCo",
+    "link E_drawer_1_56: flipped inward winding of mesh /root/E_drawer_1_56/E_Component129_58/E_Component128_59/P_52055612395190bc",
+    "link E_drawer_1_56: flipped inward winding of mesh /root/E_drawer_1_56/E_Component45_64/P_fd0a10ead19054bc",
+    "link E_drawer_1_56: flipped inward winding of mesh /root/E_drawer_1_56/E_Component44_66/P_724f60051a32a9ca",
+    "link E_drawer_1_56_collision: thin mesh /root/E_drawer_1_56/E_Component129_58/E_Component128_59/P_9599ae91716750bc slab-extruded to 0.0030 m for MuJoCo",
+    "link E_drawer_1_56_collision: flipped inward winding of mesh /root/E_drawer_1_56/E_Component129_58/E_Component128_59/P_52055612395190bc",
+    "link E_drawer_1_56_collision: flipped inward winding of mesh /root/E_drawer_1_56/E_Component45_64/P_fd0a10ead19054bc",
+    "link E_drawer_1_56_collision: flipped inward winding of mesh /root/E_drawer_1_56/E_Component44_66/P_724f60051a32a9ca",
+    "link E_door_1_68: flipped inward winding of mesh /root/E_door_1_68/E_Component7_69/P_9df0983007f959ca",
+    "link E_door_1_68_collision: flipped inward winding of mesh /root/E_door_1_68/E_Component7_69/P_9df0983007f959ca",
+    "link E_door_2_71: flipped inward winding of mesh /root/E_door_2_71/E_Component8_73/P_43c0edc4927549ca",
+    "link E_door_2_71: flipped inward winding of mesh /root/E_door_2_71/E_Component8_73/P_ac1e7b2b232769ca",
+    "link E_door_2_71: flipped inward winding of mesh /root/E_door_2_71/handle_2/P_c03a619b38d429ca",
+    "link E_door_2_71_collision: flipped inward winding of mesh /root/E_door_2_71/E_Component8_73/P_43c0edc4927549ca",
+    "link E_door_2_71_collision: flipped inward winding of mesh /root/E_door_2_71/E_Component8_73/P_ac1e7b2b232769ca",
+    "link E_door_2_71_collision: flipped inward winding of mesh /root/E_door_2_71/handle_2/P_c03a619b38d429ca",
+    "link E_door_1_68: cavity-repair voxbox collision (16 boxes, free 1%->44%)",
+    "link E_door_2_71: cavity-repair voxbox collision (37 boxes, free 1%->89%)",
+    "preview pending: mujoco import failed: RuntimeError('invalid value for environment variable MUJOCO_GL: egl')"
+  ]
+}

assets/articulated/artvip/chest_of_drawers_4/urdf/model.urdf

@@ -0,0 +1,1181 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model_chest_of_drawers_4">
+  <mujoco>
+    <compiler balanceinertia="true" discardvisual="false" fusestatic="false" />
+  </mujoco>
+  <link name="E_body_1">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_0.obj" />
+      </geometry>
+      <material name="E_body_1_0_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_1.obj" />
+      </geometry>
+      <material name="E_body_1_1_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_2.obj" />
+      </geometry>
+      <material name="E_body_1_2_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_3.obj" />
+      </geometry>
+      <material name="E_body_1_3_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_4.obj" />
+      </geometry>
+      <material name="E_body_1_4_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_5.obj" />
+      </geometry>
+      <material name="E_body_1_5_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_6.obj" />
+      </geometry>
+      <material name="E_body_1_6_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_7.obj" />
+      </geometry>
+      <material name="E_body_1_7_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_8.obj" />
+      </geometry>
+      <material name="E_body_1_8_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_9.obj" />
+      </geometry>
+      <material name="E_body_1_9_mat">
+        <color rgba="0.9843 0.9843 0.9843 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_10.obj" />
+      </geometry>
+      <material name="E_body_1_10_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_11.obj" />
+      </geometry>
+      <material name="E_body_1_11_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_12.obj" />
+      </geometry>
+      <material name="E_body_1_12_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_13.obj" />
+      </geometry>
+      <material name="E_body_1_13_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_14.obj" />
+      </geometry>
+      <material name="E_body_1_14_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_15.obj" />
+      </geometry>
+      <material name="E_body_1_15_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_16.obj" />
+      </geometry>
+      <material name="E_body_1_16_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_17.obj" />
+      </geometry>
+      <material name="E_body_1_17_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_18.obj" />
+      </geometry>
+      <material name="E_body_1_18_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_19.obj" />
+      </geometry>
+      <material name="E_body_1_19_mat">
+        <color rgba="0.9843 0.9843 0.9843 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_20.obj" />
+      </geometry>
+      <material name="E_body_1_20_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_21.obj" />
+      </geometry>
+      <material name="E_body_1_21_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_22.obj" />
+      </geometry>
+      <material name="E_body_1_22_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_23.obj" />
+      </geometry>
+      <material name="E_body_1_23_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_24.obj" />
+      </geometry>
+      <material name="E_body_1_24_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_1/E_body_1_25.obj" />
+      </geometry>
+      <material name="E_body_1_25_mat">
+        <color rgba="0.1804 0.1804 0.1804 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
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+    <origin xyz="0.0088505139 -0.2878539 0.547446" rpy="0 -0 0" />
+    <parent link="E_body_1" />
+    <child link="E_drawer_1_56" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.25" upper="0" effort="100" velocity="10" />
+  </joint>
+  <joint name="RevoluteJoint_chest_of_drawers_4_right" type="revolute">
+    <origin xyz="0.2334505 -0.262139 0.46575021" rpy="0 -0 0" />
+    <parent link="E_body_1" />
+    <child link="E_door_1_68" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.054326191" effort="100" velocity="10" />
+  </joint>
+  <joint name="RevoluteJoint_chest_of_drawers_4_left" type="revolute">
+    <origin xyz="-0.26119745 -0.27207891 0.46984225" rpy="0 -0 -0.0016914559" />
+    <parent link="E_body_1" />
+    <child link="E_door_2_71" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.054326191" upper="0" effort="100" velocity="10" />
+  </joint>
+</robot>

assets/articulated/artvip/chest_of_drawers_4/usd/model.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bed7aebf361ecc531a93592126a00951cba142275da68abd1d26ccda4c85b090
+size 25029112

assets/articulated/artvip/coffee_machine_6/manifest.yaml

@@ -1,12 +1,12 @@
 schema_version: 3
-asset_id: artvip_coffee_machine_6
+asset_id: coffee_machine_6
 name: model_coffee_machine_6
 protocol:
   version: 1
   asset_family: articulated_v1
 layout:
   type: articulated_v1
-  root: assets/articulated/artvip/coffee_machine_6
+  root: assets/articulated/coffee/machine_6
 category: coffee_machine
 geometry:
   realized_aabb_m:
@@ -304,21 +304,23 @@ usd:
   status: generated
   path: usd/model.usd
   exporter: usd-core-native-overlay
-  source_sha256: 9490dc63a802d1c5018804cd939c7316b55a5f0a5f00ba39479ca141ac43c078
-  properties_sha256: c3c1688ac6831a2569a78004e1d167fb1198f5e87ca6b4087afe2acf22ab4cae
-  canonical_usd_sha256: e0a931cbc1d2894ad3b5e2f5174d461eb3b242a0aaf2a51735fffc9b597749e7
+  source_sha256: 70d708b2801f6ee10b4e116e228b11d032ed12bc919e4236eaa1ab60491b7f71
+  properties_sha256: 8ecfbcf05f872c148c4f1690a35ae34de6b6078b7231ac326a3f5fc9c584d18e
+  canonical_usd_sha256: cb4b545ac30f7b7ae1d0114232ee39ee1ef98f5412f7c2b6f5fe224a6990992d
   dependency_closure_sha256: c82f49edadf0c982abe80a81ee5337397f82684abae5c8c377e86bb17e8bbbae
 source:
   type: articulated_usd
   filename: model_coffee_machine_6.usd
-  family: artvip
+  family: ArtVIP
   license: Apache-2.0
   attribution: ArtVIP (X-Humanoid), Apache-2.0
-  source_url: https://huggingface.co/datasets/X-Humanoid/ArtVIP
+  source_url: https://github.com/X-Humanoid-Robotics/ArtVIP
   source_asset_id: coffee_machine_6
-  sha256: 9490dc63a802d1c5018804cd939c7316b55a5f0a5f00ba39479ca141ac43c078
-  properties_filename: coffee_machine_6_properties.json
-  properties_sha256: c3c1688ac6831a2569a78004e1d167fb1198f5e87ca6b4087afe2acf22ab4cae
+  sha256: 70d708b2801f6ee10b4e116e228b11d032ed12bc919e4236eaa1ab60491b7f71
+  dataset_id: X-Humanoid/ArtVIP
+  dataset_revision: d22f2095bc9db29fdd4b60f4a3c4f8177e1f5e9e
+  upstream_path: Articulated_objects/small_appliances/coffee machine/coffee_machine_6/model_coffee_machine_6.usd
+  upstream_sha256: 70d708b2801f6ee10b4e116e228b11d032ed12bc919e4236eaa1ab60491b7f71
 artifacts:
   urdf: urdf/model.urdf
   mjcf: mjcf/model.xml

assets/articulated/artvip/coffee_machine_6/reports/collision_audit.json

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+{
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+        "ordinary convex part exceeds 255 vertices; require zero-warning PhysX cook evidence"
+      ]
+    },
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+      "link": "E_switch_5",
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+      "warnings": [
+        "ordinary convex part exceeds 255 vertices; require zero-warning PhysX cook evidence"
+      ]
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+      "status": "passed",
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+        "pose": "open",
+        "view": "view_a"
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+        "view": "view_a"
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+        "pose": "open",
+        "view": "view_a"
+      },
+      {
+        "foreground_pixel_count": 3753,
+        "mode": "visual",
+        "pose": "closed",
+        "view": "view_b"
+      },
+      {
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+        "mode": "collision",
+        "pose": "closed",
+        "view": "view_b"
+      },
+      {
+        "foreground_pixel_count": 4145,
+        "mode": "overlay",
+        "pose": "closed",
+        "view": "view_b"
+      },
+      {
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+        "mode": "visual",
+        "pose": "open",
+        "view": "view_b"
+      },
+      {
+        "foreground_pixel_count": 4041,
+        "mode": "collision",
+        "pose": "open",
+        "view": "view_b"
+      },
+      {
+        "foreground_pixel_count": 4041,
+        "mode": "overlay",
+        "pose": "open",
+        "view": "view_b"
+      }
+    ],
+    "modes": [
+      "visual",
+      "collision",
+      "overlay"
+    ],
+    "path": "reports/collision_overlay.png",
+    "poses": [
+      "closed",
+      "open"
+    ],
+    "resolution": 320,
+    "sha256": "8ac063fa5a13c951739ab966be0c35af2a79724514ff39a080acf7c6c009a8b5",
+    "status": "passed",
+    "views": [
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+        "azimuth_deg": -55.0,
+        "label": "view_a"
+      },
+      {
+        "azimuth_deg": 125.0,
+        "label": "view_b"
+      }
+    ]
+  },
+  "runtime": {
+    "collision_geom_count": 364,
+    "failures": [],
+    "nbody": 8,
+    "ngeom": 384,
+    "njnt": 6,
+    "status": "passed"
+  },
+  "samples_per_link": 2000,
+  "schema_version": 1,
+  "status": "passed",
+  "warnings": [
+    "E_body_3: visual_to_collision p95 0.0202904 m exceeds 0.0140562 m",
+    "E_body_3: collision_to_visual p95 0.0163292 m exceeds 0.0140562 m",
+    "E_portafilter_4: ordinary convex part exceeds 255 vertices; require zero-warning PhysX cook evidence",
+    "E_button_1_6: ordinary convex part exceeds 255 vertices; require zero-warning PhysX cook evidence"
+  ]
+}

assets/articulated/artvip/coffee_machine_6/reports/usd_dependencies.json

@@ -2,10 +2,14 @@
   "allowed_runtime_mdl_prefixes": [
     "::OmniGlass::",
     "::OmniPBR::",
+    "::OmniSurface::",
     "::anno::",
     "::base::",
     "::df::",
+    "::limits::",
     "::math::",
+    "::nvidia::",
+    "::scene::",
     "::state::",
     "::tex::"
   ],
@@ -24,10 +28,10 @@
   "dependency_count": 1,
   "failures": [],
   "provenance": {
-    "canonical_usd_sha256": "e0a931cbc1d2894ad3b5e2f5174d461eb3b242a0aaf2a51735fffc9b597749e7",
+    "canonical_usd_sha256": "cb4b545ac30f7b7ae1d0114232ee39ee1ef98f5412f7c2b6f5fe224a6990992d",
     "dependency_closure_sha256": "c82f49edadf0c982abe80a81ee5337397f82684abae5c8c377e86bb17e8bbbae",
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-    "source_sha256": "9490dc63a802d1c5018804cd939c7316b55a5f0a5f00ba39479ca141ac43c078"
+    "properties_sha256": "8ecfbcf05f872c148c4f1690a35ae34de6b6078b7231ac326a3f5fc9c584d18e",
+    "source_sha256": "70d708b2801f6ee10b4e116e228b11d032ed12bc919e4236eaa1ab60491b7f71"
   },
   "runtime_mdl_modules": [
     "::OmniGlass::OmniGlass",
@@ -36,8 +40,21 @@
   ],
   "status": "passed",
   "stripped_scene": {
+    "articulation_root": {
+      "canonical_roots": [
+        "/root/E_body_3"
+      ],
+      "removed_roots": [],
+      "source_roots": [
+        "/root/E_body_3"
+      ],
+      "status": "canonicalized",
+      "urdf_root_link": "E_body_3"
+    },
     "removed_behavior_properties": 24,
     "removed_cameras": [],
+    "removed_collision_properties": 40,
+    "removed_collision_schemas": 0,
     "removed_drive_schemas": 6,
     "removed_invalid_articulation_roots": [],
     "removed_lights": []

assets/articulated/artvip/coffee_machine_6/reports/usd_frame_normalization.json

@@ -1427,10 +1427,10 @@
   ],
   "maximum_visual_world_transform_drift": 1.1102230246251565e-16,
   "provenance": {
-    "canonical_usd_sha256": "e0a931cbc1d2894ad3b5e2f5174d461eb3b242a0aaf2a51735fffc9b597749e7",
+    "canonical_usd_sha256": "cb4b545ac30f7b7ae1d0114232ee39ee1ef98f5412f7c2b6f5fe224a6990992d",
     "dependency_closure_sha256": "c82f49edadf0c982abe80a81ee5337397f82684abae5c8c377e86bb17e8bbbae",
-    "properties_sha256": "c3c1688ac6831a2569a78004e1d167fb1198f5e87ca6b4087afe2acf22ab4cae",
-    "source_sha256": "9490dc63a802d1c5018804cd939c7316b55a5f0a5f00ba39479ca141ac43c078"
+    "properties_sha256": "8ecfbcf05f872c148c4f1690a35ae34de6b6078b7231ac326a3f5fc9c584d18e",
+    "source_sha256": "70d708b2801f6ee10b4e116e228b11d032ed12bc919e4236eaa1ab60491b7f71"
   },
   "status": "passed"
 }

assets/articulated/artvip/coffee_machine_6/reports/usd_physics_overlay.json

@@ -1,6 +1,6 @@
 {
   "body_count": 7,
-  "canonical_physics_digest": "80f496e6dcdd67c3acfaea9bdaafb11b12bf9bfcd61083aa4292c234cf8c325e",
+  "canonical_physics_digest": "85427b5065218c1caf7190be02d48266b9efa29138cecff3deef3be073e46f9c",
   "enabled_collision_count": 364,
   "enabled_collision_paths": [
     "/root/E_body_3/RoboVerseCollision/collision_000",
@@ -372,16 +372,29 @@
   "filtered_pair_directed_count": 42,
   "passive_joint_policy": true,
   "provenance": {
-    "canonical_usd_sha256": "e0a931cbc1d2894ad3b5e2f5174d461eb3b242a0aaf2a51735fffc9b597749e7",
+    "canonical_usd_sha256": "cb4b545ac30f7b7ae1d0114232ee39ee1ef98f5412f7c2b6f5fe224a6990992d",
     "dependency_closure_sha256": "c82f49edadf0c982abe80a81ee5337397f82684abae5c8c377e86bb17e8bbbae",
-    "properties_sha256": "c3c1688ac6831a2569a78004e1d167fb1198f5e87ca6b4087afe2acf22ab4cae",
-    "source_sha256": "9490dc63a802d1c5018804cd939c7316b55a5f0a5f00ba39479ca141ac43c078"
+    "properties_sha256": "8ecfbcf05f872c148c4f1690a35ae34de6b6078b7231ac326a3f5fc9c584d18e",
+    "source_sha256": "70d708b2801f6ee10b4e116e228b11d032ed12bc919e4236eaa1ab60491b7f71"
   },
-  "source_physics_digest": "83cd2482b9cb071629a5df71dfd711e2c4b7837bc49648adea97d8c455688290",
+  "source_physics_digest": "309fc8e0e85122cf5c47e9688319da6cd5ca88d279e2bf33338f111c44853fde",
   "status": "passed",
   "stripped_scene": {
+    "articulation_root": {
+      "canonical_roots": [
+        "/root/E_body_3"
+      ],
+      "removed_roots": [],
+      "source_roots": [
+        "/root/E_body_3"
+      ],
+      "status": "canonicalized",
+      "urdf_root_link": "E_body_3"
+    },
     "removed_behavior_properties": 24,
     "removed_cameras": [],
+    "removed_collision_properties": 40,
+    "removed_collision_schemas": 0,
     "removed_drive_schemas": 6,
     "removed_invalid_articulation_roots": [],
     "removed_lights": []

assets/articulated/artvip/coffee_machine_6/reports/usd_visual_equivalence.json

@@ -371,10 +371,10 @@
   "failures": [],
   "missing_renderables": [],
   "provenance": {
-    "canonical_usd_sha256": "e0a931cbc1d2894ad3b5e2f5174d461eb3b242a0aaf2a51735fffc9b597749e7",
+    "canonical_usd_sha256": "cb4b545ac30f7b7ae1d0114232ee39ee1ef98f5412f7c2b6f5fe224a6990992d",
     "dependency_closure_sha256": "c82f49edadf0c982abe80a81ee5337397f82684abae5c8c377e86bb17e8bbbae",
-    "properties_sha256": "c3c1688ac6831a2569a78004e1d167fb1198f5e87ca6b4087afe2acf22ab4cae",
-    "source_sha256": "9490dc63a802d1c5018804cd939c7316b55a5f0a5f00ba39479ca141ac43c078"
+    "properties_sha256": "8ecfbcf05f872c148c4f1690a35ae34de6b6078b7231ac326a3f5fc9c584d18e",
+    "source_sha256": "70d708b2801f6ee10b4e116e228b11d032ed12bc919e4236eaa1ab60491b7f71"
   },
   "source_renderable_count": 20,
   "source_visual_digest": "bdb2d89801adc5975d3020e4791c07a4de4df0a8a165c24f82320cdd8f3afb35",

assets/articulated/artvip/coffee_machine_6/reports/validation.json

@@ -1,5 +1,5 @@
 {
-  "asset_id": "artvip_coffee_machine_6",
+  "asset_id": "coffee_machine_6",
   "checks": {
     "articulated": {
       "joint_count": 6,
@@ -317,34 +317,43 @@
       "layout_type": "articulated_v1",
       "status": "passed"
     },
+    "source_provenance": {
+      "dataset_id": "X-Humanoid/ArtVIP",
+      "dataset_revision": "d22f2095bc9db29fdd4b60f4a3c4f8177e1f5e9e",
+      "normalization_required": false,
+      "normalized_source_sha256": "70d708b2801f6ee10b4e116e228b11d032ed12bc919e4236eaa1ab60491b7f71",
+      "status": "passed",
+      "upstream_path": "Articulated_objects/small_appliances/coffee machine/coffee_machine_6/model_coffee_machine_6.usd",
+      "upstream_sha256": "70d708b2801f6ee10b4e116e228b11d032ed12bc919e4236eaa1ab60491b7f71"
+    },
     "usd_dependencies": {
-      "canonical_usd_sha256": "e0a931cbc1d2894ad3b5e2f5174d461eb3b242a0aaf2a51735fffc9b597749e7",
+      "canonical_usd_sha256": "cb4b545ac30f7b7ae1d0114232ee39ee1ef98f5412f7c2b6f5fe224a6990992d",
       "dependency_closure_sha256": "c82f49edadf0c982abe80a81ee5337397f82684abae5c8c377e86bb17e8bbbae",
       "report": "reports/usd_dependencies.json",
       "status": "passed"
     },
     "usd_frame_normalization": {
-      "canonical_usd_sha256": "e0a931cbc1d2894ad3b5e2f5174d461eb3b242a0aaf2a51735fffc9b597749e7",
+      "canonical_usd_sha256": "cb4b545ac30f7b7ae1d0114232ee39ee1ef98f5412f7c2b6f5fe224a6990992d",
       "dependency_closure_sha256": "c82f49edadf0c982abe80a81ee5337397f82684abae5c8c377e86bb17e8bbbae",
       "report": "reports/usd_frame_normalization.json",
       "status": "passed"
     },
     "usd_physics_overlay": {
-      "canonical_usd_sha256": "e0a931cbc1d2894ad3b5e2f5174d461eb3b242a0aaf2a51735fffc9b597749e7",
+      "canonical_usd_sha256": "cb4b545ac30f7b7ae1d0114232ee39ee1ef98f5412f7c2b6f5fe224a6990992d",
       "dependency_closure_sha256": "c82f49edadf0c982abe80a81ee5337397f82684abae5c8c377e86bb17e8bbbae",
       "report": "reports/usd_physics_overlay.json",
       "status": "passed"
     },
     "usd_visual_equivalence": {
-      "canonical_usd_sha256": "e0a931cbc1d2894ad3b5e2f5174d461eb3b242a0aaf2a51735fffc9b597749e7",
+      "canonical_usd_sha256": "cb4b545ac30f7b7ae1d0114232ee39ee1ef98f5412f7c2b6f5fe224a6990992d",
       "dependency_closure_sha256": "c82f49edadf0c982abe80a81ee5337397f82684abae5c8c377e86bb17e8bbbae",
       "report": "reports/usd_visual_equivalence.json",
       "status": "passed"
     }
   },
   "layout": {
-    "path_in_repo": "assets/articulated/artvip/coffee_machine_6",
-    "root": "assets/articulated/artvip/coffee_machine_6",
+    "path_in_repo": "assets/articulated/coffee/machine_6",
+    "root": "assets/articulated/coffee/machine_6",
     "source": "manifest_yaml",
     "type": "articulated_v1"
   },