feat(artvip): upload normalized assets batch 04/25

.gitattributes

@@ -911,3 +911,8 @@ assets/articulated/artvip/cabinet_8/usd/model.usd filter=lfs diff=lfs merge=lfs
 assets/articulated/artvip/cabinet_9/usd/model.usd filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/capsule_coffee_maker_1/usd/model.usd filter=lfs diff=lfs merge=lfs -text
 assets/articulated/artvip/capsule_coffee_maker_3/meshes/visual/E_body_2/E_body_2_0.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/capsule_coffee_maker_3/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/cash_register/meshes/visual/E_body_2/E_body_2_6.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/cash_register/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/centrifuge/meshes/visual/E_body_30738/E_body_30738_0.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/centrifuge/meshes/visual/E_lid_30745/E_lid_30745_0.obj filter=lfs diff=lfs merge=lfs -text

assets/articulated/artvip/capsule_coffee_maker_3/usd/model.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdc678fde9570a27e5f4430cbf5f4d49e454cb0cc6f0ff963aba065482a56b80
+size 13931370

assets/articulated/artvip/cash_register/manifest.yaml

@@ -0,0 +1,162 @@
+schema_version: 3
+asset_id: cash_register
+name: model_cashregister
+protocol:
+  version: 1
+  asset_family: articulated_v1
+layout:
+  type: articulated_v1
+  root: assets/articulated/cash/register
+category: small_appliances
+geometry:
+  realized_aabb_m:
+  - 0.381284726
+  - 0.37134169
+  - 0.455149543
+articulation:
+  joints:
+    count: 2
+    dof: 2
+    types:
+      hinge: 1
+      slide: 1
+    details:
+    - name: PrismaticJoint_cashregister_down
+      type: slide
+      limited: true
+      range:
+      - -0.001
+      - 0.0
+    - name: RevoluteJoint_cashregister_up
+      type: hinge
+      limited: true
+      range:
+      - 0.0
+      - 0.785398
+  links:
+    E_body_2:
+      mass_kg: 6.77468
+      inertia_diag_kgm2:
+      - 0.155795
+      - 0.116049
+      - 0.115952
+      com_m:
+      - 0.00451691
+      - -0.0017973
+      - 0.129897
+      visual_meshes:
+      - meshes/visual/E_body_2/E_body_2_0.obj
+      - meshes/visual/E_body_2/E_body_2_1.obj
+      - meshes/visual/E_body_2/E_body_2_2.obj
+      - meshes/visual/E_body_2/E_body_2_3.obj
+      - meshes/visual/E_body_2/E_body_2_4.obj
+      - meshes/visual/E_body_2/E_body_2_5.obj
+      - meshes/visual/E_body_2/E_body_2_6.obj
+      - meshes/visual/E_body_2/E_body_2_7.obj
+      - meshes/visual/E_body_2/E_body_2_8.obj
+      collision_meshes: []
+      collision_source: cavity_repair_voxbox
+    E_button_1:
+      mass_kg: 0.00101441
+      inertia_diag_kgm2:
+      - 6.2325e-08
+      - 4.0661e-08
+      - 4.0661e-08
+      com_m:
+      - 4.0e-09
+      - 3.0e-09
+      - -0.0052
+      visual_meshes:
+      - meshes/visual/E_button_1/E_button_1_0.obj
+      collision_meshes:
+      - meshes/collision/E_button_1/collision_E_button_1_000.obj
+      collision_source: urdf_collision
+    E_screen1_7:
+      mass_kg: 1.22431
+      inertia_diag_kgm2:
+      - 0.0184101
+      - 0.0173224
+      - 0.00759495
+      com_m:
+      - -0.0357169
+      - 0.0514419
+      - 0.091566
+      visual_meshes:
+      - meshes/visual/E_screen1_7/E_screen1_7_0.obj
+      - meshes/visual/E_screen1_7/E_screen1_7_1.obj
+      - meshes/visual/E_screen1_7/E_screen1_7_2.obj
+      - meshes/visual/E_screen1_7/E_screen1_7_3.obj
+      - meshes/visual/E_screen1_7/E_screen1_7_4.obj
+      - meshes/visual/E_screen1_7/E_screen1_7_5.obj
+      collision_meshes: []
+      collision_source: cavity_repair_voxbox
+usd:
+  status: generated
+  path: usd/model.usd
+  exporter: usd-core-native-overlay
+  source_sha256: 97cc16e5b1a623481aae750214a578ab84ef4ee9191403b5c24d7404d908e365
+  properties_sha256: 8540a97a55bdde64e9aa9d88d60553809eb766262cb857bf0f72901b0ec5ac0c
+  canonical_usd_sha256: 6a4feac947b8a6ddf1a71773ff1ff9e5850076f4ada9c32fe9fbc1e836217085
+  dependency_closure_sha256: 1b5bb581683ec2a6abad73fd32ab70a3815c0817e0f32e818797681af569f474
+source:
+  type: articulated_usd
+  filename: model_cashregister.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: cash_register
+  sha256: 97cc16e5b1a623481aae750214a578ab84ef4ee9191403b5c24d7404d908e365
+  properties_filename: cash_register_properties.json
+  properties_sha256: 8540a97a55bdde64e9aa9d88d60553809eb766262cb857bf0f72901b0ec5ac0c
+  dataset_id: X-Humanoid/ArtVIP
+  dataset_revision: d22f2095bc9db29fdd4b60f4a3c4f8177e1f5e9e
+  upstream_path: Articulated_objects/small_appliances/cash_register/cash register/model_cashregister.usd
+  upstream_sha256: 97cc16e5b1a623481aae750214a578ab84ef4ee9191403b5c24d7404d908e365
+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_2: flipped inward winding of mesh /root/E_body_2/E_part_3/P_4ca04f0c2199f7e7'
+- 'link E_body_2: thin mesh /root/E_body_2/E_part_4/P_f3511ba95bdd83e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_body_2: thin mesh /root/E_body_2/E_part_4/P_a7f7df19326b67e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_body_2: thin mesh /root/E_body_2/E_part_4/P_59c97835132d83e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_body_2: flipped inward winding of mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7'
+- 'link E_body_2: thin mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_body_2_collision: flipped inward winding of mesh /root/E_body_2/E_part_3/P_4ca04f0c2199f7e7'
+- 'link E_body_2_collision: thin mesh /root/E_body_2/E_part_4/P_f3511ba95bdd83e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_body_2_collision: thin mesh /root/E_body_2/E_part_4/P_a7f7df19326b67e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_body_2_collision: thin mesh /root/E_body_2/E_part_4/P_59c97835132d83e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_body_2_collision: flipped inward winding of mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7'
+- 'link E_body_2_collision: thin mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_screen1_7: thin mesh /root/E_screen1_7/E_part_8/P_82204166fe0423e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_screen1_7: thin mesh /root/E_screen1_7/E_part_8/P_b934a18a24f583e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_screen1_7: thin mesh /root/E_screen1_7/E_part_8/P_fb3c7880401d83e7 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_screen1_7_collision: thin mesh /root/E_screen1_7/E_part_8/P_82204166fe0423e7
+  slab-extruded to 0.0030 m for MuJoCo'
+- 'link E_screen1_7_collision: thin mesh /root/E_screen1_7/E_part_8/P_b934a18a24f583e7
+  slab-extruded to 0.0030 m for MuJoCo'
+- 'link E_screen1_7_collision: thin mesh /root/E_screen1_7/E_part_8/P_fb3c7880401d83e7
+  slab-extruded to 0.0030 m for MuJoCo'
+- 'link E_body_2: cavity-repair voxbox collision (435 boxes, free 50%->73%)'
+- 'link E_screen1_7: cavity-repair voxbox collision (229 boxes, free 18%->47%)'
+- 'preview pending: mujoco import failed: RuntimeError(''invalid value for environment
+  variable MUJOCO_GL: egl'')'

assets/articulated/artvip/cash_register/meshes/collision/E_body_2/cavity_repair.json

@@ -0,0 +1,20 @@
+{
+  "link": "E_body_2",
+  "diag_m": 0.586,
+  "verdict": "accepted",
+  "pitch_m": 0.008,
+  "n_boxes": 435,
+  "caps_added": 6,
+  "kept_void_cells": 12341,
+  "coacd": {
+    "free_pct": 49.5,
+    "ext_pct": 5.2,
+    "cov_pct": 2.3
+  },
+  "voxbox": {
+    "free_pct": 73.4,
+    "ext_pct": 2.1,
+    "cov_pct": 1.9
+  },
+  "mass_basis": "collision boxes (walls-only volume) replace CoACD hulls"
+}

assets/articulated/artvip/cash_register/meshes/collision/E_button_1/collision_E_button_1_000.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00260000 0.00930000 -0.01030000
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+v -0.00010000 0.00960000 0.00010000
+v 0.00010000 -0.00960000 -0.00010000
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+v 0.00480000 -0.00830000 -0.00000000
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+v 0.00960000 0.00010000 -0.00000000
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+v 0.00920000 0.00260000 -0.00000000
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+v 0.00820000 0.00490000 -0.01040000
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+v 0.00010000 -0.00960000 -0.01050000
+v 0.00480000 -0.00820000 -0.01050000
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+v -0.00690000 0.00680000 -0.01040000
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+v 0.00680000 -0.00670000 -0.01040000
+v 0.00680000 -0.00670000 -0.00000000
+v 0.00830000 -0.00470000 -0.01040000
+v 0.00250000 -0.00930000 -0.00010000
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+f 8 6 2
+f 12 39 40
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+f 30 1 24
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+f 22 12 40
+f 23 22 14
+f 21 23 14
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+f 14 22 40
+f 11 44 32
+f 32 33 11
+f 26 3 25
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+f 41 32 31
+f 31 34 41
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+f 10 40 38
+f 24 10 38
+f 28 43 42
+f 5 43 28
+f 28 7 5
+f 28 29 7
+f 46 45 47
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+f 37 6 36
+f 36 27 37
+f 36 6 30
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+f 2 1 30
+f 30 8 2
+f 30 34 31
+f 30 39 34
+f 18 20 19
+f 16 18 19
+f 39 12 22
+f 22 23 39
+f 14 19 20
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+

assets/articulated/artvip/cash_register/meshes/collision/E_button_1/collision_decomposition.json

@@ -0,0 +1,31 @@
+{
+  "schema_version": 1,
+  "backend": "coacd",
+  "profile": null,
+  "knobs": {
+    "preprocess_mode": "off"
+  },
+  "tool_versions": {
+    "python": "3.13.13",
+    "coacd": "1.0.11",
+    "trimesh": "4.12.2",
+    "mujoco": "3.9.0"
+  },
+  "attempts": [
+    {
+      "backend": "coacd",
+      "status": "succeeded",
+      "reason": null
+    }
+  ],
+  "part_count": 1,
+  "zero_volume_parts_dropped": [],
+  "hull_substitution": {
+    "applied": true,
+    "status": "applied",
+    "reason": "hull-union volume is within 1.05x of the source convex hull; decomposition bought nothing",
+    "hull_volume_m3": 2.9987108333333324e-06,
+    "union_volume_m3": 2.992229184373996e-06,
+    "ratio": 1.0021661605979866
+  }
+}

assets/articulated/artvip/cash_register/meshes/collision/E_button_1/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

assets/articulated/artvip/cash_register/meshes/collision/E_screen1_7/cavity_repair.json

@@ -0,0 +1,20 @@
+{
+  "link": "E_screen1_7",
+  "diag_m": 0.4608,
+  "verdict": "accepted",
+  "pitch_m": 0.008,
+  "n_boxes": 229,
+  "caps_added": 0,
+  "kept_void_cells": 2243,
+  "coacd": {
+    "free_pct": 18.1,
+    "ext_pct": 2.19,
+    "cov_pct": 1.84
+  },
+  "voxbox": {
+    "free_pct": 46.8,
+    "ext_pct": 2.25,
+    "cov_pct": 1.78
+  },
+  "mass_basis": "collision boxes (walls-only volume) replace CoACD hulls"
+}

assets/articulated/artvip/cash_register/meshes/visual/E_body_2/E_body_2_0.obj

@@ -0,0 +1,896 @@
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+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="E_body_2" body2="E_button_1" />
+    <exclude body1="E_body_2" body2="E_screen1_7" />
+    <exclude body1="E_button_1" body2="E_screen1_7" />
+  </contact>
+</mujoco>

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

@@ -0,0 +1,302 @@
+{
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+    "path": "reports/collision_overlay.png",
+    "poses": [
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+    "sha256": "1472a25bb6e53d1a0030b5b99fac2c342fe9e0c470eba177711f2b53eb43c5e3",
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+  "schema_version": 1,
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+  ]
+}

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

@@ -0,0 +1,27 @@
+{
+  "body_policies": {
+    "E_body_2": {
+      "collision_mesh_count": 0,
+      "policy": "cavity_repair_voxbox",
+      "prevalidated_proxy_count": 0
+    },
+    "E_button_1": {
+      "collision_mesh_count": 1,
+      "policy": "urdf_collision",
+      "prevalidated_proxy_count": 0
+    },
+    "E_screen1_7": {
+      "collision_mesh_count": 0,
+      "policy": "cavity_repair_voxbox",
+      "prevalidated_proxy_count": 0
+    }
+  },
+  "bundle_manifest_sha256": null,
+  "passthrough_urdf_count": 0,
+  "proxies": [],
+  "repair_report_sha256": null,
+  "schema_version": 1,
+  "source_proxy_count": 0,
+  "source_usd_sha256": "97cc16e5b1a623481aae750214a578ab84ef4ee9191403b5c24d7404d908e365",
+  "status": "passed"
+}

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

@@ -0,0 +1,39 @@
+{
+  "joints": [
+    {
+      "bad_qacc": false,
+      "joint": "PrismaticJoint_cashregister_down",
+      "max_induced_penetration_m": 0.0,
+      "max_penetration_m": 0.0,
+      "penetrations": [],
+      "range": [
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+      "reference_qpos": 0.0,
+      "status": "passed",
+      "steps": 24,
+      "type": "slide"
+    },
+    {
+      "bad_qacc": false,
+      "joint": "RevoluteJoint_cashregister_up",
+      "max_induced_penetration_m": 0.0,
+      "max_penetration_m": 0.0,
+      "penetrations": [],
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+      "reference_qpos": 0.0,
+      "status": "passed",
+      "steps": 24,
+      "type": "hinge"
+    }
+  ],
+  "mjcf": "model.xml",
+  "penetration_tolerance_m": 0.005,
+  "status": "passed",
+  "steps_per_joint": 24,
+  "swept_joint_count": 2
+}

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

@@ -0,0 +1,74 @@
+{
+  "allowed_runtime_mdl_prefixes": [
+    "::OmniGlass::",
+    "::OmniPBR::",
+    "::OmniSurface::",
+    "::anno::",
+    "::base::",
+    "::df::",
+    "::limits::",
+    "::math::",
+    "::nvidia::",
+    "::scene::",
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+}

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

@@ -0,0 +1,624 @@
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+}

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

@@ -0,0 +1,704 @@
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+    "/root/E_body_2/RoboVerseCollision/collision_030",
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+  ],
+  "failures": [],
+  "filtered_pair_directed_count": 6,
+  "passive_joint_policy": true,
+  "provenance": {
+    "canonical_usd_sha256": "6a4feac947b8a6ddf1a71773ff1ff9e5850076f4ada9c32fe9fbc1e836217085",
+    "dependency_closure_sha256": "1b5bb581683ec2a6abad73fd32ab70a3815c0817e0f32e818797681af569f474",
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+    "source_sha256": "97cc16e5b1a623481aae750214a578ab84ef4ee9191403b5c24d7404d908e365"
+  },
+  "source_physics_digest": "a2ceb37885507953a4e7090bd826440f197f151da282f6042c890123eb2fc932",
+  "status": "passed",
+  "stripped_scene": {
+    "articulation_root": {
+      "canonical_roots": [
+        "/root/E_body_2"
+      ],
+      "removed_roots": [],
+      "source_roots": [
+        "/root/E_body_2"
+      ],
+      "status": "canonicalized",
+      "urdf_root_link": "E_body_2"
+    },
+    "removed_behavior_properties": 26,
+    "removed_cameras": [],
+    "removed_collision_properties": 32,
+    "removed_collision_schemas": 0,
+    "removed_drive_schemas": 2,
+    "removed_invalid_articulation_roots": [],
+    "removed_lights": []
+  },
+  "total_mass_kg": 8.00000441
+}

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

@@ -0,0 +1,683 @@
+{
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+  "canonical_visual_digest": "4bc32834fb7ffe5eef74806280527918af36dc3219b0bdd69df0436627c8db9f",
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+    "source_sha256": "97cc16e5b1a623481aae750214a578ab84ef4ee9191403b5c24d7404d908e365"
+  },
+  "source_renderable_count": 16,
+  "source_visual_digest": "4bc32834fb7ffe5eef74806280527918af36dc3219b0bdd69df0436627c8db9f",
+  "status": "passed"
+}

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

@@ -0,0 +1,214 @@
+{
+  "asset_id": "cash_register",
+  "checks": {
+    "articulated": {
+      "joint_count": 2,
+      "link_count": 3,
+      "status": "passed",
+      "usd": "generated",
+      "warnings": [
+        "link E_body_2: flipped inward winding of mesh /root/E_body_2/E_part_3/P_4ca04f0c2199f7e7",
+        "link E_body_2: thin mesh /root/E_body_2/E_part_4/P_f3511ba95bdd83e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_2: thin mesh /root/E_body_2/E_part_4/P_a7f7df19326b67e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_2: thin mesh /root/E_body_2/E_part_4/P_59c97835132d83e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_2: flipped inward winding of mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7",
+        "link E_body_2: thin mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_2_collision: flipped inward winding of mesh /root/E_body_2/E_part_3/P_4ca04f0c2199f7e7",
+        "link E_body_2_collision: thin mesh /root/E_body_2/E_part_4/P_f3511ba95bdd83e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_2_collision: thin mesh /root/E_body_2/E_part_4/P_a7f7df19326b67e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_2_collision: thin mesh /root/E_body_2/E_part_4/P_59c97835132d83e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_2_collision: flipped inward winding of mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7",
+        "link E_body_2_collision: thin mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_screen1_7: thin mesh /root/E_screen1_7/E_part_8/P_82204166fe0423e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_screen1_7: thin mesh /root/E_screen1_7/E_part_8/P_b934a18a24f583e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_screen1_7: thin mesh /root/E_screen1_7/E_part_8/P_fb3c7880401d83e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_screen1_7_collision: thin mesh /root/E_screen1_7/E_part_8/P_82204166fe0423e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_screen1_7_collision: thin mesh /root/E_screen1_7/E_part_8/P_b934a18a24f583e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_screen1_7_collision: thin mesh /root/E_screen1_7/E_part_8/P_fb3c7880401d83e7 slab-extruded to 0.0030 m for MuJoCo",
+        "link E_body_2: cavity-repair voxbox collision (435 boxes, free 50%->73%)",
+        "link E_screen1_7: cavity-repair voxbox collision (229 boxes, free 18%->47%)",
+        "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": 665,
+      "default_rendered_count": 0,
+      "status": "passed"
+    },
+    "joint_frame_sanity": {
+      "checked_joint_count": 1,
+      "joints": [
+        {
+          "joint": "PrismaticJoint_cashregister_down",
+          "reason": "only hinge anchors are checked",
+          "status": "skipped"
+        },
+        {
+          "anchor_m": [
+            0.057587,
+            -0.053239,
+            0.248215
+          ],
+          "bounds": [
+            {
+              "aabb_m": [
+                [
+                  -0.06742,
+                  -0.187468,
+                  0.236641
+                ],
+                [
+                  0.11116,
+                  0.183874,
+                  0.44292
+                ]
+              ],
+              "body": "E_screen1_7",
+              "geom_source": "visual",
+              "margin_m": 0.13824
+            },
+            {
+              "aabb_m": [
+                [
+                  -0.181269,
+                  -0.187468,
+                  1e-06
+                ],
+                [
+                  0.190303,
+                  0.183874,
+                  0.259793
+                ]
+              ],
+              "body": "E_body_2",
+              "geom_source": "visual",
+              "margin_m": 0.175814
+            }
+          ],
+          "geom_source": "visual",
+          "joint": "RevoluteJoint_cashregister_up",
+          "status": "passed"
+        }
+      ],
+      "status": "passed"
+    },
+    "joint_sweep": {
+      "report": "reports/joint_sweep.json",
+      "status": "passed",
+      "swept_joint_count": 2
+    },
+    "layout": {
+      "layout": {
+        "path_in_repo": "assets/articulated/cash/register",
+        "root": "assets/articulated/cash/register",
+        "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": "97cc16e5b1a623481aae750214a578ab84ef4ee9191403b5c24d7404d908e365",
+      "status": "passed",
+      "upstream_path": "Articulated_objects/small_appliances/cash_register/cash register/model_cashregister.usd",
+      "upstream_sha256": "97cc16e5b1a623481aae750214a578ab84ef4ee9191403b5c24d7404d908e365"
+    },
+    "usd_dependencies": {
+      "canonical_usd_sha256": "6a4feac947b8a6ddf1a71773ff1ff9e5850076f4ada9c32fe9fbc1e836217085",
+      "dependency_closure_sha256": "1b5bb581683ec2a6abad73fd32ab70a3815c0817e0f32e818797681af569f474",
+      "report": "reports/usd_dependencies.json",
+      "status": "passed"
+    },
+    "usd_frame_normalization": {
+      "canonical_usd_sha256": "6a4feac947b8a6ddf1a71773ff1ff9e5850076f4ada9c32fe9fbc1e836217085",
+      "dependency_closure_sha256": "1b5bb581683ec2a6abad73fd32ab70a3815c0817e0f32e818797681af569f474",
+      "report": "reports/usd_frame_normalization.json",
+      "status": "passed"
+    },
+    "usd_physics_overlay": {
+      "canonical_usd_sha256": "6a4feac947b8a6ddf1a71773ff1ff9e5850076f4ada9c32fe9fbc1e836217085",
+      "dependency_closure_sha256": "1b5bb581683ec2a6abad73fd32ab70a3815c0817e0f32e818797681af569f474",
+      "report": "reports/usd_physics_overlay.json",
+      "status": "passed"
+    },
+    "usd_visual_equivalence": {
+      "canonical_usd_sha256": "6a4feac947b8a6ddf1a71773ff1ff9e5850076f4ada9c32fe9fbc1e836217085",
+      "dependency_closure_sha256": "1b5bb581683ec2a6abad73fd32ab70a3815c0817e0f32e818797681af569f474",
+      "report": "reports/usd_visual_equivalence.json",
+      "status": "passed"
+    }
+  },
+  "layout": {
+    "path_in_repo": "assets/articulated/cash/register",
+    "root": "assets/articulated/cash/register",
+    "source": "manifest_yaml",
+    "type": "articulated_v1"
+  },
+  "profile": "production",
+  "status": "passed",
+  "warnings": [
+    "link E_body_2: flipped inward winding of mesh /root/E_body_2/E_part_3/P_4ca04f0c2199f7e7",
+    "link E_body_2: thin mesh /root/E_body_2/E_part_4/P_f3511ba95bdd83e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_2: thin mesh /root/E_body_2/E_part_4/P_a7f7df19326b67e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_2: thin mesh /root/E_body_2/E_part_4/P_59c97835132d83e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_2: flipped inward winding of mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7",
+    "link E_body_2: thin mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_2_collision: flipped inward winding of mesh /root/E_body_2/E_part_3/P_4ca04f0c2199f7e7",
+    "link E_body_2_collision: thin mesh /root/E_body_2/E_part_4/P_f3511ba95bdd83e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_2_collision: thin mesh /root/E_body_2/E_part_4/P_a7f7df19326b67e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_2_collision: thin mesh /root/E_body_2/E_part_4/P_59c97835132d83e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_2_collision: flipped inward winding of mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7",
+    "link E_body_2_collision: thin mesh /root/E_body_2/E_part_5/P_837d79b39bc183e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_screen1_7: thin mesh /root/E_screen1_7/E_part_8/P_82204166fe0423e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_screen1_7: thin mesh /root/E_screen1_7/E_part_8/P_b934a18a24f583e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_screen1_7: thin mesh /root/E_screen1_7/E_part_8/P_fb3c7880401d83e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_screen1_7_collision: thin mesh /root/E_screen1_7/E_part_8/P_82204166fe0423e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_screen1_7_collision: thin mesh /root/E_screen1_7/E_part_8/P_b934a18a24f583e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_screen1_7_collision: thin mesh /root/E_screen1_7/E_part_8/P_fb3c7880401d83e7 slab-extruded to 0.0030 m for MuJoCo",
+    "link E_body_2: cavity-repair voxbox collision (435 boxes, free 50%->73%)",
+    "link E_screen1_7: cavity-repair voxbox collision (229 boxes, free 18%->47%)",
+    "preview pending: mujoco import failed: RuntimeError('invalid value for environment variable MUJOCO_GL: egl')"
+  ]
+}

assets/articulated/artvip/cash_register/usd/model.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a4feac947b8a6ddf1a71773ff1ff9e5850076f4ada9c32fe9fbc1e836217085
+size 8176046