feat(artvip): upload normalized assets batch 24/25

.gitattributes

@@ -1000,3 +1000,11 @@ assets/articulated/artvip/tongs_2/usd/model.usd filter=lfs diff=lfs merge=lfs -t
 assets/articulated/artvip/tongs_20/usd/model.usd filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/tongs_3/usd/model.usd filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/tongs_9/meshes/visual/E_arm_1_2/E_arm_1_2_3.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/tongs_9/meshes/visual/E_arm_2_6/E_arm_2_6_0.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/tongs_9/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/trash_can_press_4f_001_t1/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/trash_can_press_4f_002_t1/meshes/visual/E_lid_88/E_lid_88_0.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/trash_can_press_4f_002_t1/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/utility_knife_2/meshes/visual/E_body_6/E_body_6_2.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/utility_knife_2/meshes/visual/E_body_6/E_body_6_3.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/utility_knife_2/usd/model.usd filter=lfs diff=lfs merge=lfs -text

assets/articulated/artvip/tongs_9/meshes/visual/E_arm_2_6/E_arm_2_6_0.obj

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+oid sha256:ebf84656b78d4a4f0d0ede09449ec5ef1d3812a22a6fcee57c5cb8933d079788
+size 13253138

assets/articulated/artvip/tongs_9/meshes/visual/materials.json

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+}

assets/articulated/artvip/tongs_9/mjcf/model.xml

@@ -0,0 +1,117 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="model_tongs_9">
+  <compiler angle="radian" />
+  <asset>
+    <mesh name="E_body_1_0" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_0.obj" />
+    <mesh name="E_body_1_1" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_1.obj" />
+    <mesh name="E_body_1_2" content_type="model/obj" file="../meshes/visual/E_body_1/E_body_1_2.obj" />
+    <mesh name="collision_E_body_1_000" content_type="model/obj" file="../meshes/collision/E_body_1/collision_E_body_1_000.obj" />
+    <mesh name="collision_E_body_1_001" content_type="model/obj" file="../meshes/collision/E_body_1/collision_E_body_1_001.obj" />
+    <mesh name="collision_E_body_1_002" content_type="model/obj" file="../meshes/collision/E_body_1/collision_E_body_1_002.obj" />
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+    <mesh name="collision_E_body_1_005" content_type="model/obj" file="../meshes/collision/E_body_1/collision_E_body_1_005.obj" />
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+    <mesh name="collision_E_body_1_009" content_type="model/obj" file="../meshes/collision/E_body_1/collision_E_body_1_009.obj" />
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+    <mesh name="collision_E_body_1_012" content_type="model/obj" file="../meshes/collision/E_body_1/collision_E_body_1_012.obj" />
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+    <mesh name="collision_E_body_1_014" content_type="model/obj" file="../meshes/collision/E_body_1/collision_E_body_1_014.obj" />
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+    <mesh name="E_arm_1_2_1" content_type="model/obj" file="../meshes/visual/E_arm_1_2/E_arm_1_2_1.obj" />
+    <mesh name="E_arm_1_2_2" content_type="model/obj" file="../meshes/visual/E_arm_1_2/E_arm_1_2_2.obj" />
+    <mesh name="E_arm_1_2_3" content_type="model/obj" file="../meshes/visual/E_arm_1_2/E_arm_1_2_3.obj" />
+    <mesh name="E_arm_1_2_4" content_type="model/obj" file="../meshes/visual/E_arm_1_2/E_arm_1_2_4.obj" />
+    <mesh name="E_arm_1_2_5" content_type="model/obj" file="../meshes/visual/E_arm_1_2/E_arm_1_2_5.obj" />
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+    <mesh name="collision_E_arm_1_2_003" content_type="model/obj" file="../meshes/collision/E_arm_1_2/collision_E_arm_1_2_003.obj" />
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+  <worldbody>
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+        <geom pos="0.0813021 0.0001896 -0.0179483" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.5765 0.5765 0.5765 1" mesh="E_arm_2_6_2" material="E_arm_2_6_2_mat" />
+        <geom pos="0.0813021 0.0001896 -0.0179483" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.5765 0.5765 0.5765 1" mesh="E_arm_2_6_3" material="E_arm_2_6_3_mat" />
+        <geom type="mesh" rgba="0.5765 0.5765 0.5765 1" mesh="collision_E_arm_2_6_000" group="3" />
+        <geom type="mesh" rgba="0.5765 0.5765 0.5765 1" mesh="collision_E_arm_2_6_001" group="3" />
+        <geom type="mesh" rgba="0.5765 0.5765 0.5765 1" mesh="collision_E_arm_2_6_002" group="3" />
+        <geom type="mesh" rgba="0.5765 0.5765 0.5765 1" mesh="collision_E_arm_2_6_003" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="E_body_1" body2="E_arm_1_2" />
+    <exclude body1="E_body_1" body2="E_arm_2_6" />
+    <exclude body1="E_arm_1_2" body2="E_arm_2_6" />
+  </contact>
+</mujoco>

assets/articulated/artvip/tongs_9/reports/collision_audit.json

@@ -0,0 +1,308 @@
+{
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+    "modes": [
+      "visual",
+      "collision",
+      "overlay"
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+    "path": "reports/collision_overlay.png",
+    "poses": [
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+    "resolution": 400,
+    "sha256": "64bf6f3fd55e1a43eda00aca4cc2ebf18d71238dda2b40895d6fe277826ab878",
+    "status": "passed",
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+  "runtime": {
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+    "failures": [],
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+  "schema_version": 1,
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+    "E_arm_1_2: ordinary convex part exceeds 255 vertices; require zero-warning PhysX cook evidence",
+    "E_arm_2_6: ordinary convex part exceeds 255 vertices; require zero-warning PhysX cook evidence"
+  ]
+}

assets/articulated/artvip/tongs_9/reports/collision_passthrough.json

@@ -0,0 +1,27 @@
+{
+  "body_policies": {
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+      "policy": "urdf_collision",
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+      "policy": "urdf_collision",
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+  "passthrough_urdf_count": 0,
+  "proxies": [],
+  "repair_report_sha256": null,
+  "schema_version": 1,
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+  "source_usd_sha256": "f0fab8073938e435a1c0d3cb27ca2c8365ff1d0b699af200d8eaf168d329ea20",
+  "status": "passed"
+}

assets/articulated/artvip/tongs_9/reports/joint_sweep.json

@@ -0,0 +1,39 @@
+{
+  "joints": [
+    {
+      "bad_qacc": false,
+      "joint": "RevoluteJoint_tongs_9_left",
+      "max_induced_penetration_m": 0.0,
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+      "penetrations": [],
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+      "status": "passed",
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+      "type": "hinge"
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+      "joint": "RevoluteJoint_tongs_9_right",
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+      "penetrations": [],
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+  "mjcf": "model.xml",
+  "penetration_tolerance_m": 0.005,
+  "status": "passed",
+  "steps_per_joint": 24,
+  "swept_joint_count": 2
+}

assets/articulated/artvip/tongs_9/reports/usd_dependencies.json

@@ -0,0 +1,48 @@
+{
+  "allowed_runtime_mdl_prefixes": [
+    "::OmniGlass::",
+    "::OmniPBR::",
+    "::OmniSurface::",
+    "::anno::",
+    "::base::",
+    "::df::",
+    "::limits::",
+    "::math::",
+    "::nvidia::",
+    "::scene::",
+    "::state::",
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+  "authored_asset_paths": [],
+  "dependencies": [],
+  "dependency_count": 0,
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+  "provenance": {
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+  },
+  "runtime_mdl_modules": [],
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+      "removed_roots": [],
+      "source_roots": [
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+    "removed_cameras": [],
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+    "removed_collision_schemas": 0,
+    "removed_drive_schemas": 2,
+    "removed_invalid_articulation_roots": [],
+    "removed_lights": []
+  }
+}

assets/articulated/artvip/tongs_9/reports/usd_frame_normalization.json

@@ -0,0 +1,625 @@
+{
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+        [
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+      "type": "PhysicsRevoluteJoint"
+    },
+    {
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+        "/root/E_body_1"
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+      "body1": [
+        "/root/E_arm_2_6"
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+      "canonical_local0": [
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+      "path": "/root/E_arm_2_6/RevoluteJoint_tongs_9_right",
+      "source_local0": [
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+    {
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+        "/root/E_body_1"
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+      "path": "/root/E_body_1/FixedJoint",
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+        [
+          "0",
+          "0",
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+          "1"
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+      "type": "PhysicsFixedJoint"
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+  ],
+  "maximum_visual_world_transform_drift": 0.0,
+  "provenance": {
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+    "dependency_closure_sha256": "2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9",
+    "properties_sha256": "22f90bacff48bedaf796191bda64c7918b863afd2ab4fd5b7bf41f5108bb69cb",
+    "source_sha256": "f0fab8073938e435a1c0d3cb27ca2c8365ff1d0b699af200d8eaf168d329ea20"
+  },
+  "status": "passed"
+}

assets/articulated/artvip/tongs_9/reports/usd_physics_overlay.json

@@ -0,0 +1,66 @@
+{
+  "body_count": 3,
+  "canonical_physics_digest": "81d8b2e462854f4f3f6e824e54843cd96c123e90b256b699a9be465f471d8f13",
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+    "/root/E_arm_1_2/RoboVerseCollision/collision_001",
+    "/root/E_arm_1_2/RoboVerseCollision/collision_002",
+    "/root/E_arm_1_2/RoboVerseCollision/collision_003",
+    "/root/E_arm_2_6/RoboVerseCollision/collision_000",
+    "/root/E_arm_2_6/RoboVerseCollision/collision_001",
+    "/root/E_arm_2_6/RoboVerseCollision/collision_002",
+    "/root/E_arm_2_6/RoboVerseCollision/collision_003",
+    "/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"
+  ],
+  "failures": [],
+  "filtered_pair_directed_count": 6,
+  "passive_joint_policy": true,
+  "provenance": {
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+    "dependency_closure_sha256": "2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9",
+    "properties_sha256": "22f90bacff48bedaf796191bda64c7918b863afd2ab4fd5b7bf41f5108bb69cb",
+    "source_sha256": "f0fab8073938e435a1c0d3cb27ca2c8365ff1d0b699af200d8eaf168d329ea20"
+  },
+  "source_physics_digest": "13c39ce0dae7d7a6df8d87ee66e0000e0af64f8573374fe025df9a19eba90e8a",
+  "status": "passed",
+  "stripped_scene": {
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+      "canonical_roots": [
+        "/root/E_body_1"
+      ],
+      "removed_roots": [],
+      "source_roots": [
+        "/root/E_body_1"
+      ],
+      "status": "canonicalized",
+      "urdf_root_link": "E_body_1"
+    },
+    "removed_behavior_properties": 8,
+    "removed_cameras": [],
+    "removed_collision_properties": 26,
+    "removed_collision_schemas": 0,
+    "removed_drive_schemas": 2,
+    "removed_invalid_articulation_roots": [],
+    "removed_lights": []
+  },
+  "total_mass_kg": 0.14999992
+}

assets/articulated/artvip/tongs_9/reports/usd_visual_equivalence.json

@@ -0,0 +1,45 @@
+{
+  "canonical_renderable_count": 13,
+  "canonical_visual_digest": "3b2af68d30b3ce5a5705e5c626583dc4289ed57661627971f091ba38651a1c9d",
+  "excluded_collision_renderables": [
+    "/root/E_arm_1_2/RoboVerseCollision/collision_000",
+    "/root/E_arm_1_2/RoboVerseCollision/collision_001",
+    "/root/E_arm_1_2/RoboVerseCollision/collision_002",
+    "/root/E_arm_1_2/RoboVerseCollision/collision_003",
+    "/root/E_arm_2_6/RoboVerseCollision/collision_000",
+    "/root/E_arm_2_6/RoboVerseCollision/collision_001",
+    "/root/E_arm_2_6/RoboVerseCollision/collision_002",
+    "/root/E_arm_2_6/RoboVerseCollision/collision_003",
+    "/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"
+  ],
+  "extra_renderables": [],
+  "failures": [],
+  "missing_renderables": [],
+  "provenance": {
+    "canonical_usd_sha256": "f6b4ac0c009bd039c16c643ef499f4a1b32dca520adfd7a29df59edc7e65eab1",
+    "dependency_closure_sha256": "2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9",
+    "properties_sha256": "22f90bacff48bedaf796191bda64c7918b863afd2ab4fd5b7bf41f5108bb69cb",
+    "source_sha256": "f0fab8073938e435a1c0d3cb27ca2c8365ff1d0b699af200d8eaf168d329ea20"
+  },
+  "source_renderable_count": 13,
+  "source_visual_digest": "3b2af68d30b3ce5a5705e5c626583dc4289ed57661627971f091ba38651a1c9d",
+  "status": "passed"
+}

assets/articulated/artvip/tongs_9/reports/validation.json

@@ -0,0 +1,235 @@
+{
+  "asset_id": "tongs_9",
+  "checks": {
+    "articulated": {
+      "joint_count": 2,
+      "link_count": 3,
+      "status": "passed",
+      "usd": "generated",
+      "warnings": [
+        "link E_body_1: thin mesh /root/E_body_1/P_3b907cf0ef27e9fa slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_1_collision: thin mesh /root/E_body_1/P_3b907cf0ef27e9fa slab-extruded to 0.0030 m for MuJoCo",
+        "link E_arm_1_2: flipped inward winding of mesh /root/E_arm_1_2/E_handle_1_3/P_c2a0e4d9001fa2ea",
+        "link E_arm_1_2: thin mesh /root/E_arm_1_2/E_clamp_1_4/P_875dfaf3d543c2ea slab-extruded to 0.0030 m for MuJoCo",
+        "link E_arm_1_2_collision: flipped inward winding of mesh /root/E_arm_1_2/E_handle_1_3/P_c2a0e4d9001fa2ea",
+        "link E_arm_1_2_collision: thin mesh /root/E_arm_1_2/E_clamp_1_4/P_875dfaf3d543c2ea slab-extruded to 0.0030 m for MuJoCo",
+        "link E_arm_2_6: thin mesh /root/E_arm_2_6/E_clamp_2_7/P_8bef03aa6a47c2ea slab-extruded to 0.0030 m for MuJoCo",
+        "link E_arm_2_6: flipped inward winding of mesh /root/E_arm_2_6/E_rod_2_8/P_62f0ffcb90ffecea",
+        "link E_arm_2_6_collision: thin mesh /root/E_arm_2_6/E_clamp_2_7/P_8bef03aa6a47c2ea slab-extruded to 0.0030 m for MuJoCo",
+        "link E_arm_2_6_collision: flipped inward winding of mesh /root/E_arm_2_6/E_rod_2_8/P_62f0ffcb90ffecea",
+        "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": 27,
+      "default_rendered_count": 0,
+      "status": "passed"
+    },
+    "joint_frame_sanity": {
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+      "joints": [
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+            -6.3e-05,
+            0.017954
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+              "body": "E_arm_1_2",
+              "geom_source": "visual",
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+            },
+            {
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+              "body": "E_body_1",
+              "geom_source": "visual",
+              "margin_m": 0.1
+            }
+          ],
+          "geom_source": "visual",
+          "joint": "RevoluteJoint_tongs_9_left",
+          "status": "passed"
+        },
+        {
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+            -0.00019,
+            0.017948
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+                [
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+                  0.023948
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+              ],
+              "body": "E_arm_2_6",
+              "geom_source": "visual",
+              "margin_m": 0.1
+            },
+            {
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+                ],
+                [
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+                  0.018375
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+              ],
+              "body": "E_body_1",
+              "geom_source": "visual",
+              "margin_m": 0.1
+            }
+          ],
+          "geom_source": "visual",
+          "joint": "RevoluteJoint_tongs_9_right",
+          "status": "passed"
+        }
+      ],
+      "status": "passed"
+    },
+    "joint_sweep": {
+      "report": "reports/joint_sweep.json",
+      "status": "passed",
+      "swept_joint_count": 2
+    },
+    "layout": {
+      "layout": {
+        "path_in_repo": "assets/articulated/tongs/9",
+        "root": "assets/articulated/tongs/9",
+        "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": "f0fab8073938e435a1c0d3cb27ca2c8365ff1d0b699af200d8eaf168d329ea20",
+      "status": "passed",
+      "upstream_path": "Articulated_objects/household_items/tongs/tongs_9/model_tongs_9.usd",
+      "upstream_sha256": "f0fab8073938e435a1c0d3cb27ca2c8365ff1d0b699af200d8eaf168d329ea20"
+    },
+    "usd_dependencies": {
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+      "dependency_closure_sha256": "2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9",
+      "report": "reports/usd_dependencies.json",
+      "status": "passed"
+    },
+    "usd_frame_normalization": {
+      "canonical_usd_sha256": "f6b4ac0c009bd039c16c643ef499f4a1b32dca520adfd7a29df59edc7e65eab1",
+      "dependency_closure_sha256": "2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9",
+      "report": "reports/usd_frame_normalization.json",
+      "status": "passed"
+    },
+    "usd_physics_overlay": {
+      "canonical_usd_sha256": "f6b4ac0c009bd039c16c643ef499f4a1b32dca520adfd7a29df59edc7e65eab1",
+      "dependency_closure_sha256": "2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9",
+      "report": "reports/usd_physics_overlay.json",
+      "status": "passed"
+    },
+    "usd_visual_equivalence": {
+      "canonical_usd_sha256": "f6b4ac0c009bd039c16c643ef499f4a1b32dca520adfd7a29df59edc7e65eab1",
+      "dependency_closure_sha256": "2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9",
+      "report": "reports/usd_visual_equivalence.json",
+      "status": "passed"
+    }
+  },
+  "layout": {
+    "path_in_repo": "assets/articulated/tongs/9",
+    "root": "assets/articulated/tongs/9",
+    "source": "manifest_yaml",
+    "type": "articulated_v1"
+  },
+  "profile": "production",
+  "status": "passed",
+  "warnings": [
+    "link E_body_1: thin mesh /root/E_body_1/P_3b907cf0ef27e9fa slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1_collision: thin mesh /root/E_body_1/P_3b907cf0ef27e9fa slab-extruded to 0.0030 m for MuJoCo",
+    "link E_arm_1_2: flipped inward winding of mesh /root/E_arm_1_2/E_handle_1_3/P_c2a0e4d9001fa2ea",
+    "link E_arm_1_2: thin mesh /root/E_arm_1_2/E_clamp_1_4/P_875dfaf3d543c2ea slab-extruded to 0.0030 m for MuJoCo",
+    "link E_arm_1_2_collision: flipped inward winding of mesh /root/E_arm_1_2/E_handle_1_3/P_c2a0e4d9001fa2ea",
+    "link E_arm_1_2_collision: thin mesh /root/E_arm_1_2/E_clamp_1_4/P_875dfaf3d543c2ea slab-extruded to 0.0030 m for MuJoCo",
+    "link E_arm_2_6: thin mesh /root/E_arm_2_6/E_clamp_2_7/P_8bef03aa6a47c2ea slab-extruded to 0.0030 m for MuJoCo",
+    "link E_arm_2_6: flipped inward winding of mesh /root/E_arm_2_6/E_rod_2_8/P_62f0ffcb90ffecea",
+    "link E_arm_2_6_collision: thin mesh /root/E_arm_2_6/E_clamp_2_7/P_8bef03aa6a47c2ea slab-extruded to 0.0030 m for MuJoCo",
+    "link E_arm_2_6_collision: flipped inward winding of mesh /root/E_arm_2_6/E_rod_2_8/P_62f0ffcb90ffecea",
+    "preview pending: mujoco import failed: RuntimeError('invalid value for environment variable MUJOCO_GL: egl')"
+  ]
+}

assets/articulated/artvip/tongs_9/urdf/model.urdf

@@ -0,0 +1,290 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model_tongs_9">
+  <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="0.5765 0.5765 0.5765 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="0.6196 0.6000 0.6000 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="0.8863 0.3647 0.3647 1.0000" />
+      </material>
+    </visual>
+    <inertial>
+      <origin xyz="-0.0853899 0.00079560009 0.0122293" rpy="0 0 0" />
+      <mass value="0.006559324153" />
+      <inertia ixx="1.960261409e-07" ixy="0" ixz="0" iyy="1.084900008e-06" iyz="0" izz="1.115790872e-06" />
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_000.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_001.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_002.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_003.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_004.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_005.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_006.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_007.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_008.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_009.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_010.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_011.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_012.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_013.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_014.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_015.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_016.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_017.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_body_1/collision_E_body_1_018.obj" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="E_arm_1_2">
+    <visual>
+      <origin xyz="0.0813408 6.3200001e-05 -0.0179537" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_1_2/E_arm_1_2_0.obj" />
+      </geometry>
+      <material name="E_arm_1_2_0_mat">
+        <color rgba="0.5765 0.5765 0.5765 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="0.0813408 6.3200001e-05 -0.0179537" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_1_2/E_arm_1_2_1.obj" />
+      </geometry>
+      <material name="E_arm_1_2_1_mat">
+        <color rgba="0.8863 0.3647 0.3647 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="0.0813408 6.3200001e-05 -0.0179537" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_1_2/E_arm_1_2_2.obj" />
+      </geometry>
+      <material name="E_arm_1_2_2_mat">
+        <color rgba="0.5765 0.5765 0.5765 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="0.0813408 6.3200001e-05 -0.0179537" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_1_2/E_arm_1_2_3.obj" />
+      </geometry>
+      <material name="E_arm_1_2_3_mat">
+        <color rgba="0.8863 0.3647 0.3647 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="0.0813408 6.3200001e-05 -0.0179537" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_1_2/E_arm_1_2_4.obj" />
+      </geometry>
+      <material name="E_arm_1_2_4_mat">
+        <color rgba="0.5765 0.5765 0.5765 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="0.0813408 6.3200001e-05 -0.0179537" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_1_2/E_arm_1_2_5.obj" />
+      </geometry>
+      <material name="E_arm_1_2_5_mat">
+        <color rgba="0.8863 0.3647 0.3647 1.0000" />
+      </material>
+    </visual>
+    <inertial>
+      <origin xyz="0.091577501 -0.0150772 -0.0063500004" rpy="0 0 0" />
+      <mass value="0.07182924329" />
+      <inertia ixx="1.151797719e-05" ixy="0" ixz="0" iyy="0.0002279900781" iyz="0" izz="0.0002328967714" />
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_arm_1_2/collision_E_arm_1_2_000.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_arm_1_2/collision_E_arm_1_2_001.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_arm_1_2/collision_E_arm_1_2_002.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_arm_1_2/collision_E_arm_1_2_003.obj" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="E_arm_2_6">
+    <visual>
+      <origin xyz="0.0813021 0.0001896 -0.0179483" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_2_6/E_arm_2_6_0.obj" />
+      </geometry>
+      <material name="E_arm_2_6_0_mat">
+        <color rgba="0.8863 0.3647 0.3647 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="0.0813021 0.0001896 -0.0179483" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_2_6/E_arm_2_6_1.obj" />
+      </geometry>
+      <material name="E_arm_2_6_1_mat">
+        <color rgba="0.5765 0.5765 0.5765 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="0.0813021 0.0001896 -0.0179483" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_2_6/E_arm_2_6_2.obj" />
+      </geometry>
+      <material name="E_arm_2_6_2_mat">
+        <color rgba="0.5765 0.5765 0.5765 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="0.0813021 0.0001896 -0.0179483" rpy="0 -0 0" />
+      <geometry>
+        <mesh filename="../meshes/visual/E_arm_2_6/E_arm_2_6_3.obj" />
+      </geometry>
+      <material name="E_arm_2_6_3_mat">
+        <color rgba="0.5765 0.5765 0.5765 1.0000" />
+      </material>
+    </visual>
+    <inertial>
+      <origin xyz="0.091842651 0.0133621 -0.00575" rpy="0 0 0" />
+      <mass value="0.07161143256" />
+      <inertia ixx="9.772632514e-06" ixy="0" ixz="0" iyy="0.0002288871329" iyz="0" izz="0.0002320685298" />
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_arm_2_6/collision_E_arm_2_6_000.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_arm_2_6/collision_E_arm_2_6_001.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_arm_2_6/collision_E_arm_2_6_002.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/E_arm_2_6/collision_E_arm_2_6_003.obj" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RevoluteJoint_tongs_9_left" type="revolute">
+    <origin xyz="-0.0813408 -6.3200001e-05 0.0179537" rpy="0 -0 0" />
+    <parent link="E_body_1" />
+    <child link="E_arm_1_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.1396263402" effort="100" velocity="10" />
+  </joint>
+  <joint name="RevoluteJoint_tongs_9_right" type="revolute">
+    <origin xyz="-0.0813021 -0.0001896 0.0179483" rpy="0 -0 0" />
+    <parent link="E_body_1" />
+    <child link="E_arm_2_6" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.1396263402" upper="0" effort="100" velocity="10" />
+  </joint>
+</robot>

assets/articulated/artvip/tongs_9/usd/model.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6b4ac0c009bd039c16c643ef499f4a1b32dca520adfd7a29df59edc7e65eab1
+size 13884253

assets/articulated/artvip/trash_can_press_4f_001_t1/manifest.yaml

@@ -0,0 +1,576 @@
+schema_version: 3
+asset_id: trash_can_press_4f_001_t1
+name: trash_can_press_4f_001_T1
+protocol:
+  version: 1
+  asset_family: articulated_v1
+layout:
+  type: articulated_v1
+  root: assets/articulated/trash/can_press_4f_001_t1
+category: household_items
+geometry:
+  realized_aabb_m:
+  - 0.137434006
+  - 0.137434006
+  - 0.137638488
+articulation:
+  joints:
+    count: 2
+    dof: 2
+    types:
+      hinge: 1
+      slide: 1
+    details:
+    - name: RevoluteJoint_pressthetrashcan1_up
+      type: hinge
+      limited: true
+      range:
+      - -1.5708
+      - 0.0
+    - name: PrismaticJoint_pressthetrashcan1_up1
+      type: slide
+      limited: true
+      range:
+      - -0.001
+      - 0.0
+  links:
+    E_body_8:
+      mass_kg: 0.633487
+      inertia_diag_kgm2:
+      - 0.00199423
+      - 0.00198792
+      - 0.00198792
+      com_m:
+      - 0.0
+      - 0.0
+      - 0.0683439
+      visual_meshes:
+      - meshes/visual/E_body_8/E_body_8_0.obj
+      - meshes/visual/E_body_8/E_body_8_1.obj
+      - meshes/visual/E_body_8/E_body_8_2.obj
+      - meshes/visual/E_body_8/E_body_8_3.obj
+      - meshes/visual/E_body_8/E_body_8_4.obj
+      - meshes/visual/E_body_8/E_body_8_5.obj
+      collision_meshes:
+      - meshes/collision/E_body_8/collision_E_body_8_000.obj
+      - meshes/collision/E_body_8/collision_E_body_8_001.obj
+      - meshes/collision/E_body_8/collision_E_body_8_002.obj
+      - meshes/collision/E_body_8/collision_E_body_8_003.obj
+      - meshes/collision/E_body_8/collision_E_body_8_004.obj
+      - meshes/collision/E_body_8/collision_E_body_8_005.obj
+      - meshes/collision/E_body_8/collision_E_body_8_006.obj
+      - meshes/collision/E_body_8/collision_E_body_8_007.obj
+      - meshes/collision/E_body_8/collision_E_body_8_008.obj
+      - meshes/collision/E_body_8/collision_E_body_8_009.obj
+      - meshes/collision/E_body_8/collision_E_body_8_010.obj
+      - meshes/collision/E_body_8/collision_E_body_8_011.obj
+      - meshes/collision/E_body_8/collision_E_body_8_012.obj
+      - meshes/collision/E_body_8/collision_E_body_8_013.obj
+      - meshes/collision/E_body_8/collision_E_body_8_014.obj
+      - meshes/collision/E_body_8/collision_E_body_8_015.obj
+      - meshes/collision/E_body_8/collision_E_body_8_016.obj
+      - meshes/collision/E_body_8/collision_E_body_8_017.obj
+      - meshes/collision/E_body_8/collision_E_body_8_018.obj
+      - meshes/collision/E_body_8/collision_E_body_8_019.obj
+      - meshes/collision/E_body_8/collision_E_body_8_020.obj
+      - meshes/collision/E_body_8/collision_E_body_8_021.obj
+      - meshes/collision/E_body_8/collision_E_body_8_022.obj
+      - meshes/collision/E_body_8/collision_E_body_8_023.obj
+      - meshes/collision/E_body_8/collision_E_body_8_024.obj
+      - meshes/collision/E_body_8/collision_E_body_8_025.obj
+      - meshes/collision/E_body_8/collision_E_body_8_026.obj
+      - meshes/collision/E_body_8/collision_E_body_8_027.obj
+      - meshes/collision/E_body_8/collision_E_body_8_028.obj
+      - meshes/collision/E_body_8/collision_E_body_8_029.obj
+      - meshes/collision/E_body_8/collision_E_body_8_030.obj
+      - meshes/collision/E_body_8/collision_E_body_8_031.obj
+      - meshes/collision/E_body_8/collision_E_body_8_032.obj
+      - meshes/collision/E_body_8/collision_E_body_8_033.obj
+      - meshes/collision/E_body_8/collision_E_body_8_034.obj
+      - meshes/collision/E_body_8/collision_E_body_8_035.obj
+      - meshes/collision/E_body_8/collision_E_body_8_036.obj
+      - meshes/collision/E_body_8/collision_E_body_8_037.obj
+      - meshes/collision/E_body_8/collision_E_body_8_038.obj
+      - meshes/collision/E_body_8/collision_E_body_8_039.obj
+      - meshes/collision/E_body_8/collision_E_body_8_040.obj
+      - meshes/collision/E_body_8/collision_E_body_8_041.obj
+      - meshes/collision/E_body_8/collision_E_body_8_042.obj
+      - meshes/collision/E_body_8/collision_E_body_8_043.obj
+      - meshes/collision/E_body_8/collision_E_body_8_044.obj
+      - meshes/collision/E_body_8/collision_E_body_8_045.obj
+      - meshes/collision/E_body_8/collision_E_body_8_046.obj
+      - meshes/collision/E_body_8/collision_E_body_8_047.obj
+      - meshes/collision/E_body_8/collision_E_body_8_048.obj
+      - meshes/collision/E_body_8/collision_E_body_8_049.obj
+      - meshes/collision/E_body_8/collision_E_body_8_050.obj
+      - meshes/collision/E_body_8/collision_E_body_8_051.obj
+      - meshes/collision/E_body_8/collision_E_body_8_052.obj
+      - meshes/collision/E_body_8/collision_E_body_8_053.obj
+      - meshes/collision/E_body_8/collision_E_body_8_054.obj
+      - meshes/collision/E_body_8/collision_E_body_8_055.obj
+      - meshes/collision/E_body_8/collision_E_body_8_056.obj
+      - meshes/collision/E_body_8/collision_E_body_8_057.obj
+      - meshes/collision/E_body_8/collision_E_body_8_058.obj
+      - meshes/collision/E_body_8/collision_E_body_8_059.obj
+      - meshes/collision/E_body_8/collision_E_body_8_060.obj
+      - meshes/collision/E_body_8/collision_E_body_8_061.obj
+      - meshes/collision/E_body_8/collision_E_body_8_062.obj
+      - meshes/collision/E_body_8/collision_E_body_8_063.obj
+      - meshes/collision/E_body_8/collision_E_body_8_064.obj
+      - meshes/collision/E_body_8/collision_E_body_8_065.obj
+      - meshes/collision/E_body_8/collision_E_body_8_066.obj
+      - meshes/collision/E_body_8/collision_E_body_8_067.obj
+      - meshes/collision/E_body_8/collision_E_body_8_068.obj
+      - meshes/collision/E_body_8/collision_E_body_8_069.obj
+      - meshes/collision/E_body_8/collision_E_body_8_070.obj
+      - meshes/collision/E_body_8/collision_E_body_8_071.obj
+      - meshes/collision/E_body_8/collision_E_body_8_072.obj
+      - meshes/collision/E_body_8/collision_E_body_8_073.obj
+      - meshes/collision/E_body_8/collision_E_body_8_074.obj
+      - meshes/collision/E_body_8/collision_E_body_8_075.obj
+      - meshes/collision/E_body_8/collision_E_body_8_076.obj
+      - meshes/collision/E_body_8/collision_E_body_8_077.obj
+      - meshes/collision/E_body_8/collision_E_body_8_078.obj
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+      - meshes/collision/E_body_8/collision_E_body_8_361.obj
+      - meshes/collision/E_body_8/collision_E_body_8_362.obj
+      - meshes/collision/E_body_8/collision_E_body_8_363.obj
+      - meshes/collision/E_body_8/collision_E_body_8_364.obj
+      - meshes/collision/E_body_8/collision_E_body_8_365.obj
+      - meshes/collision/E_body_8/collision_E_body_8_366.obj
+      - meshes/collision/E_body_8/collision_E_body_8_367.obj
+      - meshes/collision/E_body_8/collision_E_body_8_368.obj
+      - meshes/collision/E_body_8/collision_E_body_8_369.obj
+      - meshes/collision/E_body_8/collision_E_body_8_370.obj
+      - meshes/collision/E_body_8/collision_E_body_8_371.obj
+      - meshes/collision/E_body_8/collision_E_body_8_372.obj
+      - meshes/collision/E_body_8/collision_E_body_8_373.obj
+      - meshes/collision/E_body_8/collision_E_body_8_374.obj
+      - meshes/collision/E_body_8/collision_E_body_8_375.obj
+      - meshes/collision/E_body_8/collision_E_body_8_376.obj
+      - meshes/collision/E_body_8/collision_E_body_8_377.obj
+      - meshes/collision/E_body_8/collision_E_body_8_378.obj
+      - meshes/collision/E_body_8/collision_E_body_8_379.obj
+      - meshes/collision/E_body_8/collision_E_body_8_380.obj
+      - meshes/collision/E_body_8/collision_E_body_8_381.obj
+      - meshes/collision/E_body_8/collision_E_body_8_382.obj
+      - meshes/collision/E_body_8/collision_E_body_8_383.obj
+      - meshes/collision/E_body_8/collision_E_body_8_384.obj
+      - meshes/collision/E_body_8/collision_E_body_8_385.obj
+      - meshes/collision/E_body_8/collision_E_body_8_386.obj
+      - meshes/collision/E_body_8/collision_E_body_8_387.obj
+      - meshes/collision/E_body_8/collision_E_body_8_388.obj
+      - meshes/collision/E_body_8/collision_E_body_8_389.obj
+      - meshes/collision/E_body_8/collision_E_body_8_390.obj
+      - meshes/collision/E_body_8/collision_E_body_8_391.obj
+      - meshes/collision/E_body_8/collision_E_body_8_392.obj
+      - meshes/collision/E_body_8/collision_E_body_8_393.obj
+      collision_source: urdf_collision
+    E_lid_43:
+      mass_kg: 0.0163412
+      inertia_diag_kgm2:
+      - 3.6521e-05
+      - 1.83459e-05
+      - 1.83459e-05
+      com_m:
+      - -0.00019281
+      - -0.0540674
+      - 0.000570069
+      visual_meshes:
+      - meshes/visual/E_lid_43/E_lid_43_0.obj
+      collision_meshes:
+      - meshes/collision/E_lid_43/collision_E_lid_43_000.obj
+      - meshes/collision/E_lid_43/collision_E_lid_43_001.obj
+      - meshes/collision/E_lid_43/collision_E_lid_43_002.obj
+      - meshes/collision/E_lid_43/collision_E_lid_43_003.obj
+      - meshes/collision/E_lid_43/collision_E_lid_43_004.obj
+      collision_source: urdf_collision
+    E_button_1_60:
+      mass_kg: 0.000171531
+      inertia_diag_kgm2:
+      - 5.503e-09
+      - 3.0e-09
+      - 3.001e-09
+      com_m:
+      - -6.5e-08
+      - -1.05e-07
+      - 5.0e-09
+      visual_meshes:
+      - meshes/visual/E_button_1_60/E_button_1_60_0.obj
+      collision_meshes:
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_000.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_001.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_002.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_003.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_004.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_005.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_006.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_007.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_008.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_009.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_010.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_011.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_012.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_013.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_014.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_015.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_016.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_017.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_018.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_019.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_020.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_021.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_022.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_023.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_024.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_025.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_026.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_027.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_028.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_029.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_030.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_031.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_032.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_033.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_034.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_035.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_036.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_037.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_038.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_039.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_040.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_041.obj
+      - meshes/collision/E_button_1_60/collision_E_button_1_60_042.obj
+      collision_source: urdf_collision
+usd:
+  status: generated
+  path: usd/model.usd
+  exporter: usd-core-native-overlay
+  source_sha256: 25c2c4687b5b20a9a94c8e1e05378a41493d00c1966d54f24c32a96981661ba7
+  properties_sha256: 0d3e689b776d883d1835b9e9fbe3f78b412616a17c33a0260f628493769b2e19
+  canonical_usd_sha256: d30a73ae7c9aa5ba69284a9b984ed57450aa85b3034f3c783dc09f9dac4877dd
+  dependency_closure_sha256: fec1e5ee739ee2ae6cdcfd73164ee041340d0c85668940c10917da8758dc8953
+source:
+  type: articulated_usd
+  filename: trash_can_press_4f_001_T1.usd
+  family: ArtVIP
+  license: Apache-2.0
+  attribution: ArtVIP (X-Humanoid), Apache-2.0
+  source_url: https://github.com/X-Humanoid-Robotics/ArtVIP
+  source_asset_id: trash_can_press_4f_001_t1
+  sha256: 25c2c4687b5b20a9a94c8e1e05378a41493d00c1966d54f24c32a96981661ba7
+  properties_filename: trash_can_press_4f_001_t1_properties.json
+  properties_sha256: 0d3e689b776d883d1835b9e9fbe3f78b412616a17c33a0260f628493769b2e19
+  dataset_id: X-Humanoid/ArtVIP
+  dataset_revision: d22f2095bc9db29fdd4b60f4a3c4f8177e1f5e9e
+  upstream_path: Articulated_objects/household_items/trash_can/trash_can_press_4f_001_T1/trash_can_press_4f_001_T1.usd
+  upstream_sha256: 25c2c4687b5b20a9a94c8e1e05378a41493d00c1966d54f24c32a96981661ba7
+artifacts:
+  urdf: urdf/model.urdf
+  mjcf: mjcf/model.xml
+  joint_sweep: reports/joint_sweep.json
+  collision_passthrough: reports/collision_passthrough.json
+  usd: usd/model.usd
+  usd_dependencies: reports/usd_dependencies.json
+  usd_visual_equivalence: reports/usd_visual_equivalence.json
+  usd_physics_overlay: reports/usd_physics_overlay.json
+  usd_frame_normalization: reports/usd_frame_normalization.json
+validation_warnings:
+- 'link E_body_8: thin mesh /root/E_body_8/E_part04_19/P_21c84f5108d111eb slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_body_8: thin mesh /root/E_body_8/E_part02_56/P_a29272e4556e1487 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_body_8_collision: thin mesh /root/E_body_8/E_part04_19/P_21c84f5108d111eb
+  slab-extruded to 0.0030 m for MuJoCo'
+- 'link E_body_8_collision: thin mesh /root/E_body_8/E_part02_56/P_a29272e4556e1487
+  slab-extruded to 0.0030 m for MuJoCo'
+- 'link E_button_1_60: flipped inward winding of mesh /root/E_button_1_60/P_62b829b656473624'
+- 'link E_button_1_60: thin mesh /root/E_button_1_60/P_62b829b656473624 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_button_1_60_collision: flipped inward winding of mesh /root/E_button_1_60/P_62b829b656473624'
+- 'link E_button_1_60_collision: thin mesh /root/E_button_1_60/P_62b829b656473624
+  slab-extruded to 0.0030 m for MuJoCo'
+- 'link E_body_8: dropped 1 coplanar collision part(s) MuJoCo cannot convex-hull'
+- 'preview pending: mujoco import failed: RuntimeError(''invalid value for environment
+  variable MUJOCO_GL: egl'')'

assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_000.obj

@@ -0,0 +1,514 @@
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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_001.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_002.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_003.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_004.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_005.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_006.obj

@@ -0,0 +1,160 @@
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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_007.obj

@@ -0,0 +1,106 @@
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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_008.obj

@@ -0,0 +1,172 @@
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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_009.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_010.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_011.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_012.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_013.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_014.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_015.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_016.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_017.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_018.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_019.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_020.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_021.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_022.obj

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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_023.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_024.obj

@@ -0,0 +1,175 @@
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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_025.obj

@@ -0,0 +1,145 @@
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assets/articulated/artvip/trash_can_press_4f_001_t1/meshes/collision/E_body_8/collision_E_body_8_026.obj

@@ -0,0 +1,199 @@
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