feat(assets): add Factory-validated ArtVIP task bundles

.gitattributes

@@ -892,3 +892,7 @@ assets/articulated/artvip/scissors_22/usd/model.usd filter=lfs diff=lfs merge=lf
 assets/local_bottle_cap/usd/bottle_cap.usd filter=lfs diff=lfs merge=lfs -text
 assets/local_jar_lid/Jar__Lid_source.stl filter=lfs diff=lfs merge=lfs -text
 assets/local_juice_shot/usd/juice_shot.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/clamshell_tool_box_1/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/stepping_dustbin_6/usd/model.usd filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/tongs_10/meshes/visual/E_body_9/E_body_9_0.obj filter=lfs diff=lfs merge=lfs -text
+assets/articulated/artvip/tongs_10/usd/model.usd filter=lfs diff=lfs merge=lfs -text

assets/articulated/artvip/clamshell_tool_box_1/manifest.yaml

@@ -0,0 +1,128 @@
+schema_version: 3
+asset_id: clamshell_tool_box_1
+name: model_clamshell_tool_box_1
+protocol:
+  version: 1
+  asset_family: articulated_v1
+layout:
+  type: articulated_v1
+  root: assets/articulated/clamshell/tool_box_1
+category: household_items
+geometry:
+  realized_aabb_m:
+  - 0.599075803
+  - 0.450173385
+  - 0.253453596
+articulation:
+  joints:
+    count: 2
+    dof: 2
+    types:
+      hinge: 2
+    details:
+    - name: RevoluteJoint_clamshell__tool_box_1_up
+      type: hinge
+      limited: true
+      range:
+      - -1.5708
+      - 0.0
+    - name: RevoluteJoint_clamshell__tool_box_1_middle
+      type: hinge
+      limited: true
+      range:
+      - -1.65806
+      - 0.0
+  links:
+    E_body_2:
+      mass_kg: 3.06221
+      inertia_diag_kgm2:
+      - 0.140927
+      - 0.0969782
+      - 0.0571619
+      com_m:
+      - 1.705e-06
+      - -0.0044587
+      - 0.0708638
+      visual_meshes:
+      - meshes/visual/E_body_2/E_body_2_0.obj
+      - meshes/visual/E_body_2/E_body_2_1.obj
+      collision_meshes: []
+      collision_source: cavity_repair_voxbox
+    E_lid_1:
+      mass_kg: 1.90703
+      inertia_diag_kgm2:
+      - 0.0877077
+      - 0.0579858
+      - 0.0331332
+      com_m:
+      - 0.23505
+      - 0.0442
+      - 0.21525
+      visual_meshes:
+      - meshes/visual/E_lid_1/E_lid_1_0.obj
+      collision_meshes: []
+      collision_source: cavity_repair_voxbox
+    E_handle_3:
+      mass_kg: 0.0307683
+      inertia_diag_kgm2:
+      - 0.000173204
+      - 0.000154638
+      - 2.0785e-05
+      com_m:
+      - 0.12235
+      - -0.0014
+      - -0.0334
+      visual_meshes:
+      - meshes/visual/E_handle_3/E_handle_3_0.obj
+      collision_meshes:
+      - meshes/collision/E_handle_3/collision_E_handle_3_000.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_001.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_002.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_003.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_004.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_005.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_006.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_007.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_008.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_009.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_010.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_011.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_012.obj
+      - meshes/collision/E_handle_3/collision_E_handle_3_013.obj
+      collision_source: urdf_collision
+usd:
+  status: generated
+  path: usd/model.usd
+  exporter: usd-core-native-overlay
+  source_sha256: 60f9d31874e506fbad3cc00627cfb391ac7cea1c2a059c414a989e33a8c41302
+  properties_sha256: 7fdc76915a9702384194692714e8ea0f585fe03df5326dcc50fc73e94d14521a
+  canonical_usd_sha256: 131ca573195d0c915e3325e8b8fd9a5f758f0ac8527074acc9137bc4bc166abd
+  dependency_closure_sha256: 8b9bad86e3050a5b7dfcfd1b4f5d092b2de104bb97c51a53de1a2ab20d09dba7
+source:
+  type: articulated_usd
+  filename: model_clamshell_tool_box_1.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: clamshell_tool_box_1
+  sha256: 60f9d31874e506fbad3cc00627cfb391ac7cea1c2a059c414a989e33a8c41302
+  properties_filename: model_clamshell_tool_box_1_properties.json
+  properties_sha256: 7fdc76915a9702384194692714e8ea0f585fe03df5326dcc50fc73e94d14521a
+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/P_54fade305f200d40'
+- 'link E_body_2_collision: flipped inward winding of mesh /root/E_body_2/P_54fade305f200d40'
+- 'link E_body_2: cavity-repair voxbox collision (234 boxes, free 66%->89%)'
+- 'link E_lid_1: cavity-repair voxbox collision (302 boxes, free 53%->70%)'
+- 'preview pending: mujoco import failed: RuntimeError(''invalid value for environment
+  variable MUJOCO_GL: egl'')'

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_body_2/cavity_repair.json

@@ -0,0 +1,20 @@
+{
+  "link": "E_body_2",
+  "diag_m": 0.7604,
+  "verdict": "accepted",
+  "pitch_m": 0.008,
+  "n_boxes": 234,
+  "caps_added": 0,
+  "kept_void_cells": 11924,
+  "coacd": {
+    "free_pct": 65.7,
+    "ext_pct": 1.78,
+    "cov_pct": 1.89
+  },
+  "voxbox": {
+    "free_pct": 88.9,
+    "ext_pct": 1.81,
+    "cov_pct": 1.86
+  },
+  "mass_basis": "collision boxes (walls-only volume) replace CoACD hulls"
+}

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/cavity_repair.json

@@ -0,0 +1,19 @@
+{
+  "link": "E_handle_3",
+  "diag_m": 0.2607,
+  "verdict": "rejected: gate not met (ext/cov caps or insufficient free-space gain)",
+  "pitch_m": 0.008,
+  "n_boxes": 27,
+  "caps_added": 0,
+  "kept_void_cells": 0,
+  "coacd": {
+    "free_pct": 46.1,
+    "ext_pct": 1.51,
+    "cov_pct": 1.72
+  },
+  "voxbox": {
+    "free_pct": 36.9,
+    "ext_pct": 3.2,
+    "cov_pct": 2.66
+  }
+}

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_000.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_001.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_002.obj

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

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_003.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_004.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_005.obj

@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_006.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_007.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_008.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_009.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_010.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_011.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_012.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/collision_E_handle_3_013.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/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": 14,
+  "zero_volume_parts_dropped": [],
+  "hull_substitution": {
+    "applied": false,
+    "status": "checked",
+    "reason": null,
+    "hull_volume_m3": 0.0003759378721292,
+    "union_volume_m3": 0.00019366258397094513,
+    "ratio": 1.9412003311161092
+  }
+}

assets/articulated/artvip/clamshell_tool_box_1/meshes/collision/E_handle_3/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/clamshell_tool_box_1/meshes/collision/E_lid_1/cavity_repair.json

@@ -0,0 +1,20 @@
+{
+  "link": "E_lid_1",
+  "diag_m": 0.7501,
+  "verdict": "accepted",
+  "pitch_m": 0.008,
+  "n_boxes": 302,
+  "caps_added": 0,
+  "kept_void_cells": 9313,
+  "coacd": {
+    "free_pct": 53.3,
+    "ext_pct": 1.67,
+    "cov_pct": 1.77
+  },
+  "voxbox": {
+    "free_pct": 70.3,
+    "ext_pct": 1.66,
+    "cov_pct": 1.69
+  },
+  "mass_basis": "collision boxes (walls-only volume) replace CoACD hulls"
+}

assets/articulated/artvip/clamshell_tool_box_1/meshes/visual/E_body_2/E_body_2_1.obj

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assets/articulated/artvip/clamshell_tool_box_1/meshes/visual/materials.json

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assets/articulated/artvip/clamshell_tool_box_1/mjcf/model.xml

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+    <material name="E_handle_3_0_mat" texture="E_handle_3_0_tex" texuniform="false" rgba="1.000000 1.000000 1.000000 1.000000" metallic="0.2000" roughness="0.1500" />
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assets/articulated/artvip/clamshell_tool_box_1/reports/collision_audit.json

@@ -0,0 +1,305 @@
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+}

assets/articulated/artvip/clamshell_tool_box_1/reports/collision_passthrough.json

@@ -0,0 +1,27 @@
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+}

assets/articulated/artvip/clamshell_tool_box_1/reports/joint_sweep.json

@@ -0,0 +1,39 @@
+{
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+}

assets/articulated/artvip/clamshell_tool_box_1/reports/usd_dependencies.json

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+}

assets/articulated/artvip/clamshell_tool_box_1/reports/usd_frame_normalization.json

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assets/articulated/artvip/clamshell_tool_box_1/reports/usd_physics_overlay.json

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+}

assets/articulated/artvip/clamshell_tool_box_1/reports/usd_visual_equivalence.json

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+    "/root/E_lid_1/RoboVerseCollision/collision_298",
+    "/root/E_lid_1/RoboVerseCollision/collision_299",
+    "/root/E_lid_1/RoboVerseCollision/collision_300",
+    "/root/E_lid_1/RoboVerseCollision/collision_301"
+  ],
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+  "missing_renderables": [],
+  "provenance": {
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+  "status": "passed"
+}

assets/articulated/artvip/clamshell_tool_box_1/reports/validation.json

@@ -0,0 +1,214 @@
+{
+  "asset_id": "clamshell_tool_box_1",
+  "checks": {
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+      "link_count": 3,
+      "status": "passed",
+      "usd": "generated",
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+        "link E_body_2_collision: flipped inward winding of mesh /root/E_body_2/P_54fade305f200d40",
+        "link E_body_2: cavity-repair voxbox collision (234 boxes, free 66%->89%)",
+        "link E_lid_1: cavity-repair voxbox collision (302 boxes, free 53%->70%)",
+        "preview pending: mujoco import failed: RuntimeError('invalid value for environment variable MUJOCO_GL: egl')"
+      ]
+    },
+    "collision_passthrough": {
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+      "report": "reports/collision_passthrough.json",
+      "source_proxy_count": 0,
+      "status": "passed"
+    },
+    "collision_render_groups": {
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+      "status": "passed"
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+              "geom_source": "visual",
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+          ],
+          "geom_source": "visual",
+          "joint": "RevoluteJoint_clamshell__tool_box_1_up",
+          "status": "passed"
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+        {
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+            -0.210877,
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+          "geom_source": "visual",
+          "joint": "RevoluteJoint_clamshell__tool_box_1_middle",
+          "status": "passed"
+        }
+      ],
+      "status": "passed"
+    },
+    "joint_sweep": {
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+      "status": "passed",
+      "swept_joint_count": 2
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+    "layout": {
+      "layout": {
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+        "root": "assets/articulated/clamshell/tool_box_1",
+        "source": "manifest_yaml",
+        "type": "articulated_v1"
+      },
+      "status": "passed"
+    },
+    "protocol": {
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+      "files": {
+        "manifest.yaml": {
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+        "mjcf/model.xml": {
+          "exists": true
+        },
+        "reports/joint_sweep.json": {
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+        "reports/usd_dependencies.json": {
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+        "reports/usd_physics_overlay.json": {
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+        },
+        "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"
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+    "usd_dependencies": {
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+      "report": "reports/usd_dependencies.json",
+      "status": "passed"
+    },
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+      "canonical_usd_sha256": "131ca573195d0c915e3325e8b8fd9a5f758f0ac8527074acc9137bc4bc166abd",
+      "dependency_closure_sha256": "8b9bad86e3050a5b7dfcfd1b4f5d092b2de104bb97c51a53de1a2ab20d09dba7",
+      "report": "reports/usd_frame_normalization.json",
+      "status": "passed"
+    },
+    "usd_physics_overlay": {
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+      "report": "reports/usd_physics_overlay.json",
+      "status": "passed"
+    },
+    "usd_visual_equivalence": {
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+      "dependency_closure_sha256": "8b9bad86e3050a5b7dfcfd1b4f5d092b2de104bb97c51a53de1a2ab20d09dba7",
+      "report": "reports/usd_visual_equivalence.json",
+      "status": "passed"
+    }
+  },
+  "layout": {
+    "path_in_repo": "assets/articulated/clamshell/tool_box_1",
+    "root": "assets/articulated/clamshell/tool_box_1",
+    "source": "manifest_yaml",
+    "type": "articulated_v1"
+  },
+  "profile": "production",
+  "status": "passed",
+  "warnings": [
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+    "link E_body_2_collision: flipped inward winding of mesh /root/E_body_2/P_54fade305f200d40",
+    "link E_body_2: cavity-repair voxbox collision (234 boxes, free 66%->89%)",
+    "link E_lid_1: cavity-repair voxbox collision (302 boxes, free 53%->70%)",
+    "preview pending: mujoco import failed: RuntimeError('invalid value for environment variable MUJOCO_GL: egl')"
+  ]
+}

assets/articulated/artvip/clamshell_tool_box_1/urdf/model.urdf

@@ -0,0 +1,3361 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model_clamshell_tool_box_1">
+  <mujoco>
+    <compiler balanceinertia="true" discardvisual="false" fusestatic="false" />
+  </mujoco>
+  <link name="E_body_2">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_2/E_body_2_0.obj" />
+      </geometry>
+      <material name="E_body_2_0_mat">
+        <color rgba="1.0000 1.0000 1.0000 1.0000" />
+      </material>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/E_body_2/E_body_2_1.obj" />
+      </geometry>
+      <material name="E_body_2_1_mat">
+        <color rgba="0.9882 0.5020 0.0314 1.0000" />
+      </material>
+    </visual>
+    <inertial>
+      <origin xyz="1.7045776e-06 -0.0044587025 0.070863801" rpy="0 0 0" />
+      <mass value="3.062205172" />
+      <inertia ixx="0.05716188163" ixy="0" ixz="0" iyy="0.09697820125" iyz="0" izz="0.1409272748" />
+    </inertial>
+    <collision>
+      <origin xyz="-0.285548 -0.187009 0.126414" />
+      <geometry>
+        <box size="0.032 0.008 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.293548 -0.187009 0.138414" />
+      <geometry>
+        <box size="0.016 0.008 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.289548 -0.179009 0.126414" />
+      <geometry>
+        <box size="0.024 0.008 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.297548 0.0009913 0.138414" />
+      <geometry>
+        <box size="0.008 0.368 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.293548 0.0049913 0.126414" />
+      <geometry>
+        <box size="0.016 0.36 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.213548 -0.195009 0.126414" />
+      <geometry>
+        <box size="0.16 0.008 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.285548 -0.195009 0.138414" />
+      <geometry>
+        <box size="0.016 0.008 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.285548 -0.179009 0.0704138" />
+      <geometry>
+        <box size="0.016 0.008 0.104" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00245171 -0.175009 0.142414" />
+      <geometry>
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+  ]
+}

assets/articulated/artvip/microwave_2/reports/collision_audit.json

@@ -0,0 +1,427 @@
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+}

assets/articulated/artvip/scissors_22/reports/collision_audit.json

@@ -0,0 +1,302 @@
+{
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+        "collision_to_visual": {
+          "max_m": 0.0013774098135524557,
+          "p50_m": 0.00024687170178128387,
+          "p95_m": 0.0005544536036500052
+        },
+        "collision_volume_m3": 1.7534280697132447e-07,
+        "extent_ratio": [
+          1.0000002263536354,
+          1.0000009740023401,
+          1.0000003678138494
+        ],
+        "max_faces_per_part": 690,
+        "max_vertices_per_part": 347,
+        "total_collision_vertices": 3158,
+        "visual_bounds_m": [
+          [
+            -0.005974339116125471,
+            -0.01019215599811883,
+            -7.63954329571076e-08
+          ],
+          [
+            0.0018353391161254706,
+            -0.0022784437060931213,
+            0.0097999
+          ]
+        ],
+        "visual_diagonal_m": 0.014820845241864451,
+        "visual_surface_coverage": 0.802,
+        "visual_to_collision": {
+          "max_m": 0.0015054649198256865,
+          "p50_m": 0.00025827356724504374,
+          "p95_m": 0.0009242776237899868
+        }
+      },
+      "status": "warning",
+      "warnings": [
+        "ordinary convex part exceeds 255 vertices; require zero-warning PhysX cook evidence"
+      ]
+    },
+    {
+      "failures": [],
+      "link": "E_scissors_1_2",
+      "metrics": {
+        "center_error_m": [
+          -1.684485760947152e-09,
+          1.4197945666372114e-09,
+          -1.9368414858056404e-10
+        ],
+        "center_error_norm_m": 2.2115203909748672e-09,
+        "collision_bounds_m": [
+          [
+            -0.00927559,
+            -0.10566040128469467,
+            -0.00979894027113914
+          ],
+          [
+            0.02515210025012493,
+            0.0930061,
+            -8.600000001e-07
+          ]
+        ],
+        "collision_part_count": 10,
+        "collision_to_visual": {
+          "max_m": 0.0048280721322220875,
+          "p50_m": 0.0012407803695704493,
+          "p95_m": 0.00267251353038107
+        },
+        "collision_volume_m3": 1.184164101674463e-05,
+        "extent_ratio": [
+          1.0000001213896723,
+          1.0000000213459617,
+          0.9998040974421175
+        ],
+        "max_faces_per_part": 148,
+        "max_vertices_per_part": 76,
+        "total_collision_vertices": 652,
+        "visual_bounds_m": [
+          [
+            -0.009275586225931474,
+            -0.10566040058412553,
+            -0.0097999
+          ],
+          [
+            0.025152099845027927,
+            0.09300609645984172,
+            1.0011622905703454e-07
+          ]
+        ],
+        "visual_diagonal_m": 0.2018655062614692,
+        "visual_surface_coverage": 0.8615,
+        "visual_to_collision": {
+          "max_m": 0.004565098993042558,
+          "p50_m": 0.0014778623590124401,
+          "p95_m": 0.003097920115884441
+        }
+      },
+      "status": "passed",
+      "warnings": []
+    },
+    {
+      "failures": [],
+      "link": "E_scissors_2_5",
+      "metrics": {
+        "center_error_m": [
+          5.705585718225603e-07,
+          5.278641700828812e-07,
+          -2.9047072819948783e-10
+        ],
+        "center_error_norm_m": 7.77288717472943e-07,
+        "collision_bounds_m": [
+          [
+            -0.05038065835833549,
+            -0.10641784220933914,
+            -0.00979990046471357
+          ],
+          [
+            0.0118113,
+            0.0924145,
+            1.0000000117e-07
+          ]
+        ],
+        "collision_part_count": 13,
+        "collision_to_visual": {
+          "max_m": 0.0044282817625457774,
+          "p50_m": 0.0011696229205360904,
+          "p95_m": 0.0026125610265882427
+        },
+        "collision_volume_m3": 2.117151630265536e-05,
+        "extent_ratio": [
+          0.9999816351624898,
+          0.9999946696431758,
+          1.0000000355597631
+        ],
+        "max_faces_per_part": 146,
+        "max_vertices_per_part": 75,
+        "total_collision_vertices": 715,
+        "visual_bounds_m": [
+          [
+            -0.050381800000000004,
+            -0.10641890000000001,
+            -0.0097999
+          ],
+          [
+            0.011811300524520875,
+            0.0924145020623207,
+            1.0011622905703454e-07
+          ]
+        ],
+        "visual_diagonal_m": 0.20856352397005504,
+        "visual_surface_coverage": 0.943,
+        "visual_to_collision": {
+          "max_m": 0.006169424728207605,
+          "p50_m": 0.0016317808012690392,
+          "p95_m": 0.0039667851124698585
+        }
+      },
+      "status": "passed",
+      "warnings": []
+    }
+  ],
+  "overlay": {
+    "frames": [
+      {
+        "foreground_pixel_count": 1233,
+        "mode": "visual",
+        "pose": "closed",
+        "view": "view_a"
+      },
+      {
+        "foreground_pixel_count": 2034,
+        "mode": "collision",
+        "pose": "closed",
+        "view": "view_a"
+      },
+      {
+        "foreground_pixel_count": 1894,
+        "mode": "overlay",
+        "pose": "closed",
+        "view": "view_a"
+      },
+      {
+        "foreground_pixel_count": 1592,
+        "mode": "visual",
+        "pose": "open",
+        "view": "view_a"
+      },
+      {
+        "foreground_pixel_count": 2614,
+        "mode": "collision",
+        "pose": "open",
+        "view": "view_a"
+      },
+      {
+        "foreground_pixel_count": 2465,
+        "mode": "overlay",
+        "pose": "open",
+        "view": "view_a"
+      },
+      {
+        "foreground_pixel_count": 1102,
+        "mode": "visual",
+        "pose": "closed",
+        "view": "view_b"
+      },
+      {
+        "foreground_pixel_count": 2292,
+        "mode": "collision",
+        "pose": "closed",
+        "view": "view_b"
+      },
+      {
+        "foreground_pixel_count": 2055,
+        "mode": "overlay",
+        "pose": "closed",
+        "view": "view_b"
+      },
+      {
+        "foreground_pixel_count": 1544,
+        "mode": "visual",
+        "pose": "open",
+        "view": "view_b"
+      },
+      {
+        "foreground_pixel_count": 2607,
+        "mode": "collision",
+        "pose": "open",
+        "view": "view_b"
+      },
+      {
+        "foreground_pixel_count": 2386,
+        "mode": "overlay",
+        "pose": "open",
+        "view": "view_b"
+      }
+    ],
+    "modes": [
+      "visual",
+      "collision",
+      "overlay"
+    ],
+    "path": "reports/collision_overlay.png",
+    "poses": [
+      "closed",
+      "open"
+    ],
+    "resolution": 400,
+    "sha256": "e4387fda9484b351b73963644e24d7f49109a0246ae341b5a9f769e128f5546d",
+    "status": "passed",
+    "views": [
+      {
+        "azimuth_deg": -55.0,
+        "label": "view_a"
+      },
+      {
+        "azimuth_deg": 125.0,
+        "label": "view_b"
+      }
+    ]
+  },
+  "runtime": {
+    "collision_geom_count": 157,
+    "failures": [],
+    "nbody": 4,
+    "ngeom": 164,
+    "njnt": 2,
+    "status": "passed"
+  },
+  "samples_per_link": 2000,
+  "schema_version": 1,
+  "status": "passed",
+  "warnings": [
+    "E_body_1: ordinary convex part exceeds 255 vertices; require zero-warning PhysX cook evidence"
+  ]
+}

assets/articulated/artvip/stepping_dustbin_6/manifest.yaml

@@ -0,0 +1,337 @@
+schema_version: 3
+asset_id: stepping_dustbin_6
+name: model_stepping_dustbin_6
+protocol:
+  version: 1
+  asset_family: articulated_v1
+layout:
+  type: articulated_v1
+  root: assets/articulated/stepping/dustbin_6
+category: household_items
+geometry:
+  realized_aabb_m:
+  - 0.326940292
+  - 0.393330721
+  - 0.508333254
+articulation:
+  joints:
+    count: 2
+    dof: 2
+    types:
+      hinge: 1
+      slide: 1
+    details:
+    - name: PrismaticJoint_Stepping_dustbin_6_down
+      type: slide
+      limited: true
+      range:
+      - -0.0203175
+      - 0.0
+    - name: RevoluteJoint_Stepping_dustbin_6_up
+      type: hinge
+      limited: true
+      range:
+      - -1.5708
+      - 0.0
+  links:
+    E_body_2:
+      mass_kg: 2.28668
+      inertia_diag_kgm2:
+      - 0.065405
+      - 0.0597563
+      - 0.0458791
+      com_m:
+      - -0.00755
+      - -0.05055
+      - 0.23265
+      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
+      collision_meshes:
+      - meshes/collision/E_body_2/collision_E_body_2_000.obj
+      - meshes/collision/E_body_2/collision_E_body_2_001.obj
+      - meshes/collision/E_body_2/collision_E_body_2_002.obj
+      - meshes/collision/E_body_2/collision_E_body_2_003.obj
+      - meshes/collision/E_body_2/collision_E_body_2_004.obj
+      - meshes/collision/E_body_2/collision_E_body_2_005.obj
+      - meshes/collision/E_body_2/collision_E_body_2_006.obj
+      - meshes/collision/E_body_2/collision_E_body_2_007.obj
+      - meshes/collision/E_body_2/collision_E_body_2_008.obj
+      - meshes/collision/E_body_2/collision_E_body_2_009.obj
+      - meshes/collision/E_body_2/collision_E_body_2_010.obj
+      - meshes/collision/E_body_2/collision_E_body_2_011.obj
+      - meshes/collision/E_body_2/collision_E_body_2_012.obj
+      - meshes/collision/E_body_2/collision_E_body_2_013.obj
+      - meshes/collision/E_body_2/collision_E_body_2_014.obj
+      - meshes/collision/E_body_2/collision_E_body_2_015.obj
+      - meshes/collision/E_body_2/collision_E_body_2_016.obj
+      - meshes/collision/E_body_2/collision_E_body_2_017.obj
+      - meshes/collision/E_body_2/collision_E_body_2_018.obj
+      - meshes/collision/E_body_2/collision_E_body_2_019.obj
+      - meshes/collision/E_body_2/collision_E_body_2_020.obj
+      - meshes/collision/E_body_2/collision_E_body_2_021.obj
+      - meshes/collision/E_body_2/collision_E_body_2_022.obj
+      - meshes/collision/E_body_2/collision_E_body_2_023.obj
+      - meshes/collision/E_body_2/collision_E_body_2_024.obj
+      - meshes/collision/E_body_2/collision_E_body_2_025.obj
+      - meshes/collision/E_body_2/collision_E_body_2_026.obj
+      - meshes/collision/E_body_2/collision_E_body_2_027.obj
+      - meshes/collision/E_body_2/collision_E_body_2_028.obj
+      - meshes/collision/E_body_2/collision_E_body_2_029.obj
+      - meshes/collision/E_body_2/collision_E_body_2_030.obj
+      - meshes/collision/E_body_2/collision_E_body_2_031.obj
+      - meshes/collision/E_body_2/collision_E_body_2_032.obj
+      - meshes/collision/E_body_2/collision_E_body_2_033.obj
+      - meshes/collision/E_body_2/collision_E_body_2_034.obj
+      - meshes/collision/E_body_2/collision_E_body_2_035.obj
+      - meshes/collision/E_body_2/collision_E_body_2_036.obj
+      - meshes/collision/E_body_2/collision_E_body_2_037.obj
+      - meshes/collision/E_body_2/collision_E_body_2_038.obj
+      - meshes/collision/E_body_2/collision_E_body_2_039.obj
+      - meshes/collision/E_body_2/collision_E_body_2_040.obj
+      - meshes/collision/E_body_2/collision_E_body_2_041.obj
+      - meshes/collision/E_body_2/collision_E_body_2_042.obj
+      - meshes/collision/E_body_2/collision_E_body_2_043.obj
+      - meshes/collision/E_body_2/collision_E_body_2_044.obj
+      - meshes/collision/E_body_2/collision_E_body_2_045.obj
+      - meshes/collision/E_body_2/collision_E_body_2_046.obj
+      - meshes/collision/E_body_2/collision_E_body_2_047.obj
+      - meshes/collision/E_body_2/collision_E_body_2_048.obj
+      - meshes/collision/E_body_2/collision_E_body_2_049.obj
+      - meshes/collision/E_body_2/collision_E_body_2_050.obj
+      - meshes/collision/E_body_2/collision_E_body_2_051.obj
+      - meshes/collision/E_body_2/collision_E_body_2_052.obj
+      - meshes/collision/E_body_2/collision_E_body_2_053.obj
+      - meshes/collision/E_body_2/collision_E_body_2_054.obj
+      - meshes/collision/E_body_2/collision_E_body_2_055.obj
+      - meshes/collision/E_body_2/collision_E_body_2_056.obj
+      - meshes/collision/E_body_2/collision_E_body_2_057.obj
+      - meshes/collision/E_body_2/collision_E_body_2_058.obj
+      - meshes/collision/E_body_2/collision_E_body_2_059.obj
+      - meshes/collision/E_body_2/collision_E_body_2_060.obj
+      - meshes/collision/E_body_2/collision_E_body_2_061.obj
+      - meshes/collision/E_body_2/collision_E_body_2_062.obj
+      - meshes/collision/E_body_2/collision_E_body_2_063.obj
+      - meshes/collision/E_body_2/collision_E_body_2_064.obj
+      - meshes/collision/E_body_2/collision_E_body_2_065.obj
+      - meshes/collision/E_body_2/collision_E_body_2_066.obj
+      - meshes/collision/E_body_2/collision_E_body_2_067.obj
+      - meshes/collision/E_body_2/collision_E_body_2_068.obj
+      - meshes/collision/E_body_2/collision_E_body_2_069.obj
+      - meshes/collision/E_body_2/collision_E_body_2_070.obj
+      collision_source: urdf_collision
+    E_pedal_1:
+      mass_kg: 0.00649014
+      inertia_diag_kgm2:
+      - 1.61788e-05
+      - 1.00925e-05
+      - 6.20555e-06
+      com_m:
+      - -0.0151
+      - -0.0651
+      - -0.00395
+      visual_meshes:
+      - meshes/visual/E_pedal_1/E_pedal_1_0.obj
+      collision_meshes:
+      - meshes/collision/E_pedal_1/collision_E_pedal_1_000.obj
+      - meshes/collision/E_pedal_1/collision_E_pedal_1_001.obj
+      - meshes/collision/E_pedal_1/collision_E_pedal_1_002.obj
+      - meshes/collision/E_pedal_1/collision_E_pedal_1_003.obj
+      - meshes/collision/E_pedal_1/collision_E_pedal_1_004.obj
+      - meshes/collision/E_pedal_1/collision_E_pedal_1_005.obj
+      - meshes/collision/E_pedal_1/collision_E_pedal_1_006.obj
+      - meshes/collision/E_pedal_1/collision_E_pedal_1_007.obj
+      collision_source: urdf_collision
+    E_lid_3:
+      mass_kg: 0.206825
+      inertia_diag_kgm2:
+      - 0.00297287
+      - 0.0018568
+      - 0.00119092
+      com_m:
+      - 0.00395
+      - -0.12935
+      - 0.0223
+      visual_meshes:
+      - meshes/visual/E_lid_3/E_lid_3_0.obj
+      collision_meshes:
+      - meshes/collision/E_lid_3/collision_E_lid_3_000.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_001.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_002.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_003.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_004.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_005.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_006.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_007.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_008.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_009.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_010.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_011.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_012.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_013.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_014.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_015.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_016.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_017.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_018.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_019.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_020.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_021.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_022.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_023.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_024.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_025.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_026.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_027.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_028.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_029.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_030.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_031.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_032.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_033.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_034.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_035.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_036.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_037.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_038.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_039.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_040.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_041.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_042.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_043.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_044.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_045.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_046.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_047.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_048.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_049.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_050.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_051.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_052.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_053.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_054.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_055.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_056.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_057.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_058.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_059.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_060.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_061.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_062.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_063.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_064.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_065.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_066.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_067.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_068.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_069.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_070.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_071.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_072.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_073.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_074.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_075.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_076.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_077.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_078.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_079.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_080.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_081.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_082.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_083.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_084.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_085.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_086.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_087.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_088.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_089.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_090.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_091.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_092.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_093.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_094.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_095.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_096.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_097.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_098.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_099.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_100.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_101.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_102.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_103.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_104.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_105.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_106.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_107.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_108.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_109.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_110.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_111.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_112.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_113.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_114.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_115.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_116.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_117.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_118.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_119.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_120.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_121.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_122.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_123.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_124.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_125.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_126.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_127.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_128.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_129.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_130.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_131.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_132.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_133.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_134.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_135.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_136.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_137.obj
+      - meshes/collision/E_lid_3/collision_E_lid_3_138.obj
+      collision_source: urdf_collision
+usd:
+  status: generated
+  path: usd/model.usd
+  exporter: usd-core-native-overlay
+  source_sha256: 73cf110e5b5462d593a1e9854d8c52c2cbc09144065f7d648462dd48be83ca88
+  properties_sha256: cbc38f301741a77271e321a9f1145987c095a4b97bd2e7b581ceaa09d7085058
+  canonical_usd_sha256: a965e116ccf0332c611a739967561623083e97d7b1e16467d2ad7c924077c454
+  dependency_closure_sha256: 2254009123521204822f68d69fdf910a872777ca6bce44353454383dd76df5e9
+source:
+  type: articulated_usd
+  filename: model_stepping_dustbin_6.usda
+  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: stepping_dustbin_6
+  sha256: 73cf110e5b5462d593a1e9854d8c52c2cbc09144065f7d648462dd48be83ca88
+  properties_filename: model_stepping_dustbin_6_properties.json
+  properties_sha256: cbc38f301741a77271e321a9f1145987c095a4b97bd2e7b581ceaa09d7085058
+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: thin mesh /root/E_body_2/P_a942349a6d659dc1 slab-extruded to 0.0030
+  m for MuJoCo'
+- 'link E_body_2_collision: thin mesh /root/E_body_2/P_a942349a6d659dc1 slab-extruded
+  to 0.0030 m for MuJoCo'
+- 'link E_lid_3: flipped inward winding of mesh /root/E_lid_3/P_e4079c500ae69fc1'
+- 'link E_lid_3_collision: flipped inward winding of mesh /root/E_lid_3/P_e4079c500ae69fc1'
+- 'preview pending: mujoco import failed: RuntimeError(''invalid value for environment
+  variable MUJOCO_GL: egl'')'