diff --git a/.gitattributes b/.gitattributes
index dd2db0b5d46c63be236473b3d2fe69c2ed20864b..12a1d0c6da35552b80d7d1a38c8700d38c34236e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -61,3 +61,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.usd filter=lfs diff=lfs merge=lfs -text
 omniverse-launcher-linux.AppImage filter=lfs diff=lfs merge=lfs -text
 robots.zip.bak filter=lfs diff=lfs merge=lfs -text
+fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/meshes/textured_objs/new_3.stl filter=lfs diff=lfs merge=lfs -text
+fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/meshes/textured_objs/new_5.stl filter=lfs diff=lfs merge=lfs -text
+fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/meshes/textured_objs/original_5.stl filter=lfs diff=lfs merge=lfs -text
+fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/meshes/textured_objs/original_90.stl filter=lfs diff=lfs merge=lfs -text
diff --git a/fixes/openfaucet-axis-fix/README.md b/fixes/openfaucet-axis-fix/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..2e3e2afe8236ecec19da6cbfcf28bbe14a0d68d6
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/README.md
@@ -0,0 +1,60 @@
+# OpenFaucet 004 USD joint-axis correction
+
+This folder contains the complete OpenFaucet asset 004 from the SIMPLE dataset,
+with the USD joint frames corrected to match the MuJoCo joint axes.
+
+## Layout
+
+```text
+assets/articulated/004/
+├── output_usd/
+│   ├── 004.usd
+│   └── configuration/
+│       ├── 004_base.usd
+│       ├── 004_physics.usd
+│       └── 004_sensor.usd
+├── output_mjcf/
+│   ├── 004.xml
+│   └── meshes/textured_objs/
+└── ... original metadata, meshes and supporting files
+```
+
+All 101 original files are included. Only `output_usd/004.usd` differs from
+the original archive. The MJCF, collision meshes, visual meshes, and USD
+configuration layers retain their original bytes. `asset_manifest.json`
+records original and current SHA-256 hashes for each file.
+
+Source: dataset `USC-PSI-Lab/SIMPLE`, revision
+`1ce0fa3956706b408df2c7c0e26b0298aa7411fd`, `assets_articulated.zip`.
+Reported SIMPLE code revision: `6d10628794d9c7de4596b4f2afb2c054a637c2bc`.
+
+## Change and validation
+
+The patch sets both joints' `physics:localRot0` and `physics:localRot1`
+to frames whose Y axes match the corresponding MJCF motion axes in common
+coordinates. The zero pose, mesh positions, joint anchors, names, limits,
+and qpos convention are preserved. Existing qpos-by-name synchronization
+can continue without an additional motion mapping.
+
+The maximum bidirectional nearest-vertex distance over 327 CPU configurations
+decreased from 31.059327 mm to 0.000081 mm. The 120 video frames were also
+checked using the actual Isaac PhysX link poses; the patched asset's maximum
+distance to MuJoCo collision vertices was 0.000071 mm.
+
+`validation/mesh_validation.json` contains the numerical results.
+`validation/openfaucet_original_mujoco_fixed.mp4` shows original Isaac USD
+(left), native MuJoCo collision geometry (center), and patched Isaac USD
+(right), with matching camera projection and target qpos. The Isaac frames
+were rendered on L20. This clip sweeps 0 to 1.2 rad and 0 to -0.05 m;
+the wider numerical scan is reported separately.
+
+## Apply
+
+Copy this folder's `assets/articulated/004/` over the corresponding folder
+in your local extracted SIMPLE assets. Keep `output_usd/configuration/`
+beside `004.usd` and `output_mjcf/meshes/` beside `004.xml` so relative
+references resolve.
+
+This is a separate corrected asset bundle. Publishing this folder does not
+replace the original `assets_articulated.zip`, which SIMPLE's automatic
+asset downloader uses.
diff --git a/fixes/openfaucet-axis-fix/asset_manifest.json b/fixes/openfaucet-axis-fix/asset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..7681b46b29d0ef02322a439d7d7e0b9a93745297
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/asset_manifest.json
@@ -0,0 +1,620 @@
+{
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+  "repo_type": "dataset",
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+  "source_archive": "assets_articulated.zip",
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+      "sha256": "e1cd359702e3b8b3398f426ed137a3718c796f2177edd9c4ec7725da260bbc92",
+      "original_sha256": "e1cd359702e3b8b3398f426ed137a3718c796f2177edd9c4ec7725da260bbc92"
+    }
+  ]
+}
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/004_scaled_015.urdf b/fixes/openfaucet-axis-fix/assets/articulated/004/004_scaled_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e49a0d1729de83c14a874394d9e5a64a93c73eb
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/004_scaled_015.urdf
@@ -0,0 +1,125 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_af708fe6eac1bc9450da8b99982a3057">
+	<link name="base" />
+	<link name="link_0">
+		<visual name="switch_2">
+			<origin xyz="0.00021325983070135055 0.00012657275550549433 0.02980021161972236" />
+			<geometry>
+				<mesh filename="textured_objs/original_90.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.00021325983070135055 0.00012657275550549433 0.02980021161972236" />
+			<geometry>
+				<mesh filename="textured_objs/original_90.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_0" type="revolute">
+		<origin xyz="-0.00021325983070135055 -0.00012657275550549433 -0.02980021161972236" />
+		<axis xyz="0 1 -0.2" />
+		<child link="link_0" />
+		<parent link="link_2" />
+		<limit lower="-1.5707963267948966" upper="1.5707963267948966" />
+	</joint>
+	<link name="link_1">
+		<visual name="other_leaf_12">
+			<origin xyz="0.0017635280178889508 0.008354003959414035 0.06748204606312751" />
+			<geometry>
+				<mesh filename="textured_objs/original_98.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0017635280178889508 0.008354003959414035 0.06748204606312751" />
+			<geometry>
+				<mesh filename="textured_objs/original_98.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_1" type="prismatic">
+		<origin xyz="-0.0017635280178889508 -0.008354003959414035 -0.06748204606312751" />
+		<axis xyz="0 -1 0.27" />
+		<child link="link_1" />
+		<parent link="link_2" />
+		<limit lower="-0.061199999999999984" upper="0.02519999999999999" />
+	</joint>
+	<link name="link_2">
+		<visual name="vertical_support_8">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="surface_base_10">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_97.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="tube_5">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="head_6">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="mouth_7">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="mouth_7">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_97.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0.0 0.0 0.0" />
+		<child link="link_2" />
+		<parent link="base" />
+	</joint>
+</robot>
\ No newline at end of file
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/004_scaled_03.urdf b/fixes/openfaucet-axis-fix/assets/articulated/004/004_scaled_03.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d576f817fe1842220c0bc5016cebaf16e5d253f
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/004_scaled_03.urdf
@@ -0,0 +1,125 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_af708fe6eac1bc9450da8b99982a3057">
+	<link name="base" />
+	<link name="link_0">
+		<visual name="switch_2">
+			<origin xyz="0.0004265196614027011 0.00025314551101098865 0.05960042323944472" />
+			<geometry>
+				<mesh filename="textured_objs/original_90.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0004265196614027011 0.00025314551101098865 0.05960042323944472" />
+			<geometry>
+				<mesh filename="textured_objs/original_90.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_0" type="revolute">
+		<origin xyz="-0.0004265196614027011 -0.00025314551101098865 -0.05960042323944472" />
+		<axis xyz="0 1 -0.2" />
+		<child link="link_0" />
+		<parent link="link_2" />
+		<limit lower="-1.5707963267948966" upper="1.5707963267948966" />
+	</joint>
+	<link name="link_1">
+		<visual name="other_leaf_12">
+			<origin xyz="0.0035270560357779017 0.01670800791882807 0.13496409212625501" />
+			<geometry>
+				<mesh filename="textured_objs/original_98.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0035270560357779017 0.01670800791882807 0.13496409212625501" />
+			<geometry>
+				<mesh filename="textured_objs/original_98.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_1" type="prismatic">
+		<origin xyz="-0.0035270560357779017 -0.01670800791882807 -0.13496409212625501" />
+		<axis xyz="0 -1 0.27" />
+		<child link="link_1" />
+		<parent link="link_2" />
+		<limit lower="-0.12239999999999997" upper="0.05039999999999998" />
+	</joint>
+	<link name="link_2">
+		<visual name="vertical_support_8">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="surface_base_10">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_97.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="tube_5">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="head_6">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="mouth_7">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="mouth_7">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_97.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0.0 0.0 0.0" />
+		<child link="link_2" />
+		<parent link="base" />
+	</joint>
+</robot>
\ No newline at end of file
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/bounding_box.json b/fixes/openfaucet-axis-fix/assets/articulated/004/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cdab232f6db4227aaa958dbb8445956bb499e62
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.194755, -0.986755, -0.646136], "max": [0.199105, 0.530604, 0.856076]}
\ No newline at end of file
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/link_and_joint.txt b/fixes/openfaucet-axis-fix/assets/articulated/004/link_and_joint.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b290a7c6fae348faa7eac0b7991a87942e1f4742
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/link_and_joint.txt
@@ -0,0 +1,10 @@
+links: 
+base
+link_0
+link_1
+link_2
+
+joints: 
+joint_name: joint_0 joint_type: revolute parent_link: link_2 child_link: link_0
+joint_name: joint_1 joint_type: prismatic parent_link: link_2 child_link: link_1
+joint_name: joint_2 joint_type: fixed parent_link: base child_link: link_2
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/meta.json b/fixes/openfaucet-axis-fix/assets/articulated/004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba05424ee71c8e1ace9f07364136b9712b820c3b
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/meta.json
@@ -0,0 +1 @@
+{"model_id": "af708fe6eac1bc9450da8b99982a3057", "anno_id": "1011", "user_id": "zhouwenxian", "time_in_sec": "562", "version": "4", "model_cat": "Faucet"}
\ No newline at end of file
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/mobility.urdf b/fixes/openfaucet-axis-fix/assets/articulated/004/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3419d3e8f782dd15cf0b7236fc3c4462ce9099a9
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/mobility.urdf
@@ -0,0 +1,125 @@
+<?xml version="1.0" ?>
+<robot name="partnet_af708fe6eac1bc9450da8b99982a3057">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-2">
+			<origin xyz="0.0014217322046756703 0.0008438183700366288 0.19866807746481574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0014217322046756703 0.0008438183700366288 0.19866807746481574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.0014217322046756703 -0.0008438183700366288 -0.19866807746481574"/>
+		<axis xyz="0 1 -0.2"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-1.5707963267948966" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="other_leaf-12">
+			<origin xyz="0.011756853452593006 0.055693359729426906 0.44988030708751675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.011756853452593006 0.055693359729426906 0.44988030708751675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.011756853452593006 -0.055693359729426906 -0.44988030708751675"/>
+		<axis xyz="0 -1 0.27"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.4079999999999999" upper="0.16799999999999993"/>
+	</joint>
+	<link name="link_2">
+		<visual name="vertical_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="surface_base-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tube-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mouth-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mouth-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/mobility_v2.json b/fixes/openfaucet-axis-fix/assets/articulated/004/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b942510a1e892ede1bc01904f0e09abe088aa502
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"switch","parts":[{"id":2,"name":"switch","children":[]}],"jointData":{"axis":{"origin":[-0.0014217322046756703,-0.0008438183700366288,-0.19866807746481574],"direction":[0,1,-0.2]},"limit":{"a":-90,"b":90,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"other_leaf","parts":[{"id":12,"name":"other_leaf","children":[]}],"jointData":{"axis":{"origin":[-0.011756853452593006,-0.055693359729426906,-0.44988030708751675],"direction":[0,1,-0.27]},"limit":{"a":0.4079999999999999,"b":-0.16799999999999993,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":-1,"joint":"static","name":"vertical_support","parts":[{"id":8,"name":"vertical_support","children":[]},{"id":10,"name":"surface_base","children":[]},{"id":5,"name":"tube","children":[]},{"id":6,"name":"head","children":[]},{"id":7,"name":"mouth","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/004.xml b/fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..83b8af48171d135d3e31129468700f06f5d0b327
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/004.xml
@@ -0,0 +1,76 @@
+<mujoco model="partnet_af708fe6eac1bc9450da8b99982a3057">
+  <default>
+    <default class="robot">
+      <default class="visual">
+        <geom contype="0" conaffinity="0" group="2" />
+      </default>
+      <default class="collision">
+        <geom contype="0" conaffinity="1" group="3" density="30"/>
+      </default>
+    </default>
+  </default>
+
+  <compiler angle="radian" meshdir="." balanceinertia="true" />
+
+  <visual>
+    <global offwidth="3840" offheight="2160" />
+  </visual>
+
+  <worldbody>
+    <body name="articulate_base" childclass="robot" pos="0 0 0.0969">
+      <body name="link_2" quat="0.5 0.5 -0.5 -0.5">
+        <geom name="link_2_collision_0" type="mesh" mesh="collision_new_5_1" class="collision" />
+        <geom name="link_2_collision_1" type="mesh" mesh="collision_original_97_1" class="collision" />
+        <geom name="link_2_collision_2" type="mesh" mesh="collision_new_0_1" class="collision" />
+        <geom name="link_2_collision_3" type="mesh" mesh="collision_new_3_1" class="collision" />
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diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/ply-10000.ply b/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d98c5d201a7f56b310c599a182dd627f9f753980
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/ply-10000.ply
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diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/pts-10000.pts b/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..9c9ea963c7b8f23fb6f93ceb9e28bae7ac624e13
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..5568926ea43356a1db1c7733fdbcdbd1923358b1
--- /dev/null
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diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/sample-points-all-label-10000.txt b/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..23852d33ae370a9a700613fbf11dc532d127bb0c
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/sample-points-all-label-10000.txt
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diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/sample-points-all-pts-label-10000.ply b/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/sample-points-all-pts-label-10000.ply
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index 0000000000000000000000000000000000000000..584c45b4f91d197de53a71aa2c6031fbcdf3bc6c
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diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..945603e4ad9f747f51c384d277e5281bc5be3af9
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/result.json b/fixes/openfaucet-axis-fix/assets/articulated/004/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1413a363f21e4596090a2e4c983f9848f434bdf
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/result.json
@@ -0,0 +1 @@
+[{"text": "Faucet", "children": [{"text": "Normal Faucet", "children": [{"text": "Switch", "objs": ["original-90"], "id": 2, "name": "switch"}, {"text": "Frame", "children": [{"text": "Vertical Support", "objs": ["new-5"], "id": 8, "name": "vertical_support"}, {"text": "Surface Base", "objs": ["original-97"], "id": 10, "name": "surface_base"}, {"text": "Strip (other)", "children": [{"text": "other_leaf", "objs": ["original-98"], "id": 12, "name": "other_leaf"}], "id": 11, "name": "other"}], "id": 3, "name": "frame"}, {"text": "Spout", "children": [{"text": "Tube", "objs": ["new-0"], "id": 5, "name": "tube"}, {"text": "Head", "objs": ["new-3"], "id": 6, "name": "head"}, {"text": "Mouth", "objs": ["original-3", "original-5"], "id": 7, "name": "mouth"}], "id": 4, "name": "spout"}], "id": 1, "name": "normal_faucet"}], "id": 0, "name": "faucet"}]
\ No newline at end of file
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/result_after_merging.json b/fixes/openfaucet-axis-fix/assets/articulated/004/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..073d0fbadb7610bfc92cd2dc49bcf6c6720a501b
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"ori_id": 2, "objs": ["original-90"], "id": 2, "name": "switch", "text": "switch"}, {"children": [{"ori_id": 8, "objs": ["new-5"], "id": 4, "name": "vertical_support", "text": "vertical_support"}, {"ori_id": 10, "objs": ["original-97"], "id": 5, "name": "surface_base", "text": "surface_base"}], "ori_id": 3, "text": "frame", "objs": ["new-5", "original-97", "original-98"], "name": "frame", "id": 3}, {"children": [{"ori_id": 5, "objs": ["new-0"], "id": 7, "name": "tube", "text": "tube"}], "ori_id": 4, "text": "spout", "objs": ["new-0", "new-3", "original-3", "original-5"], "name": "spout", "id": 6}], "ori_id": 1, "text": "normal_faucet", "objs": ["original-90", "new-5", "original-97", "original-98", "new-0", "new-3", "original-3", "original-5"], "name": "normal_faucet", "id": 1}], "ori_id": 0, "text": "faucet", "objs": ["original-90", "new-5", "original-97", "original-98", "new-0", "new-3", "original-3", "original-5"], "name": "faucet", "id": 0}]
\ No newline at end of file
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/semantics.txt b/fixes/openfaucet-axis-fix/assets/articulated/004/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..265c162b1858a2bde0fac810a9a48c7fb92176db
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge switch
+link_1 slider stem
+link_2 static faucet_base
diff --git a/fixes/openfaucet-axis-fix/assets/articulated/004/textured_objs/new-0.mtl b/fixes/openfaucet-axis-fix/assets/articulated/004/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66f116b4c7f5e58a233e9ac76ad17e761c3b7
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/assets/articulated/004/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 faucet Faucet</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_faucet Normal Faucet</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 switch Switch</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 frame Frame</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 spout Spout</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>8 vertical_support Vertical Support</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>10 surface_base Surface Base</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 other Strip (other)</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 tube Tube</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 head Head</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 mouth Mouth</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 other_leaf other_leaf</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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\ No newline at end of file
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+  "worst_fixed_mm": 8.071852461278882e-05,
+  "inputs_sha256": {
+    "original_usd": "57c79537f2581b0ab0fa01c7242830c76c94464a8e4c7af09c74538f4b25982b",
+    "fixed_usd": "a30c2ea353248dc9a4aebce414c24bb1ea0bf015876e27b0c8283e5bfc6b51f8",
+    "mjcf": "c4d0af4fed7644779692b2f22a3c82f73476a587ba8eb623c98fafce98135fc0"
+  },
+  "actual_physx": {
+    "original": {
+      "frames": 120,
+      "worst_mesh_error_mm": 22.287626629667717
+    },
+    "fixed": {
+      "frames": 120,
+      "worst_mesh_error_mm": 7.119421556241838e-05
+    }
+  }
+}
\ No newline at end of file
diff --git a/fixes/openfaucet-axis-fix/validation/openfaucet_original_mujoco_fixed.mp4 b/fixes/openfaucet-axis-fix/validation/openfaucet_original_mujoco_fixed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10b2681821f292c579eea6ed6db96ea90531203d
--- /dev/null
+++ b/fixes/openfaucet-axis-fix/validation/openfaucet_original_mujoco_fixed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5dafd0476506b0df17e5230ce0e8119e8897cbf6c72d4ee55e04846ddcbdc44
+size 332288