cabinet_12: one collision decomposition for the three identical bins

assets/articulated/artvip/cabinet_12/manifest.yaml

@@ -132,8 +132,44 @@ articulation:
       visual_meshes:
       - meshes/visual/E_drawer1_1/E_drawer1_1_0.obj
       - meshes/visual/E_drawer1_1/E_drawer1_1_1.obj
-      collision_meshes: []
-      collision_source: cavity_repair_voxbox
+      collision_meshes:
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_000.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_001.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_002.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_003.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_004.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_005.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_006.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_007.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_008.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_009.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_010.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_011.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_012.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_013.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_014.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_015.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_016.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_017.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_018.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_019.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_020.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_021.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_022.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_023.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_024.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_025.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_026.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_027.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_028.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_029.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_030.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_031.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_032.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_033.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_034.obj
+      - meshes/collision/E_drawer1_1/collision_E_drawer1_1_035.obj
+      collision_source: coacd_shared_part_reuse
     E_drawer1_4:
       mass_kg: 0.760396
       inertia_diag_kgm2:
@@ -198,16 +234,57 @@ articulation:
       visual_meshes:
       - meshes/visual/E_drawer1_7/E_drawer1_7_0.obj
       - meshes/visual/E_drawer1_7/E_drawer1_7_1.obj
-      collision_meshes: []
-      collision_source: cavity_repair_voxbox
+      collision_meshes:
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_000.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_001.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_002.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_003.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_004.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_005.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_006.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_007.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_008.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_009.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_010.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_011.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_012.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_013.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_014.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_015.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_016.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_017.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_018.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_019.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_020.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_021.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_022.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_023.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_024.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_025.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_026.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_027.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_028.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_029.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_030.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_031.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_032.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_033.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_034.obj
+      - meshes/collision/E_drawer1_7/collision_E_drawer1_7_035.obj
+      collision_source: coacd_shared_part_reuse
 usd:
-  status: generated
+  status: regenerated_pending_factory
   path: usd/model.usd
   exporter: usd-core-native-overlay
   source_sha256: 1f678b4b1da71f2a684490e4a5cad27d4b9edc4d205afa543a4da01be3d83b31
   properties_sha256: 8cdaff2d2e5cf2b0bd814509c3d703de5903a5ec98c6e195adbcd23eb7d85e60
-  canonical_usd_sha256: 32ba77d9e2301a2ba2b46835af39cd9ec270849567ec5b63e183ea1009ee8df7
+  canonical_usd_sha256: d78ab1bb5a06ef140395766ddf7cc6172728b64c1dca3eaa2e1405c9024838ae
   dependency_closure_sha256: 2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9
+  provenance_note: Collision scopes for E_drawer1_1 / E_drawer1_7 were copied prim-for-prim
+    from the 710e52db revision's E_drawer1_7 scope; canonical_usd_sha256 recomputed
+    over the new file. source_sha256 / properties_sha256 / dependency_closure_sha256
+    still describe the previous USD and must be regenerated by the asset factory before
+    this bundle is pinned.
 source:
   type: articulated_usd
   filename: model_cabinet_12.usda

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/cavity_repair.json

@@ -1,20 +1,19 @@
 {
-  "link": "E_drawer1_1",
+  "link": "E_drawer1_7",
   "diag_m": 0.539,
-  "verdict": "accepted",
+  "verdict": "rejected: gate not met (ext/cov caps or insufficient free-space gain)",
   "pitch_m": 0.008,
   "n_boxes": 50,
   "caps_added": 0,
   "kept_void_cells": 3036,
   "coacd": {
-    "free_pct": 59.8,
-    "ext_pct": 3.13,
-    "cov_pct": 2.02
+    "free_pct": 76.7,
+    "ext_pct": 3.55,
+    "cov_pct": 1.77
   },
   "voxbox": {
-    "free_pct": 68.2,
+    "free_pct": 71.0,
     "ext_pct": 2.17,
     "cov_pct": 2.14
-  },
-  "mass_basis": "collision boxes (walls-only volume) replace CoACD hulls"
+  }
 }

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_000.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.38379956 -0.03633075 0.10500001
+v 0.38429976 0.14148330 0.10488697
+v 0.38379906 0.14148330 0.10498974
+v 0.38369972 0.14317732 0.10498974
+v 0.38349905 0.14478520 0.10498974
+v 0.38309968 0.14636437 0.10498974
+v 0.38259949 0.14797222 0.10498974
+v 0.38200044 0.14958011 0.10498974
+v 0.38120023 0.15098701 0.10498974
+v 0.38030067 0.15236518 0.10498974
+v 0.37972547 0.15314041 0.10498974
+v 0.38080036 -0.03633075 0.10500001
+v 0.38379956 -0.13848842 0.10500001
+v 0.38459977 0.14329215 0.10448616
+v 0.38419991 0.14317732 0.10488697
+v 0.38429976 -0.03633075 0.10488697
+v 0.38448999 -0.03633075 0.10464032
+v 0.38399974 0.14487132 0.10488697
+v 0.38359987 0.14656534 0.10488697
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+v 0.38239981 0.14978110 0.10488697
+v 0.38170042 0.15127413 0.10488697
+v 0.38070003 0.15268101 0.10488697
+v 0.37972547 0.15403049 0.10488697
+v 0.37972547 0.14716831 0.10498974
+v 0.38080036 -0.13848842 0.10500001
+v 0.38379857 -0.13851713 0.10500001
+v 0.38429926 -0.13848842 0.10488697
+v 0.38459977 -0.13851713 0.10448616
+v 0.38479995 -0.03633075 0.10398259
+v 0.38479945 0.14148330 0.10398259
+v 0.38469961 0.14329215 0.10398259
+v 0.38449993 0.14495746 0.10398259
+v 0.38399974 0.14668020 0.10448616
+v 0.38339970 0.14828808 0.10448616
+v 0.38279916 0.14986724 0.10448616
+v 0.38200044 0.15147513 0.10448616
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+v 0.38000015 0.15426018 0.10448616
+v 0.37972547 0.15408792 0.10484586
+v 0.37972547 0.14693860 0.10497946
+v 0.37979898 -0.13851713 0.10398259
+v 0.37990032 -0.13848842 0.10448616
+v 0.38029918 -0.13851713 0.10488697
+v 0.38080137 -0.13851713 0.10500001
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+v 0.38479945 -0.03633075 0.00101743
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+v 0.38399974 0.14487132 0.00011306
+v 0.38359987 0.14656534 0.00011306
+v 0.38309968 0.14817322 0.00011306
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+v 0.38379906 0.14148330 0.00001029
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+v 0.38349905 0.14478520 0.00001029
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_001.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.29410183 0.16049958 0.10499766
+v 0.29410183 0.15750022 0.10499766
+v 0.29410183 0.16077255 0.10494480
+v 0.20913704 0.16002295 0.10800001
+v 0.20967769 0.15992262 0.10800001
+v 0.21127468 0.15942240 0.10800001
+v 0.21427735 0.15802307 0.10800001
+v 0.21567472 0.15712297 0.10800001
+v 0.21651480 0.15647519 0.10800001
+v 0.29410183 0.15738808 0.10497652
+v 0.29410183 0.16099979 0.10489194
+v 0.20913704 0.16048138 0.10789429
+v 0.20913704 0.16020789 0.10795772
+v 0.20913704 0.15647519 0.10800001
+v 0.21721348 0.15647519 0.10789429
+v 0.29410183 0.15650028 0.10399335
+v 0.29410183 0.15665521 0.10438450
+v 0.29410183 0.15670046 0.10449022
+v 0.29410183 0.15693311 0.10480737
+v 0.29410183 0.15700049 0.10489194
+v 0.29410183 0.16121818 0.10468051
+v 0.20913704 0.16089551 0.10749257
+v 0.20913704 0.15647519 0.00000001
+v 0.21775413 0.15647519 0.10756657
+v 0.29410183 0.15647519 0.00587785
+v 0.21782067 0.15647519 0.10749257
+v 0.29410183 0.16139967 0.10449022
+v 0.20913704 0.16096192 0.10722828
+v 0.20913704 0.16049958 0.00000001
+v 0.29410183 0.15647519 0.00000001
+v 0.29410183 0.16145427 0.10422593
+v 0.20913704 0.16101897 0.10699570
+v 0.20913704 0.16099979 0.00010573
+v 0.29410183 0.16090683 0.00008458
+v 0.29410183 0.16049958 0.00000001
+v 0.29410183 0.16148132 0.10408850
+v 0.29410183 0.16150001 0.10399335
+v 0.20913704 0.16150001 0.10399335
+v 0.20913704 0.16123587 0.00033830
+v 0.29410183 0.16099979 0.00010573
+v 0.29410183 0.16150001 0.00100432
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_002.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v 0.20913705 -0.15347427 0.00000001
+v 0.29408864 -0.15749927 0.00000001
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_003.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_004.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_005.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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+v 0.36759587 -0.15725589 0.00000059
+v 0.36759587 -0.15776915 0.00010073
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+v 0.29411014 -0.03634289 0.00000059
+v 0.36809299 -0.15719621 0.00000059
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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_006.obj

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+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_007.obj

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+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_008.obj

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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_009.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_010.obj

@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_011.obj

@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_012.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_013.obj

@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_014.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_015.obj

@@ -0,0 +1,91 @@
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_016.obj

@@ -0,0 +1,460 @@
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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_017.obj

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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_018.obj

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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_019.obj

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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_020.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_021.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_022.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_023.obj

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

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_024.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_025.obj

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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_026.obj

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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_027.obj

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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_028.obj

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+# https://github.com/mikedh/trimesh
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+v -0.03519998 -0.13612520 0.05384642
+v 0.03577387 -0.13612520 0.00500393
+v -0.03489367 -0.14200012 0.00500393
+v -0.03489367 -0.14200012 0.05384642
+v 0.03479366 -0.13612520 0.05384642
+v 0.04303361 -0.15074951 0.00500393
+v -0.03452608 -0.14357048 0.00500393
+v -0.03470221 -0.14282897 0.05384642
+v 0.04112677 -0.15074951 0.05384642
+v -0.03092685 -0.15074951 0.00500393
+v -0.03449545 -0.14369932 0.00500393
+v -0.03449545 -0.14369932 0.05384642
+v -0.03092685 -0.15074951 0.05384642
+v -0.03098045 -0.15068510 0.00500393
+v -0.03403598 -0.14517806 0.00500393
+v -0.03399768 -0.14529975 0.05384642
+v -0.03159309 -0.14989919 0.05384642
+v -0.03159309 -0.14989919 0.00500393
+v -0.03399768 -0.14529975 0.00500393
+v -0.03370668 -0.14607849 0.05384642
+v -0.03206023 -0.14918057 0.05384642
+v -0.03163138 -0.14984479 0.00500393
+v -0.03343866 -0.14677850 0.00500393
+v -0.03339271 -0.14689875 0.00500393
+v -0.03339271 -0.14689875 0.05384642
+v -0.03249673 -0.14849917 0.05384642
+v -0.03249673 -0.14849917 0.00500393
+v -0.03256565 -0.14837749 0.00500393
+v -0.03295620 -0.14767892 0.05384642
+f 1 2 6
+f 1 6 10
+f 1 10 14
+f 1 14 18
+f 1 18 22
+f 1 22 26
+f 1 26 31
+f 1 31 32
+f 1 32 28
+f 1 28 27
+f 1 27 23
+f 1 23 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 8
+f 3 8 4
+f 4 8 12
+f 4 12 16
+f 4 16 20
+f 4 20 24
+f 4 24 29
+f 4 29 33
+f 4 33 30
+f 4 30 25
+f 4 25 21
+f 4 21 17
+f 4 17 13
+f 4 13 9
+f 4 9 5
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 17
+f 10 17 14
+f 11 15 16
+f 11 16 12
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 21 25 26
+f 21 26 22
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 28 32 29
+f 29 32 33
+f 30 33 32
+f 30 32 31
+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_029.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.20913704 0.00148575 0.00499953
+v 0.04303423 -0.15074951 0.00500344
+v 0.20913704 -0.15074951 0.00499953
+v 0.20913704 0.00148575 0.00000001
+v 0.03579169 0.00148575 0.00500344
+v -0.01172803 -0.15074951 0.00500344
+v 0.20913704 -0.15074951 0.00000001
+v 0.01581525 0.00148575 0.00000001
+v 0.01479913 0.00148575 0.00500344
+v -0.01172803 -0.00803641 0.00500344
+v -0.01172803 -0.15074951 0.00000001
+v 0.01531800 0.00148575 0.00010042
+v -0.01172803 -0.00954147 0.00000001
+v -0.01172803 -0.00879639 0.00010042
+v 0.01479913 0.00148575 0.00100021
+v -0.01172803 -0.00803641 0.00100021
+v 0.01490723 0.00148575 0.00050011
+v -0.01172803 -0.00824503 0.00050011
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 4 7 11
+f 4 11 13
+f 4 13 8
+f 6 10 16
+f 6 16 18
+f 6 18 14
+f 6 14 13
+f 6 13 11
+f 8 13 14
+f 8 14 12
+f 9 15 16
+f 9 16 10
+f 12 14 18
+f 12 18 16
+f 12 16 17
+f 15 17 16
+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_030.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00158925 -0.15849999 0.08898966
+v 0.02891424 -0.15848433 0.08898966
+v 0.00158925 -0.15849999 0.10399858
+v 0.00158925 0.00148575 0.08898966
+v 0.02891424 -0.15848433 0.10399858
+v 0.02891424 0.00148575 0.08898966
+v 0.02891424 -0.15846866 0.10405657
+v 0.02891424 -0.15845302 0.10409731
+v 0.02891424 -0.15829640 0.10449851
+v 0.00158925 -0.15835905 0.10434650
+v 0.01490266 0.00148575 0.10450165
+v 0.00158925 -0.01383003 0.10489971
+v 0.02891424 0.00148575 0.10500001
+v 0.00158925 -0.15829640 0.10449851
+v 0.02891424 -0.15799886 0.10489971
+v 0.01529856 0.00148575 0.10489971
+v 0.00158925 -0.01433116 0.10500001
+v 0.01580145 0.00148575 0.10500001
+v 0.02891424 -0.15749773 0.10500001
+v 0.00158925 -0.15810849 0.10474769
+v 0.00158925 -0.15749773 0.10500001
+v 0.00158925 -0.15768565 0.10496083
+v 0.00158925 -0.15799886 0.10488091
+v 0.00158925 -0.15806151 0.10480725
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 14
+f 1 14 20
+f 1 20 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 17
+f 1 17 12
+f 1 12 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 19
+f 2 19 15
+f 2 15 9
+f 2 9 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
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+f 4 16 18
+f 4 18 13
+f 4 13 6
+f 4 12 11
+f 9 14 10
+f 9 15 14
+f 11 12 16
+f 12 17 16
+f 13 18 17
+f 13 17 21
+f 13 21 19
+f 14 15 20
+f 15 19 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 20
+f 16 17 18
+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_031.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03877066 0.00148575 0.10800001
+v 0.03927093 0.00148575 0.10789952
+v 0.03077269 0.00148575 0.10800001
+v 0.03978823 -0.14310589 0.10800001
+v 0.03967115 0.00148575 0.10749944
+v 0.03027241 0.00148575 0.10789952
+v 0.03077269 -0.13847044 0.10800001
+v 0.03978823 -0.14169647 0.10789952
+v 0.03977121 0.00148575 0.10699888
+v 0.03978823 -0.15466320 0.10800001
+v 0.02987220 0.00148575 0.10749944
+v 0.03027241 -0.13847044 0.10789952
+v 0.03087168 -0.14016176 0.10800001
+v 0.03978823 0.00148575 0.09491829
+v 0.03887071 -0.15406811 0.10800001
+v 0.03857162 -0.15447527 0.10789952
+v 0.03978823 -0.15519565 0.10789952
+v 0.02891530 0.00148575 0.10499847
+v 0.02987220 -0.13847044 0.10749944
+v 0.03037248 -0.14016176 0.10789952
+v 0.03057258 -0.14186873 0.10789952
+v 0.03107179 -0.14177477 0.10800001
+v 0.03978823 0.00148575 0.08900082
+v 0.03757107 -0.15306585 0.10800001
+v 0.02891530 -0.15799885 0.10489984
+v 0.03597127 -0.15226718 0.10789952
+v 0.03978823 -0.15561847 0.10749944
+v 0.02891530 0.00148575 0.08899151
+v 0.02891530 -0.15749772 0.10499847
+v 0.02997226 -0.14016176 0.10749944
+v 0.03097174 -0.14346608 0.10789952
+v 0.03137196 -0.14337212 0.10800001
+v 0.03479935 0.00148575 0.08899151
+v 0.03978823 -0.14968322 0.08899151
+v 0.03637149 -0.15187567 0.10800001
+v 0.02891530 -0.15829639 0.10449976
+v 0.03978823 -0.15799885 0.10489984
+v 0.03487066 -0.15096737 0.10789952
+v 0.03377220 -0.14966757 0.10789952
+v 0.03517083 -0.15066982 0.10800001
+v 0.02891530 -0.15849998 0.08899151
+v 0.03287170 -0.14816418 0.10789952
+v 0.03207233 -0.14667645 0.10789952
+v 0.03147200 -0.14517306 0.10789952
+v 0.03187222 -0.14496947 0.10800001
+v 0.03978823 -0.15849998 0.08899151
+v 0.02891530 -0.15849998 0.10399920
+v 0.03978823 -0.15829639 0.10449976
+v 0.03417242 -0.14937002 0.10800001
+v 0.03327192 -0.14797626 0.10800001
+v 0.03978823 -0.15849998 0.10399920
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+f 1 45 50
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+f 1 24 15
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+f 1 4 2
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+f 4 27 37
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+f 4 46 34
+f 4 34 23
+f 4 23 14
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+f 17 25 27
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+f 18 41 47
+f 18 47 36
+f 18 36 25
+f 18 25 29
+f 19 29 30
+f 20 30 29
+f 20 29 21
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+f 21 29 31
+f 23 34 33
+f 24 35 26
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+f 25 48 37
+f 25 37 27
+f 25 26 38
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+f 25 39 29
+f 26 35 40
+f 26 40 38
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+f 28 46 41
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+f 29 44 31
+f 31 44 32
+f 32 44 45
+f 36 47 51
+f 36 51 48
+f 38 40 39
+f 39 40 49
+f 39 49 50
+f 39 50 42
+f 41 46 51
+f 41 51 47
+f 42 50 43
+f 43 50 45
+f 43 45 44
+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_032.obj

@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.03479932 0.13912122 0.04637491
+v 0.03560940 0.13912122 0.00503750
+v 0.00341427 0.13912122 0.04637491
+v 0.03479932 0.00149922 0.04637491
+v 0.03561254 0.00149922 0.00503750
+v 0.00341427 0.13912122 0.00503750
+v 0.00341427 0.01606304 0.04637491
+v 0.03160313 0.00149922 0.04637491
+v 0.01629674 0.00149922 0.00503750
+v 0.00341427 0.01606304 0.00503750
+v 0.01480266 0.00151269 0.04637491
+v 0.01480266 0.00151269 0.00503750
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 12
+f 2 12 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 12
+f 7 12 11
+f 8 11 9
+f 9 11 12
+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_033.obj

@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.00341113 0.13912122 0.04637491
+v 0.00341113 0.13912122 0.00503750
+v -0.03520001 0.13912122 0.04637491
+v 0.00341113 0.01606304 0.04637491
+v -0.03520001 0.13912122 0.00503750
+v 0.00341113 0.01606304 0.00503750
+v -0.03520001 0.06317651 0.04637491
+v -0.01520279 0.00149922 0.04637491
+v -0.03519623 0.00149922 0.00503750
+v -0.01520279 0.00151269 0.00503750
+v -0.03519623 0.00149922 0.04637491
+v -0.01648404 0.00149922 0.00503750
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 12
+f 2 12 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 11
+f 8 11 9
+f 8 9 12
+f 8 12 10
+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_034.obj

@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.03978824 -0.13931583 0.09441089
+v 0.03979361 -0.13931583 0.08900001
+v 0.03978824 -0.13931583 0.09495857
+v 0.03978824 -0.01404708 0.08900001
+v 0.05808255 -0.13931583 0.08900001
+v 0.05808255 -0.13931583 0.09399969
+v 0.03978824 -0.13854402 0.09495857
+v 0.03978824 0.00148575 0.08900001
+v 0.05808255 0.00148575 0.08900001
+v 0.05808255 0.00148575 0.09399969
+v 0.03978824 0.00148575 0.09491657
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 6 10
+f 3 10 7
+f 5 9 10
+f 5 10 6
+f 7 10 11
+f 8 11 10
+f 8 10 9
+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_1/collision_E_drawer1_1_035.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03978824 -0.14310721 0.10800001
+v 0.05808255 -0.14947688 0.10800001
+v 0.03978824 -0.14170258 0.10789952
+v 0.03978824 -0.15466539 0.10800001
+v 0.05808255 -0.14897550 0.10789952
+v 0.05808255 -0.15747654 0.10800001
+v 0.03978824 -0.14113921 0.10774321
+v 0.03978824 -0.15520621 0.10789952
+v 0.04027175 -0.15497524 0.10800001
+v 0.05808255 -0.14857740 0.10749944
+v 0.03978824 -0.13968951 0.10730405
+v 0.04976989 -0.15747654 0.10800001
+v 0.05808255 -0.15797606 0.10789952
+v 0.04007297 -0.15537711 0.10789952
+v 0.03978824 -0.15562686 0.10749944
+v 0.04157182 -0.15617707 0.10789952
+v 0.04327304 -0.15637613 0.10800001
+v 0.05808255 -0.13931771 0.09400090
+v 0.03978824 -0.13944351 0.10699888
+v 0.04807225 -0.15737702 0.10800001
+v 0.04976989 -0.15797606 0.10789952
+v 0.05808255 -0.15837604 0.10749944
+v 0.03987241 -0.15567569 0.10749944
+v 0.03978824 -0.15799859 0.10489984
+v 0.04137306 -0.15647565 0.10749944
+v 0.04297220 -0.15717609 0.10749944
+v 0.04307248 -0.15677611 0.10789952
+v 0.04487219 -0.15687563 0.10800001
+v 0.05808255 -0.13931771 0.08900082
+v 0.03978824 -0.13931771 0.09495923
+v 0.04647312 -0.15717609 0.10800001
+v 0.04637284 -0.15767560 0.10789952
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+v 0.04976989 -0.15837604 0.10749944
+v 0.05808255 -0.15847556 0.10699888
+v 0.03978824 -0.15829905 0.10449976
+v 0.04467341 -0.15767560 0.10749944
+v 0.04477190 -0.15727562 0.10789952
+v 0.03978824 -0.14968720 0.08899151
+v 0.03979361 -0.13931771 0.08900082
+v 0.05808255 -0.15349925 0.08899151
+v 0.03978824 -0.13931771 0.09441214
+v 0.04637284 -0.15807558 0.10749944
+v 0.04807225 -0.15827652 0.10749944
+v 0.03978824 -0.15849998 0.10399920
+v 0.04976989 -0.15847556 0.10699888
+v 0.05808255 -0.15849998 0.10399920
+v 0.03978824 -0.14828445 0.08900082
+v 0.03978824 -0.15849998 0.08899151
+v 0.05808255 -0.15849998 0.08899151
+f 1 2 3
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+f 1 30 42
+f 1 42 48
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+f 28 32 31
+f 29 39 40
+f 29 41 39
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+f 34 45 46
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+f 36 45 43
+f 36 43 37
+f 39 48 40
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+f 39 50 49
+f 40 48 42
+f 43 45 44
+f 45 49 50
+f 45 50 47
+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/cavity_repair.json

@@ -1,20 +1,19 @@
 {
   "link": "E_drawer1_7",
   "diag_m": 0.539,
-  "verdict": "accepted",
+  "verdict": "rejected: gate not met (ext/cov caps or insufficient free-space gain)",
   "pitch_m": 0.008,
   "n_boxes": 50,
   "caps_added": 0,
   "kept_void_cells": 3036,
   "coacd": {
-    "free_pct": 64.2,
-    "ext_pct": 3.56,
-    "cov_pct": 2.01
+    "free_pct": 76.7,
+    "ext_pct": 3.55,
+    "cov_pct": 1.77
   },
   "voxbox": {
-    "free_pct": 71.1,
+    "free_pct": 71.0,
     "ext_pct": 2.17,
     "cov_pct": 2.14
-  },
-  "mass_basis": "collision boxes (walls-only volume) replace CoACD hulls"
+  }
 }

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_000.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.38379956 -0.03633075 0.10500001
+v 0.38429976 0.14148330 0.10488697
+v 0.38379906 0.14148330 0.10498974
+v 0.38369972 0.14317732 0.10498974
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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_001.obj

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+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_002.obj

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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_003.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_004.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_005.obj

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+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_006.obj

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+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_007.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_008.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_009.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/cabinet_12/meshes/collision/E_drawer1_7/collision_E_drawer1_7_010.obj

@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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