feat(artvip): upload normalized assets batch 11/25

.gitattributes

@@ -935,3 +935,10 @@ assets/articulated/artvip/collected_model_oven03/usd/model.usd filter=lfs diff=l
 assets/articulated/artvip/collected_s1_2/usd/model.usd filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/display_chiller/usd/model.usd filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/drawer_kit_10/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/drawer_kit_3/meshes/visual/E_body_1/E_body_1_4.obj filter=lfs diff=lfs merge=lfs -text
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+assets/articulated/artvip/drawer_kit_3/meshes/visual/E_door_15/E_door_15_1.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/drawer_kit_3/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/drawer_kit_5/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/dry_bath/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/eket_cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm/usd/model.usd filter=lfs diff=lfs merge=lfs -text

assets/articulated/artvip/drawer_kit_3/meshes/visual/E_body_1/E_body_1_4.obj

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assets/articulated/artvip/drawer_kit_3/meshes/visual/E_body_1/E_body_1_5.obj

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assets/articulated/artvip/drawer_kit_3/reports/collision_audit.json

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+      "overlay"
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+    "path": "reports/collision_overlay.png",
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+    "sha256": "50ff546121ee8408f419545b65ef300ec2a8b0777eafd7fab0f487d6c6b179f7",
+    "status": "passed",
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+        "label": "view_a"
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+        "label": "view_b"
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+    "failures": [],
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+    "status": "passed"
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+  "status": "passed",
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+    "E_body_1: collision_to_visual p95 0.0204586 m exceeds 0.0201441 m",
+    "E_door_15: ordinary convex part exceeds 255 vertices; require zero-warning PhysX cook evidence",
+    "E_drawer_1_19: visual_to_collision p95 0.0228581 m exceeds 0.0157712 m"
+  ]
+}

assets/articulated/artvip/drawer_kit_3/reports/collision_passthrough.json

@@ -0,0 +1,42 @@
+{
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+      "policy": "cavity_repair_voxbox",
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+  "source_usd_sha256": "02c6efc030e62f971b706994c44dfdf92348bdc636f03a2e239852bf19b3bf3a",
+  "status": "passed"
+}

assets/articulated/artvip/drawer_kit_3/reports/joint_sweep.json

@@ -0,0 +1,84 @@
+{
+  "joints": [
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+      "bad_qacc": false,
+      "joint": "RevoluteJoint_drawer_kit_3_middle",
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+    {
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+      "joint": "PrismaticJoint_drawer_kit_3_down_1",
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+      "penetrations": [],
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+      "status": "passed",
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+      "type": "slide"
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+  ],
+  "mjcf": "model.xml",
+  "penetration_tolerance_m": 0.005,
+  "status": "passed",
+  "steps_per_joint": 24,
+  "swept_joint_count": 5
+}

assets/articulated/artvip/drawer_kit_3/reports/usd_dependencies.json

@@ -0,0 +1,103 @@
+{
+  "allowed_runtime_mdl_prefixes": [
+    "::OmniGlass::",
+    "::OmniPBR::",
+    "::OmniSurface::",
+    "::anno::",
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+    "::limits::",
+    "::math::",
+    "::nvidia::",
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+    "::df::microfacet_ggx_smith_bsdf",
+    "::df::scatter_mode",
+    "::math",
+    "::state",
+    "::state::normal",
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+    "::state::texture_tangent_u",
+    "::state::texture_tangent_v",
+    "::tex",
+    "::tex::gamma_mode",
+    "::tex::wrap_mode"
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+  "status": "passed",
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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": 5,
+    "removed_invalid_articulation_roots": [],
+    "removed_lights": []
+  }
+}

assets/articulated/artvip/drawer_kit_3/reports/usd_frame_normalization.json

@@ -0,0 +1,1240 @@
+{
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+        "/root/E_body_1/E_Component7_7",
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+}

assets/articulated/artvip/drawer_kit_3/reports/usd_physics_overlay.json

@@ -0,0 +1,728 @@
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+}

assets/articulated/artvip/drawer_kit_3/reports/usd_visual_equivalence.json

@@ -0,0 +1,707 @@
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+    "/root/E_drawer_3_25/RoboVerseCollision/collision_074",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_075",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_076",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_077",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_078",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_079",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_080",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_081",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_082",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_083",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_084",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_085",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_086",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_087",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_088",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_089",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_090",
+    "/root/E_drawer_3_25/RoboVerseCollision/collision_091",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_000",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_001",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_002",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_003",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_004",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_005",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_006",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_007",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_008",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_009",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_010",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_011",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_012",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_013",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_014",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_015",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_016",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_017",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_018",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_019",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_020",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_021",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_022",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_023",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_024",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_025",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_026",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_027",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_028",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_029",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_030",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_031",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_032",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_033",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_034",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_035",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_036",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_037",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_038",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_039",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_040",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_041",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_042",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_043",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_044",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_045",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_046",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_047",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_048",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_049",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_050",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_051",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_052",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_053",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_054",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_055",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_056",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_057",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_058",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_059",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_060",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_061",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_062",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_063",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_064",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_065",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_066",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_067",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_068",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_069",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_070",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_071",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_072",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_073",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_074",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_075",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_076",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_077",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_078",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_079",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_080",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_081",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_082",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_083",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_084",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_085",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_086",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_087",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_088",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_089",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_090",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_091",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_092",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_093",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_094",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_095",
+    "/root/E_drawer_4_28/RoboVerseCollision/collision_096"
+  ],
+  "extra_renderables": [],
+  "failures": [],
+  "missing_renderables": [],
+  "provenance": {
+    "canonical_usd_sha256": "2939b161f4ab7e96d9bcc5d405492de232c5f9f2e5035ddc301fcc9924785568",
+    "dependency_closure_sha256": "309c660f660c7d8abaa364e3beff4f620b56de919bcff599b615b566a18b5318",
+    "properties_sha256": "6844e1ca1ad7cf8b47c13bc8746b85adb178dd3d13bcac9ef1915b73d568ce49",
+    "source_sha256": "02c6efc030e62f971b706994c44dfdf92348bdc636f03a2e239852bf19b3bf3a"
+  },
+  "source_renderable_count": 25,
+  "source_visual_digest": "23fd5852b931849019980a3639d3e6c29c26f46e786ed888f2ab8fd2cb209d49",
+  "status": "passed"
+}

assets/articulated/artvip/drawer_kit_3/reports/validation.json

@@ -0,0 +1,223 @@
+{
+  "asset_id": "drawer_kit_3",
+  "checks": {
+    "articulated": {
+      "joint_count": 5,
+      "link_count": 6,
+      "status": "passed",
+      "usd": "generated",
+      "warnings": [
+        "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component22_14/P_ae2a937146206d7a",
+        "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component22_14/P_ae2a937146206d7a",
+        "mesh /root/E_door_15/E_Component3_17/P_492ef634a612dd7a: unknown MDL material Tinted_Glass_R75.mdl; neutral fallback",
+        "mesh /root/E_door_15/E_Component3_17/P_492ef634a612dd7a: unknown MDL material Tinted_Glass_R75.mdl; neutral fallback",
+        "link E_drawer_1_19: thin mesh /root/E_drawer_1_19/E_Component20_21/P_815b633febd1a688 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_drawer_1_19_collision: thin mesh /root/E_drawer_1_19/E_Component20_21/P_815b633febd1a688 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_drawer_2_22: thin mesh /root/E_drawer_2_22/E_Component20_23/P_18377396f4594288 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_drawer_2_22_collision: thin mesh /root/E_drawer_2_22/E_Component20_23/P_18377396f4594288 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_drawer_3_25: thin mesh /root/E_drawer_3_25/E_Component20_26/P_42eaae99e9fda688 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_drawer_3_25_collision: thin mesh /root/E_drawer_3_25/E_Component20_26/P_42eaae99e9fda688 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_drawer_4_28: thin mesh /root/E_drawer_4_28/E_Component20_30/P_562c83cda3e5e695 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_drawer_4_28_collision: thin mesh /root/E_drawer_4_28/E_Component20_30/P_562c83cda3e5e695 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_1: cavity-repair voxbox collision (375 boxes, free 78%->83%)",
+        "link E_drawer_1_19: cavity-repair voxbox collision (23 boxes, free 57%->66%)",
+        "link E_drawer_2_22: cavity-repair voxbox collision (98 boxes, free 46%->65%)",
+        "link E_drawer_3_25: cavity-repair voxbox collision (92 boxes, free 56%->67%)",
+        "link E_drawer_4_28: cavity-repair voxbox collision (97 boxes, free 57%->66%)",
+        "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": 689,
+      "default_rendered_count": 0,
+      "status": "passed"
+    },
+    "joint_frame_sanity": {
+      "checked_joint_count": 1,
+      "joints": [
+        {
+          "anchor_m": [
+            0.177599,
+            -0.153627,
+            0.039264
+          ],
+          "bounds": [
+            {
+              "aabb_m": [
+                [
+                  -0.227208,
+                  -0.157033,
+                  0.03623
+                ],
+                [
+                  0.227093,
+                  -0.147711,
+                  0.290128
+                ]
+              ],
+              "body": "E_door_15",
+              "geom_source": "visual",
+              "margin_m": 0.156156
+            },
+            {
+              "aabb_m": [
+                [
+                  -0.25095,
+                  -0.158326,
+                  0.002917
+                ],
+                [
+                  0.25095,
+                  0.158326,
+                  0.317082
+                ]
+              ],
+              "body": "E_body_1",
+              "geom_source": "visual",
+              "margin_m": 0.201441
+            }
+          ],
+          "geom_source": "visual",
+          "joint": "RevoluteJoint_drawer_kit_3_middle",
+          "status": "passed"
+        },
+        {
+          "joint": "PrismaticJoint_drawer_kit_3_up",
+          "reason": "only hinge anchors are checked",
+          "status": "skipped"
+        },
+        {
+          "joint": "PrismaticJoint_drawer_kit_3_up_1",
+          "reason": "only hinge anchors are checked",
+          "status": "skipped"
+        },
+        {
+          "joint": "PrismaticJoint_drawer_kit_3_down",
+          "reason": "only hinge anchors are checked",
+          "status": "skipped"
+        },
+        {
+          "joint": "PrismaticJoint_drawer_kit_3_down_1",
+          "reason": "only hinge anchors are checked",
+          "status": "skipped"
+        }
+      ],
+      "status": "passed"
+    },
+    "joint_sweep": {
+      "report": "reports/joint_sweep.json",
+      "status": "passed",
+      "swept_joint_count": 5
+    },
+    "layout": {
+      "layout": {
+        "path_in_repo": "assets/articulated/drawer/kit_3",
+        "root": "assets/articulated/drawer/kit_3",
+        "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": "02c6efc030e62f971b706994c44dfdf92348bdc636f03a2e239852bf19b3bf3a",
+      "status": "passed",
+      "upstream_path": "Articulated_objects/household_items/toolbox/drawer_kit_3/model_drawer_kit_3.usd",
+      "upstream_sha256": "02c6efc030e62f971b706994c44dfdf92348bdc636f03a2e239852bf19b3bf3a"
+    },
+    "usd_dependencies": {
+      "canonical_usd_sha256": "2939b161f4ab7e96d9bcc5d405492de232c5f9f2e5035ddc301fcc9924785568",
+      "dependency_closure_sha256": "309c660f660c7d8abaa364e3beff4f620b56de919bcff599b615b566a18b5318",
+      "report": "reports/usd_dependencies.json",
+      "status": "passed"
+    },
+    "usd_frame_normalization": {
+      "canonical_usd_sha256": "2939b161f4ab7e96d9bcc5d405492de232c5f9f2e5035ddc301fcc9924785568",
+      "dependency_closure_sha256": "309c660f660c7d8abaa364e3beff4f620b56de919bcff599b615b566a18b5318",
+      "report": "reports/usd_frame_normalization.json",
+      "status": "passed"
+    },
+    "usd_physics_overlay": {
+      "canonical_usd_sha256": "2939b161f4ab7e96d9bcc5d405492de232c5f9f2e5035ddc301fcc9924785568",
+      "dependency_closure_sha256": "309c660f660c7d8abaa364e3beff4f620b56de919bcff599b615b566a18b5318",
+      "report": "reports/usd_physics_overlay.json",
+      "status": "passed"
+    },
+    "usd_visual_equivalence": {
+      "canonical_usd_sha256": "2939b161f4ab7e96d9bcc5d405492de232c5f9f2e5035ddc301fcc9924785568",
+      "dependency_closure_sha256": "309c660f660c7d8abaa364e3beff4f620b56de919bcff599b615b566a18b5318",
+      "report": "reports/usd_visual_equivalence.json",
+      "status": "passed"
+    }
+  },
+  "layout": {
+    "path_in_repo": "assets/articulated/drawer/kit_3",
+    "root": "assets/articulated/drawer/kit_3",
+    "source": "manifest_yaml",
+    "type": "articulated_v1"
+  },
+  "profile": "production",
+  "status": "passed",
+  "warnings": [
+    "link E_body_1: flipped inward winding of mesh /root/E_body_1/E_Component22_14/P_ae2a937146206d7a",
+    "link E_body_1_collision: flipped inward winding of mesh /root/E_body_1/E_Component22_14/P_ae2a937146206d7a",
+    "mesh /root/E_door_15/E_Component3_17/P_492ef634a612dd7a: unknown MDL material Tinted_Glass_R75.mdl; neutral fallback",
+    "mesh /root/E_door_15/E_Component3_17/P_492ef634a612dd7a: unknown MDL material Tinted_Glass_R75.mdl; neutral fallback",
+    "link E_drawer_1_19: thin mesh /root/E_drawer_1_19/E_Component20_21/P_815b633febd1a688 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_drawer_1_19_collision: thin mesh /root/E_drawer_1_19/E_Component20_21/P_815b633febd1a688 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_drawer_2_22: thin mesh /root/E_drawer_2_22/E_Component20_23/P_18377396f4594288 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_drawer_2_22_collision: thin mesh /root/E_drawer_2_22/E_Component20_23/P_18377396f4594288 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_drawer_3_25: thin mesh /root/E_drawer_3_25/E_Component20_26/P_42eaae99e9fda688 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_drawer_3_25_collision: thin mesh /root/E_drawer_3_25/E_Component20_26/P_42eaae99e9fda688 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_drawer_4_28: thin mesh /root/E_drawer_4_28/E_Component20_30/P_562c83cda3e5e695 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_drawer_4_28_collision: thin mesh /root/E_drawer_4_28/E_Component20_30/P_562c83cda3e5e695 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_1: cavity-repair voxbox collision (375 boxes, free 78%->83%)",
+    "link E_drawer_1_19: cavity-repair voxbox collision (23 boxes, free 57%->66%)",
+    "link E_drawer_2_22: cavity-repair voxbox collision (98 boxes, free 46%->65%)",
+    "link E_drawer_3_25: cavity-repair voxbox collision (92 boxes, free 56%->67%)",
+    "link E_drawer_4_28: cavity-repair voxbox collision (97 boxes, free 57%->66%)",
+    "preview pending: mujoco import failed: RuntimeError('invalid value for environment variable MUJOCO_GL: egl')"
+  ]
+}

assets/articulated/artvip/drawer_kit_3/usd/dependencies/mdl/5d71f57b5e64e91b/Tinted_Glass_R75.mdl

@@ -0,0 +1,19 @@
+mdl 1.5;
+
+using ..::Templates::GlassWithVolume import GlassWithVolume;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Tinted_Glass_R75(*)
+ = GlassWithVolume(
+    thin_walled: true,
+    transmission_color: color(0.75f, 0.75f, 0.75f),
+    roughness_texture: texture_2d(),
+    ior: 1.52f,
+    transmission_color_texture: texture_2d(),
+    roughness_texture_influence: 0.f,
+    roughness: 0.f,
+    reflection_color_texture: texture_2d(),
+    reflection_color: color(1.f, 1.f, 1.f),
+    depth: 0.0001f,
+    normal_map_texture: texture_2d());

assets/articulated/artvip/drawer_kit_3/usd/dependencies/mdl/Templates/GlassUtils.mdl

@@ -0,0 +1,83 @@
+mdl 1.5;
+
+import ::tex::*;
+import ::math::*;
+import ::anno::*;
+import ::base::*;
+import ::state::*;
+
+export float get_float( uniform texture_2d t, float f ){
+	return ::tex::texture_isvalid(t) 
+	? 
+	::base::file_texture(t, 
+		color(0.f, 0.f, 0.f), 
+		color(1.f, 1.f, 1.f), 
+		::base::mono_maximum, 
+		::base::texture_coordinate_info(::state::texture_coordinate(0), ::state::texture_tangent_u(0), ::state::texture_tangent_v(0)), 
+		float2(0.f, 1.f), 
+		float2(0.f, 1.f), 
+		::tex::wrap_repeat, 
+		::tex::wrap_repeat, 
+		false).mono 
+	: 
+	f;
+}
+
+export color get_color( uniform texture_2d t, color c ){
+	return ::tex::texture_isvalid(t) 
+	? 
+	::base::file_texture(t, 
+		color(0.f, 0.f, 0.f), 
+		color(1.f, 1.f, 1.f), 
+		::base::mono_alpha, 
+		::base::texture_coordinate_info(::state::texture_coordinate(0), ::state::texture_tangent_u(0), ::state::texture_tangent_v(0)), 
+		float2(0.f, 1.f), 
+		float2(0.f, 1.f), 
+		::tex::wrap_repeat, 
+		::tex::wrap_repeat, 
+		false).tint 
+	: 
+	c;
+}
+
+export float apply_roughness_influence( uniform texture_2d t, float f, float i ){
+	return	::math::lerp(f, get_float(t, f), i);
+}
+
+export color get_volume_absorption(
+
+     float absorption = float(0) [[
+        anno::display_name("Volume Absorption"),
+        anno::description("Controls how much light is absorbed through the surface"),
+        anno::hard_range(0.0,1000.0),
+        anno::soft_range(0.0,1.0)
+    ]],
+
+     color absorptionColor = color(1) [[
+        anno::display_name("Absorption Color"),
+        anno::description("Simulates shifts in color when light passes through the surface")
+    ]]
+
+) [[
+    anno::display_name("Absorption"),
+    anno::description("Provides an absorption coefficient for the volume")
+]] {
+    return (absorption>0)? -math::log(math::clamp(absorptionColor, color(0.01), color(0.99)))*absorption*100.0 : color(0);
+}
+
+export color volume_scattering(
+
+     float scattering = float(0) [[
+        anno::display_name("Volume Scattering"),
+        anno::description("Controls how much light is scattered through the surface"),
+        anno::hard_range(0.0,1000.0),
+        anno::soft_range(0.0,1.0)
+        
+    ]]
+
+) [[
+    anno::display_name("Scattering"),
+    anno::description("Provides a scattering coefficient for the volume")
+]] {
+    return (scattering>0)? -math::log(color(0.5))*scattering*100.0 : color(0);
+}

assets/articulated/artvip/drawer_kit_3/usd/dependencies/mdl/Templates/GlassWithVolume.mdl

@@ -0,0 +1,106 @@
+mdl 1.5;
+
+import ::tex::*;
+
+import GlassUtils::apply_roughness_influence;
+import GlassUtils::get_color;
+import GlassUtils::get_volume_absorption;
+import ::anno::author;
+import ::anno::copyright_notice;
+import ::anno::description;
+import ::anno::display_name;
+import ::anno::hard_range;
+import ::anno::in_group;
+import ::anno::key_words;
+import ::anno::soft_range;
+import ::anno::unused;
+import ::anno::usage;
+import ::base::tangent_space_normal_texture;
+import ::base::texture_coordinate_info;
+import ::df::fresnel_layer;
+import ::df::microfacet_ggx_smith_bsdf;
+import ::df::scatter_mode;
+import ::state::normal;
+import ::state::texture_coordinate;
+import ::state::texture_tangent_u;
+import ::state::texture_tangent_v;
+import ::tex::gamma_mode;
+import ::tex::wrap_mode;
+
+export material GlassWithVolume(
+    uniform bool thin_walled = false [[
+        ::anno::in_group("Material", "", "")
+    ]],
+    uniform color transmission_color = color(1.f, 0.00609700009f, 0.00609700009f) [[
+        ::anno::in_group("Transmission", "", ""),
+        ::anno::usage("")
+    ]],
+    uniform texture_2d roughness_texture = texture_2d() [[
+        ::anno::description("The input texture"),
+        ::anno::in_group("Roughness", "", ""),
+        ::anno::usage("")
+    ]],
+    uniform float ior = 1.34100008f [[
+        ::anno::in_group("Material", "", ""),
+        ::anno::usage("")
+    ]],
+    uniform texture_2d transmission_color_texture = texture_2d() [[
+        ::anno::description("The input texture"),
+        ::anno::in_group("Transmission", "", "")
+    ]],
+    float roughness_texture_influence = 1.f [[
+        ::anno::in_group("Roughness", "", ""),
+        ::anno::usage("")
+    ]],
+    float roughness = 0.f [[
+        ::anno::in_group("Roughness", "", ""),
+        ::anno::usage("")
+    ]],
+    uniform texture_2d reflection_color_texture = texture_2d() [[
+        ::anno::description("The input texture"),
+        ::anno::in_group("Reflection", "", ""),
+        ::anno::usage("")
+    ]],
+    uniform color reflection_color = color(1.f, 1.f, 1.f) [[
+        ::anno::in_group("Reflection", "", ""),
+        ::anno::usage("")
+    ]],
+    float depth = 0.00100000005f [[
+        ::anno::description("Controls how much light is absorbed through the surface"),
+        ::anno::display_name("Volume Absorption"),
+        ::anno::in_group("Volume", "", ""),
+        ::anno::usage(""),
+        ::anno::soft_range(0.f, 1.f),
+        ::anno::hard_range(0.f, 1000.f)
+    ]],
+    uniform texture_2d normal_map_texture = texture_2d() [[
+        ::anno::description("The input texture"),
+        ::anno::in_group("Normal Map", "", ""),
+        ::anno::usage("")
+    ]])
+ = 
+    let {
+        bool tmp0 = thin_walled;
+        material_surface tmp1(
+            ::df::fresnel_layer(ior, 1.f, ::df::microfacet_ggx_smith_bsdf(GlassUtils::apply_roughness_influence(roughness_texture, roughness, roughness_texture_influence), GlassUtils::apply_roughness_influence(roughness_texture, roughness, roughness_texture_influence), GlassUtils::get_color(reflection_color_texture, reflection_color), ::state::texture_tangent_u(0), ::df::scatter_reflect, ""), ::df::microfacet_ggx_smith_bsdf(GlassUtils::apply_roughness_influence(roughness_texture, roughness, roughness_texture_influence), GlassUtils::apply_roughness_influence(roughness_texture, roughness, roughness_texture_influence), thin_walled ? GlassUtils::get_color(transmission_color_texture, transmission_color) : color(1.f, 1.f, 1.f), ::state::texture_tangent_u(0), ::df::scatter_transmit, ""), ::state::normal()),
+            material_emission(emission: edf(), intensity: color(0.f, 0.f, 0.f), mode: intensity_radiant_exitance));
+        material_surface tmp2 = material_surface(scattering: bsdf(), emission: material_emission(emission: edf(), intensity: color(0.f, 0.f, 0.f), mode: intensity_radiant_exitance));
+        color tmp3 = ior;
+        material_volume tmp4(
+            vdf(),
+            thin_walled ? GlassUtils::get_color(transmission_color_texture, transmission_color) : GlassUtils::get_volume_absorption(depth, GlassUtils::get_color(transmission_color_texture, transmission_color)),
+            color(0.f, 0.f, 0.f));
+        material_geometry tmp5(
+            float3(0.f),
+            1.f,
+            ::base::tangent_space_normal_texture(normal_map_texture, 1.f, false, false, ::base::texture_coordinate_info(::state::texture_coordinate(0), ::state::texture_tangent_u(0), ::state::texture_tangent_v(0)), float2(0.f, 1.f), float2(0.f, 1.f), ::tex::wrap_repeat, ::tex::wrap_repeat, false, 1.f, 0.f));
+        hair_bsdf tmp6 = hair_bsdf();
+    } in
+        material(
+            thin_walled: tmp0,
+            surface: tmp1,
+            backface: tmp2,
+            ior: tmp3,
+            volume: tmp4,
+            geometry: tmp5,
+            hair: tmp6);

assets/articulated/artvip/drawer_kit_3/usd/model.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2939b161f4ab7e96d9bcc5d405492de232c5f9f2e5035ddc301fcc9924785568
+size 54245406

assets/articulated/artvip/drawer_kit_5/manifest.yaml

@@ -0,0 +1,363 @@
+schema_version: 3
+asset_id: drawer_kit_5
+name: model_drawer_kit_5
+protocol:
+  version: 1
+  asset_family: articulated_v1
+layout:
+  type: articulated_v1
+  root: assets/articulated/drawer/kit_5
+category: household_items
+geometry:
+  realized_aabb_m:
+  - 0.490724277
+  - 0.400805365
+  - 0.374453536
+articulation:
+  joints:
+    count: 4
+    dof: 4
+    types:
+      hinge: 2
+      slide: 2
+    details:
+    - name: PrismaticJoint_drawer_kit_5_up
+      type: slide
+      limited: true
+      range:
+      - -0.05
+      - 0.0
+    - name: PrismaticJoint_drawer_kit_5_down
+      type: slide
+      limited: true
+      range:
+      - -0.05
+      - 0.0
+    - name: RevoluteJoint_drawer_kit_5_up_1
+      type: hinge
+      limited: true
+      range:
+      - -1.5708
+      - 0.0
+    - name: RevoluteJoint_drawer_kit_5_up
+      type: hinge
+      limited: true
+      range:
+      - 0.0
+      - 1.5708
+  links:
+    E_body_3:
+      mass_kg: 1.07409
+      inertia_diag_kgm2:
+      - 0.028982
+      - 0.0264717
+      - 0.0124722
+      com_m:
+      - -0.0047003
+      - -0.0239341
+      - 0.11799
+      visual_meshes:
+      - meshes/visual/E_body_3/E_body_3_0.obj
+      collision_meshes: []
+      collision_source: cavity_repair_voxbox
+    E_drawer_1_1:
+      mass_kg: 0.0372478
+      inertia_diag_kgm2:
+      - 0.000156322
+      - 0.000151583
+      - 3.17814e-05
+      com_m:
+      - 0.000549998
+      - 0.02655
+      - -0.0143
+      visual_meshes:
+      - meshes/visual/E_drawer_1_1/E_drawer_1_1_0.obj
+      - meshes/visual/E_drawer_1_1/E_drawer_1_1_1.obj
+      collision_meshes:
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_000.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_001.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_002.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_003.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_004.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_005.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_006.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_007.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_008.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_009.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_010.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_011.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_012.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_013.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_014.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_015.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_016.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_017.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_018.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_019.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_020.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_021.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_022.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_023.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_024.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_025.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_026.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_027.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_028.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_029.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_030.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_031.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_032.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_033.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_034.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_035.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_036.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_037.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_038.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_039.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_040.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_041.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_042.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_043.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_044.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_045.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_046.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_047.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_048.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_049.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_050.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_051.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_052.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_053.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_054.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_055.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_056.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_057.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_058.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_059.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_060.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_061.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_062.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_063.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_064.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_065.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_066.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_067.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_068.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_069.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_070.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_071.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_072.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_073.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_074.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_075.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_076.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_077.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_078.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_079.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_080.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_081.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_082.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_083.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_084.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_085.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_086.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_087.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_088.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_089.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_090.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_091.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_092.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_093.obj
+      - meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_094.obj
+      collision_source: urdf_collision
+    E_drawer_2_2:
+      mass_kg: 0.039827
+      inertia_diag_kgm2:
+      - 0.000169666
+      - 0.000164117
+      - 3.85409e-05
+      com_m:
+      - 0.00285
+      - 0.02225
+      - -0.02335
+      visual_meshes:
+      - meshes/visual/E_drawer_2_2/E_drawer_2_2_0.obj
+      - meshes/visual/E_drawer_2_2/E_drawer_2_2_1.obj
+      collision_meshes:
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_000.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_001.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_002.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_003.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_004.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_005.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_006.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_007.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_008.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_009.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_010.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_011.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_012.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_013.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_014.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_015.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_016.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_017.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_018.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_019.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_020.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_021.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_022.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_023.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_024.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_025.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_026.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_027.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_028.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_029.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_030.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_031.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_032.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_033.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_034.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_035.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_036.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_037.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_038.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_039.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_040.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_041.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_042.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_043.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_044.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_045.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_046.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_047.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_048.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_049.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_050.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_051.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_052.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_053.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_054.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_055.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_056.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_057.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_058.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_059.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_060.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_061.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_062.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_063.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_064.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_065.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_066.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_067.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_068.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_069.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_070.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_071.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_072.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_073.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_074.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_075.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_076.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_077.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_078.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_079.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_080.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_081.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_082.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_083.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_084.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_085.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_086.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_087.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_088.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_089.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_090.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_091.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_092.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_093.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_094.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_095.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_096.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_097.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_098.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_099.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_100.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_101.obj
+      - meshes/collision/E_drawer_2_2/collision_E_drawer_2_2_102.obj
+      collision_source: urdf_collision
+    E_lid_5:
+      mass_kg: 0.345415
+      inertia_diag_kgm2:
+      - 0.00945239
+      - 0.00706754
+      - 0.00266936
+      com_m:
+      - 0.0208287
+      - -0.147896
+      - 0.0328193
+      visual_meshes:
+      - meshes/visual/E_lid_5/E_lid_5_0.obj
+      - meshes/visual/E_lid_5/E_lid_5_1.obj
+      - meshes/visual/E_lid_5/E_lid_5_2.obj
+      - meshes/visual/E_lid_5/E_lid_5_3.obj
+      collision_meshes: []
+      collision_source: cavity_repair_voxbox
+    E_handle_4:
+      mass_kg: 0.00342232
+      inertia_diag_kgm2:
+      - 5.46093e-06
+      - 4.69819e-06
+      - 8.57662e-07
+      com_m:
+      - -0.06325
+      - 0.02355
+      - -0.00385
+      visual_meshes:
+      - meshes/visual/E_handle_4/E_handle_4_0.obj
+      collision_meshes:
+      - meshes/collision/E_handle_4/collision_E_handle_4_000.obj
+      - meshes/collision/E_handle_4/collision_E_handle_4_001.obj
+      - meshes/collision/E_handle_4/collision_E_handle_4_002.obj
+      - meshes/collision/E_handle_4/collision_E_handle_4_003.obj
+      collision_source: urdf_collision
+usd:
+  status: generated
+  path: usd/model.usd
+  exporter: usd-core-native-overlay
+  source_sha256: e1601f31829e68195cb702286244d4216bf96dd53d0eb126614bf02d6094eda4
+  properties_sha256: 648bd038b2d1ecf2056ae55e3a40fdcafdd8e2c131e8e7c1182f9baa586711ed
+  canonical_usd_sha256: c8935372e80492b7639541273f081144c00c177786b1d3507dd3e3ce8aaa2f47
+  dependency_closure_sha256: c68d4cb013ce73aeba00649e28708b627bbbf25a13f24713c1ec6d7d957624f9
+source:
+  type: articulated_usd
+  filename: model_drawer_kit_5.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: drawer_kit_5
+  sha256: e1601f31829e68195cb702286244d4216bf96dd53d0eb126614bf02d6094eda4
+  properties_filename: model_drawer_kit_5_properties.json
+  properties_sha256: 648bd038b2d1ecf2056ae55e3a40fdcafdd8e2c131e8e7c1182f9baa586711ed
+  dataset_id: X-Humanoid/ArtVIP
+  dataset_revision: d22f2095bc9db29fdd4b60f4a3c4f8177e1f5e9e
+  upstream_path: Articulated_objects/household_items/toolbox/drawer_kit_5/model_drawer_kit_5.usd
+  upstream_sha256: e1601f31829e68195cb702286244d4216bf96dd53d0eb126614bf02d6094eda4
+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_3: cavity-repair voxbox collision (371 boxes, free 28%->87%)'
+- 'link E_lid_5: cavity-repair voxbox collision (166 boxes, free 43%->59%)'
+- 'preview pending: mujoco import failed: RuntimeError(''invalid value for environment
+  variable MUJOCO_GL: egl'')'

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_body_3/cavity_repair.json

@@ -0,0 +1,20 @@
+{
+  "link": "E_body_3",
+  "diag_m": 0.616,
+  "verdict": "accepted",
+  "pitch_m": 0.008,
+  "n_boxes": 371,
+  "caps_added": 0,
+  "kept_void_cells": 0,
+  "coacd": {
+    "free_pct": 28.3,
+    "ext_pct": 11.89,
+    "cov_pct": 2.37
+  },
+  "voxbox": {
+    "free_pct": 86.9,
+    "ext_pct": 1.69,
+    "cov_pct": 1.61
+  },
+  "mass_basis": "collision boxes (walls-only volume) replace CoACD hulls"
+}

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_000.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04166107 0.02546027 0.01668656
+v 0.04166107 0.02546027 0.01500726
+v 0.02919706 0.02546027 0.01849979
+v 0.02919706 0.00290202 0.01849979
+v 0.04166107 0.01121756 0.01640022
+v 0.04166107 0.00813892 0.01442465
+v 0.00053847 0.00652138 0.01409365
+v -0.02859453 0.00804919 0.01409365
+v -0.03177163 0.00817804 0.01409365
+v -0.03177163 0.02513584 0.01512721
+v 0.00053847 0.02546027 0.01518719
+v 0.02829856 0.02546027 0.01859990
+v 0.02919706 0.00222785 0.01442465
+v 0.04166107 0.00650067 0.01529271
+v 0.04166107 0.01119225 0.01639841
+v 0.02829856 0.00290202 0.01859990
+v 0.02829856 0.00270184 0.01849979
+v 0.04166107 0.00671005 0.01442465
+v 0.00053847 0.00455409 0.01409365
+v -0.03177163 0.00631429 0.01409365
+v -0.03177163 0.02514505 0.01577882
+v 0.00053847 0.02546027 0.01866439
+v 0.02793197 0.02546027 0.01861253
+v 0.02549523 0.00290202 0.01869956
+v 0.04166107 0.00650527 0.01527241
+v 0.02829856 0.00203227 0.01442465
+v 0.02549523 0.00270184 0.01859990
+v 0.02555274 0.00198395 0.01442465
+v 0.02591933 0.00198856 0.01442465
+v 0.00053847 0.00200236 0.01420008
+v -0.01606583 0.00195404 0.01409365
+v -0.03177163 0.00601287 0.01530037
+v -0.02849390 0.00218184 0.01409365
+v -0.03177163 0.02514505 0.01668611
+v -0.02849390 0.02514505 0.01849979
+v -0.02749477 0.02514505 0.01859990
+v -0.02517304 0.02514505 0.01868558
+v -0.02479208 0.02514505 0.01869956
+v -0.01770470 0.02514505 0.01869956
+v 0.00053847 0.01575498 0.01869956
+v -0.02479208 0.00290202 0.01869956
+v -0.02479208 0.00270184 0.01859990
+v -0.02758102 0.00198165 0.01409365
+v -0.02849390 0.00290202 0.01849979
+v -0.03177163 0.00894195 0.01598580
+v -0.02768884 0.00200236 0.01409365
+v -0.03177163 0.01072516 0.01639931
+v -0.02749477 0.00290202 0.01859990
+v -0.02749477 0.00270184 0.01849979
+f 1 2 11
+f 1 11 22
+f 1 22 23
+f 1 23 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 14
+f 1 14 25
+f 1 25 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 3 12 16
+f 3 16 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 16 17
+f 4 17 13
+f 6 18 19
+f 6 19 7
+f 7 19 31
+f 7 31 43
+f 7 43 46
+f 7 46 33
+f 7 33 20
+f 7 20 9
+f 7 9 8
+f 9 20 32
+f 9 32 45
+f 9 45 47
+f 9 47 34
+f 9 34 21
+f 9 21 10
+f 10 21 11
+f 11 21 34
+f 11 34 22
+f 12 23 24
+f 12 24 16
+f 13 18 25
+f 13 25 14
+f 13 17 26
+f 13 26 19
+f 13 19 18
+f 16 24 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 26
+f 19 30 31
+f 19 26 30
+f 20 33 32
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 24
+f 22 24 23
+f 24 40 39
+f 24 39 38
+f 24 38 41
+f 24 41 42
+f 24 42 27
+f 26 29 30
+f 27 42 28
+f 28 42 31
+f 28 31 30
+f 28 30 29
+f 31 42 43
+f 32 33 44
+f 32 44 45
+f 33 46 44
+f 34 47 44
+f 34 44 35
+f 35 44 48
+f 35 48 36
+f 36 48 37
+f 37 48 41
+f 37 41 38
+f 41 48 42
+f 42 48 49
+f 42 49 43
+f 43 49 46
+f 44 46 49
+f 44 49 48
+f 44 47 45
+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_001.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.04166107 0.06185664 -0.04580011
+v 0.04166107 0.06176948 -0.04510664
+v 0.04166107 0.05705656 -0.04689980
+v 0.00053308 0.05529851 -0.04689980
+v 0.00053308 0.06000505 -0.04580011
+v 0.00053308 0.05992002 -0.04510664
+v 0.04166107 0.06002844 -0.04510664
+v 0.04166107 0.04210572 -0.04729999
+v 0.00053308 0.04818129 -0.04708980
+v 0.00053308 0.05818961 -0.04510664
+v 0.04166107 0.04013935 -0.04566894
+v 0.03509895 0.04013935 -0.04510664
+v 0.04166107 0.04110234 -0.04728883
+v 0.04159666 0.04210147 -0.04729999
+v 0.00053308 0.04030091 -0.04729999
+v 0.00053308 0.04013935 -0.04579368
+v 0.03200308 0.04013935 -0.04510664
+v 0.04166107 0.04013935 -0.04714562
+v 0.04165302 0.04013935 -0.04726220
+v 0.00770310 0.04013935 -0.04729570
+v 0.00770310 0.04030091 -0.04729999
+v 0.00053308 0.04013935 -0.04729570
+f 1 2 7
+f 1 7 11
+f 1 11 18
+f 1 18 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 17
+f 2 17 12
+f 2 12 7
+f 3 8 4
+f 4 9 15
+f 4 15 22
+f 4 22 16
+f 4 16 10
+f 4 10 6
+f 4 6 5
+f 4 8 9
+f 7 12 11
+f 8 13 14
+f 8 14 21
+f 8 21 15
+f 8 15 9
+f 10 16 17
+f 11 12 17
+f 11 17 16
+f 11 16 22
+f 11 22 20
+f 11 20 19
+f 11 19 18
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 15 21 20
+f 15 20 22
+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_002.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.07303989 -0.01041126 0.01529969
+v 0.07303989 -0.01025789 0.01639961
+v 0.07303989 -0.00918772 0.01072995
+v 0.07460804 -0.00911274 0.01072995
+v 0.10378330 -0.00769834 0.01072995
+v 0.10419954 -0.00889802 0.01529969
+v 0.10419954 -0.00879919 0.01639961
+v 0.07303989 -0.00968532 0.01655624
+v 0.07303989 -0.00707463 0.01072995
+v 0.10540630 -0.00719733 0.01072995
+v 0.10549987 -0.00839702 0.01529969
+v 0.10519979 -0.00829818 0.01609979
+v 0.10549987 -0.00749725 0.01639961
+v 0.10419954 -0.00759950 0.01670001
+v 0.07303989 -0.00910933 0.01670001
+v 0.07303989 0.02440351 0.01475616
+v 0.08302634 0.02440351 0.01072995
+v 0.10596451 -0.00592266 0.01072995
+v 0.10599678 -0.00719733 0.01529969
+v 0.10549987 0.02440351 0.01639961
+v 0.10419954 0.02440351 0.01670001
+v 0.07303989 0.02440351 0.01670001
+v 0.10587416 0.02440351 0.01072995
+v 0.10589998 0.02440351 0.01227229
+v 0.10589998 0.02440351 0.01529969
+f 1 2 8
+f 1 8 15
+f 1 15 22
+f 1 22 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 17
+f 3 17 23
+f 3 23 18
+f 3 18 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 11 19 13
+f 11 13 12
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 16 22 21
+f 16 21 20
+f 16 20 25
+f 16 25 24
+f 16 24 23
+f 16 23 17
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 19 25 20
+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_003.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04166107 0.00649839 0.01529256
+v 0.04166107 0.01118728 0.01639798
+v 0.04166107 0.00650193 0.01527158
+v 0.04260086 -0.01029729 0.01529999
+v 0.04166107 0.01121209 0.01640016
+v 0.04310147 -0.01049930 0.01639973
+v 0.04166107 0.00723202 0.01223463
+v 0.04260086 -0.00948922 0.01223463
+v 0.04269607 -0.00975149 0.01223463
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+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_004.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_005.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_006.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_007.obj

@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_008.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_009.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_010.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_011.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_012.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/drawer_kit_5/meshes/collision/E_drawer_1_1/collision_E_drawer_1_1_013.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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