Spaces:
Running
Running
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| "catalog": { | |
| "catalog_sha256": "592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7", | |
| "environment": { | |
| "default_layout": "Three columns x=.40,.76,1.12 m; two rows y=.38,.56 m; sole bottoms begin z=.08 m. Layout separates loading tests from reachability claims.", | |
| "geometry": "Infinite collision plane at z=0; displayed with 2 m half extents. Not a finite tabletop or rack.", | |
| "gravity_m_s2": [ | |
| 0, | |
| 0, | |
| -9.81 | |
| ], | |
| "id": "open-support-plane", | |
| "license": "MIT", | |
| "name": "asset_table", | |
| "property_evidence": "untested authored environment", | |
| "version": "0.1.0" | |
| }, | |
| "license": "MIT", | |
| "license_scope": "Original DVIDIA catalog and procedural shoes only; robot simulation assets retain their individual licenses.", | |
| "limitations": [ | |
| "All shoe physical properties are untested synthetic assumptions.", | |
| "Left/right labels identify mirrored procedural instances, not scanned real shoes.", | |
| "Arm command interfaces differ; installing a scene does not install a learned controller.", | |
| "No deformation, real-world calibration, graspability claim or closed-loop sensor stack." | |
| ], | |
| "robots": [ | |
| { | |
| "arm_axes": 6, | |
| "compatibility": { | |
| "physical_robot_ready": false, | |
| "scene_loading": true, | |
| "scope": "Pinned native arm and gripper can share a rigid-shoe scene. This does not establish reachability, graspability, a shoe manipulation skill, or hardware compatibility.", | |
| "shoe_grasp_qualified": false | |
| }, | |
| "expected_dimensions": { | |
| "neq": 3, | |
| "nq": 14, | |
| "nu": 7, | |
| "nv": 14 | |
| }, | |
| "gripper_command": "Native coupled gripper servo input [0,255]; not a measured gap or calibrated force.", | |
| "gripper_command_axes": 1, | |
| "gripper_mechanical_joints": 8, | |
| "home_joint_positions": { | |
| "elbow_joint": 1.5708, | |
| "shoulder_lift_joint": -1.5708, | |
| "shoulder_pan_joint": -1.5708, | |
| "wrist_1_joint": -1.5708, | |
| "wrist_2_joint": -1.5708, | |
| "wrist_3_joint": 0 | |
| }, | |
| "id": "ur5e", | |
| "immutable_id": "dvidia/robots/ur5e-2f85@0.1.0", | |
| "licenses": { | |
| "robotiq_2f85": "BSD-2-Clause", | |
| "universal_robots_ur5e": "BSD-3-Clause" | |
| }, | |
| "name": "UR5e + Robotiq 2F-85", | |
| "native_command_units": [ | |
| "rad", | |
| "rad", | |
| "rad", | |
| "rad", | |
| "rad", | |
| "rad", | |
| "native_0_255" | |
| ], | |
| "openness_scope": "These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate.", | |
| "source": { | |
| "commit": "0059d4335f8156206f63a35662313385f7ad6d74", | |
| "home_scope": "Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose.", | |
| "model_urls": [ | |
| "https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/universal_robots_ur5e", | |
| "https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/robotiq_2f85" | |
| ], | |
| "repository": "https://github.com/google-deepmind/mujoco_menagerie", | |
| "verification": "Packaged SHA256 allowlist; assets are read from verified bytes, without network access." | |
| }, | |
| "version": "0.1.0" | |
| }, | |
| { | |
| "arm_axes": 6, | |
| "compatibility": { | |
| "physical_robot_ready": false, | |
| "scene_loading": true, | |
| "scope": "Pinned native arm and gripper can share a rigid-shoe scene. This does not establish reachability, graspability, a shoe manipulation skill, or hardware compatibility.", | |
| "shoe_grasp_qualified": false | |
| }, | |
| "expected_dimensions": { | |
| "neq": 1, | |
| "nq": 8, | |
| "nu": 7, | |
| "nv": 8 | |
| }, | |
| "gripper_command": "single-finger slide target in metres, native range [0,0.035]; not total jaw gap", | |
| "gripper_command_axes": 1, | |
| "gripper_mechanical_joints": 2, | |
| "home_joint_positions": { | |
| "joint1": 0, | |
| "joint2": 1.57, | |
| "joint3": -1.3485, | |
| "joint4": 0, | |
| "joint5": 0, | |
| "joint6": 0, | |
| "joint7": 0, | |
| "joint8": 0 | |
| }, | |
| "id": "piper", | |
| "immutable_id": "dvidia/robots/piper@0.1.0", | |
| "licenses": { | |
| "agilex_piper": "MIT" | |
| }, | |
| "name": "AgileX PiPER", | |
| "native_command_units": [ | |
| "rad", | |
| "rad", | |
| "rad", | |
| "rad", | |
| "rad", | |
| "rad", | |
| "m" | |
| ], | |
| "openness_scope": "These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate.", | |
| "source": { | |
| "commit": "0059d4335f8156206f63a35662313385f7ad6d74", | |
| "home_scope": "Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose.", | |
| "model_urls": [ | |
| "https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/agilex_piper" | |
| ], | |
| "repository": "https://github.com/google-deepmind/mujoco_menagerie", | |
| "verification": "Packaged SHA256 allowlist; assets are read from verified bytes, without network access." | |
| }, | |
| "version": "0.1.0" | |
| }, | |
| { | |
| "arm_axes": 5, | |
| "compatibility": { | |
| "physical_robot_ready": false, | |
| "scene_loading": true, | |
| "scope": "Pinned native arm and gripper can share a rigid-shoe scene. This does not establish reachability, graspability, a shoe manipulation skill, or hardware compatibility.", | |
| "shoe_grasp_qualified": false | |
| }, | |
| "expected_dimensions": { | |
| "neq": 0, | |
| "nq": 6, | |
| "nu": 6, | |
| "nv": 6 | |
| }, | |
| "gripper_command": "moving-jaw hinge angle target in radians; not linear jaw gap", | |
| "gripper_command_axes": 1, | |
| "gripper_mechanical_joints": 1, | |
| "home_joint_positions": { | |
| "elbow_flex": 0, | |
| "gripper": 0, | |
| "shoulder_lift": 0, | |
| "shoulder_pan": 0, | |
| "wrist_flex": 0, | |
| "wrist_roll": 0 | |
| }, | |
| "id": "so101", | |
| "immutable_id": "dvidia/robots/so101@0.1.0", | |
| "licenses": { | |
| "robotstudio_so101": "Apache-2.0" | |
| }, | |
| "name": "The Robot Studio SO101", | |
| "native_command_units": [ | |
| "rad", | |
| "rad", | |
| "rad", | |
| "rad", | |
| "rad", | |
| "rad" | |
| ], | |
| "openness_scope": "These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate.", | |
| "source": { | |
| "commit": "0059d4335f8156206f63a35662313385f7ad6d74", | |
| "home_scope": "Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose.", | |
| "model_urls": [ | |
| "https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/robotstudio_so101" | |
| ], | |
| "repository": "https://github.com/google-deepmind/mujoco_menagerie", | |
| "verification": "Packaged SHA256 allowlist; assets are read from verified bytes, without network access." | |
| }, | |
| "version": "0.1.0" | |
| } | |
| ], | |
| "schema": "dvidia.asset-catalog/v1", | |
| "scope": "Reusable native scene assets with synthetic rigid shoes. Scene loading and gravity/contact checks do not demonstrate shoe manipulation, learning or physical robot transfer.", | |
| "shoes": [ | |
| { | |
| "family": "trainer", | |
| "fidelity": { | |
| "deformation": "unsupported", | |
| "geometry": "authored coarse proxy", | |
| "measured_contact": "untested", | |
| "native_contact": "available for numerical testing", | |
| "physical_robot_ready": false, | |
| "shoe_grasp_qualified": false | |
| }, | |
| "frame": { | |
| "axes": "right-handed; +x toward toe, +y lateral, +z up", | |
| "initial_bottom_z_m": 0.08, | |
| "origin": "sole bottom center", | |
| "sole_bottom_z_m": 0 | |
| }, | |
| "geometry": [ | |
| { | |
| "mass_fraction": 0.35, | |
| "name": "sole", | |
| "position_m": [ | |
| 0, | |
| 0, | |
| 0.01 | |
| ], | |
| "rgba": [ | |
| 0.16, | |
| 0.17, | |
| 0.18, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.14, | |
| 0.05, | |
| 0.01 | |
| ], | |
| "type": "box" | |
| }, | |
| { | |
| "mass_fraction": 0.55, | |
| "name": "upper", | |
| "position_m": [ | |
| -0.005, | |
| 0.003, | |
| 0.052 | |
| ], | |
| "rgba": [ | |
| 0.2, | |
| 0.38, | |
| 0.58, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.122, | |
| 0.047, | |
| 0.035 | |
| ], | |
| "type": "ellipsoid" | |
| }, | |
| { | |
| "mass_fraction": 0.1, | |
| "name": "toe", | |
| "position_m": [ | |
| 0.095, | |
| 0.003, | |
| 0.045 | |
| ], | |
| "rgba": [ | |
| 0.78, | |
| 0.82, | |
| 0.83, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.04, | |
| 0.047, | |
| 0.026 | |
| ], | |
| "type": "ellipsoid" | |
| } | |
| ], | |
| "id": "trainer-left", | |
| "immutable_id": "dvidia/shoes/trainer-left@0.1.0", | |
| "license": "MIT", | |
| "name": "Trainer / left", | |
| "pair_id": "dvidia/shoes/trainer-pair@0.1.0", | |
| "properties": { | |
| "contact_solver": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "MuJoCo solver parameters; no calibrated stiffness or damping", | |
| "value": { | |
| "condim": 4, | |
| "priority": 1, | |
| "solimp": [ | |
| 0.9, | |
| 0.95, | |
| 0.001, | |
| 0.5, | |
| 2 | |
| ], | |
| "solref": [ | |
| 0.02, | |
| 1 | |
| ] | |
| } | |
| }, | |
| "deformation": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model class", | |
| "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation." | |
| }, | |
| "dimensions_m": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m; length x, width y, maximum height z", | |
| "value": [ | |
| 0.28, | |
| 0.1, | |
| 0.087 | |
| ] | |
| }, | |
| "mass_distribution": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model assumption", | |
| "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo." | |
| }, | |
| "mass_kg": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "kg", | |
| "value": 0.3 | |
| }, | |
| "rolling_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.0001 | |
| }, | |
| "sliding_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "dimensionless", | |
| "value": 0.8 | |
| }, | |
| "torsional_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.005 | |
| } | |
| }, | |
| "side": "left", | |
| "source": { | |
| "author": "DVIDIA", | |
| "kind": "original_procedural", | |
| "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights." | |
| }, | |
| "version": "0.1.0" | |
| }, | |
| { | |
| "family": "trainer", | |
| "fidelity": { | |
| "deformation": "unsupported", | |
| "geometry": "authored coarse proxy", | |
| "measured_contact": "untested", | |
| "native_contact": "available for numerical testing", | |
| "physical_robot_ready": false, | |
| "shoe_grasp_qualified": false | |
| }, | |
| "frame": { | |
| "axes": "right-handed; +x toward toe, +y lateral, +z up", | |
| "initial_bottom_z_m": 0.08, | |
| "origin": "sole bottom center", | |
| "sole_bottom_z_m": 0 | |
| }, | |
| "geometry": [ | |
| { | |
| "mass_fraction": 0.35, | |
| "name": "sole", | |
| "position_m": [ | |
| 0, | |
| 0, | |
| 0.01 | |
| ], | |
| "rgba": [ | |
| 0.16, | |
| 0.17, | |
| 0.18, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.14, | |
| 0.05, | |
| 0.01 | |
| ], | |
| "type": "box" | |
| }, | |
| { | |
| "mass_fraction": 0.55, | |
| "name": "upper", | |
| "position_m": [ | |
| -0.005, | |
| -0.003, | |
| 0.052 | |
| ], | |
| "rgba": [ | |
| 0.2, | |
| 0.38, | |
| 0.58, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.122, | |
| 0.047, | |
| 0.035 | |
| ], | |
| "type": "ellipsoid" | |
| }, | |
| { | |
| "mass_fraction": 0.1, | |
| "name": "toe", | |
| "position_m": [ | |
| 0.095, | |
| -0.003, | |
| 0.045 | |
| ], | |
| "rgba": [ | |
| 0.78, | |
| 0.82, | |
| 0.83, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.04, | |
| 0.047, | |
| 0.026 | |
| ], | |
| "type": "ellipsoid" | |
| } | |
| ], | |
| "id": "trainer-right", | |
| "immutable_id": "dvidia/shoes/trainer-right@0.1.0", | |
| "license": "MIT", | |
| "name": "Trainer / right", | |
| "pair_id": "dvidia/shoes/trainer-pair@0.1.0", | |
| "properties": { | |
| "contact_solver": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "MuJoCo solver parameters; no calibrated stiffness or damping", | |
| "value": { | |
| "condim": 4, | |
| "priority": 1, | |
| "solimp": [ | |
| 0.9, | |
| 0.95, | |
| 0.001, | |
| 0.5, | |
| 2 | |
| ], | |
| "solref": [ | |
| 0.02, | |
| 1 | |
| ] | |
| } | |
| }, | |
| "deformation": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model class", | |
| "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation." | |
| }, | |
| "dimensions_m": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m; length x, width y, maximum height z", | |
| "value": [ | |
| 0.28, | |
| 0.1, | |
| 0.087 | |
| ] | |
| }, | |
| "mass_distribution": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model assumption", | |
| "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo." | |
| }, | |
| "mass_kg": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "kg", | |
| "value": 0.3 | |
| }, | |
| "rolling_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.0001 | |
| }, | |
| "sliding_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "dimensionless", | |
| "value": 0.8 | |
| }, | |
| "torsional_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.005 | |
| } | |
| }, | |
| "side": "right", | |
| "source": { | |
| "author": "DVIDIA", | |
| "kind": "original_procedural", | |
| "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights." | |
| }, | |
| "version": "0.1.0" | |
| }, | |
| { | |
| "family": "ankle-boot", | |
| "fidelity": { | |
| "deformation": "unsupported", | |
| "geometry": "authored coarse proxy", | |
| "measured_contact": "untested", | |
| "native_contact": "available for numerical testing", | |
| "physical_robot_ready": false, | |
| "shoe_grasp_qualified": false | |
| }, | |
| "frame": { | |
| "axes": "right-handed; +x toward toe, +y lateral, +z up", | |
| "initial_bottom_z_m": 0.08, | |
| "origin": "sole bottom center", | |
| "sole_bottom_z_m": 0 | |
| }, | |
| "geometry": [ | |
| { | |
| "mass_fraction": 0.35, | |
| "name": "sole", | |
| "position_m": [ | |
| 0, | |
| 0, | |
| 0.012 | |
| ], | |
| "rgba": [ | |
| 0.16, | |
| 0.17, | |
| 0.18, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.145, | |
| 0.054, | |
| 0.012 | |
| ], | |
| "type": "box" | |
| }, | |
| { | |
| "mass_fraction": 0.3, | |
| "name": "upper", | |
| "position_m": [ | |
| 0.01, | |
| 0.004, | |
| 0.064 | |
| ], | |
| "rgba": [ | |
| 0.37, | |
| 0.24, | |
| 0.16, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.13, | |
| 0.05, | |
| 0.04 | |
| ], | |
| "type": "ellipsoid" | |
| }, | |
| { | |
| "mass_fraction": 0.35, | |
| "name": "ankle", | |
| "position_m": [ | |
| -0.085, | |
| 0.004, | |
| 0.135 | |
| ], | |
| "rgba": [ | |
| 0.37, | |
| 0.24, | |
| 0.16, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.047, | |
| 0.049, | |
| 0.055 | |
| ], | |
| "type": "ellipsoid" | |
| } | |
| ], | |
| "id": "ankle-boot-left", | |
| "immutable_id": "dvidia/shoes/ankle-boot-left@0.1.0", | |
| "license": "MIT", | |
| "name": "Ankle Boot / left", | |
| "pair_id": "dvidia/shoes/ankle-boot-pair@0.1.0", | |
| "properties": { | |
| "contact_solver": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "MuJoCo solver parameters; no calibrated stiffness or damping", | |
| "value": { | |
| "condim": 4, | |
| "priority": 1, | |
| "solimp": [ | |
| 0.9, | |
| 0.95, | |
| 0.001, | |
| 0.5, | |
| 2 | |
| ], | |
| "solref": [ | |
| 0.02, | |
| 1 | |
| ] | |
| } | |
| }, | |
| "deformation": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model class", | |
| "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation." | |
| }, | |
| "dimensions_m": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m; length x, width y, maximum height z", | |
| "value": [ | |
| 0.29, | |
| 0.108, | |
| 0.19 | |
| ] | |
| }, | |
| "mass_distribution": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model assumption", | |
| "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo." | |
| }, | |
| "mass_kg": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "kg", | |
| "value": 0.5 | |
| }, | |
| "rolling_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.0001 | |
| }, | |
| "sliding_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "dimensionless", | |
| "value": 0.9 | |
| }, | |
| "torsional_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.005 | |
| } | |
| }, | |
| "side": "left", | |
| "source": { | |
| "author": "DVIDIA", | |
| "kind": "original_procedural", | |
| "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights." | |
| }, | |
| "version": "0.1.0" | |
| }, | |
| { | |
| "family": "ankle-boot", | |
| "fidelity": { | |
| "deformation": "unsupported", | |
| "geometry": "authored coarse proxy", | |
| "measured_contact": "untested", | |
| "native_contact": "available for numerical testing", | |
| "physical_robot_ready": false, | |
| "shoe_grasp_qualified": false | |
| }, | |
| "frame": { | |
| "axes": "right-handed; +x toward toe, +y lateral, +z up", | |
| "initial_bottom_z_m": 0.08, | |
| "origin": "sole bottom center", | |
| "sole_bottom_z_m": 0 | |
| }, | |
| "geometry": [ | |
| { | |
| "mass_fraction": 0.35, | |
| "name": "sole", | |
| "position_m": [ | |
| 0, | |
| 0, | |
| 0.012 | |
| ], | |
| "rgba": [ | |
| 0.16, | |
| 0.17, | |
| 0.18, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.145, | |
| 0.054, | |
| 0.012 | |
| ], | |
| "type": "box" | |
| }, | |
| { | |
| "mass_fraction": 0.3, | |
| "name": "upper", | |
| "position_m": [ | |
| 0.01, | |
| -0.004, | |
| 0.064 | |
| ], | |
| "rgba": [ | |
| 0.37, | |
| 0.24, | |
| 0.16, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.13, | |
| 0.05, | |
| 0.04 | |
| ], | |
| "type": "ellipsoid" | |
| }, | |
| { | |
| "mass_fraction": 0.35, | |
| "name": "ankle", | |
| "position_m": [ | |
| -0.085, | |
| -0.004, | |
| 0.135 | |
| ], | |
| "rgba": [ | |
| 0.37, | |
| 0.24, | |
| 0.16, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.047, | |
| 0.049, | |
| 0.055 | |
| ], | |
| "type": "ellipsoid" | |
| } | |
| ], | |
| "id": "ankle-boot-right", | |
| "immutable_id": "dvidia/shoes/ankle-boot-right@0.1.0", | |
| "license": "MIT", | |
| "name": "Ankle Boot / right", | |
| "pair_id": "dvidia/shoes/ankle-boot-pair@0.1.0", | |
| "properties": { | |
| "contact_solver": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "MuJoCo solver parameters; no calibrated stiffness or damping", | |
| "value": { | |
| "condim": 4, | |
| "priority": 1, | |
| "solimp": [ | |
| 0.9, | |
| 0.95, | |
| 0.001, | |
| 0.5, | |
| 2 | |
| ], | |
| "solref": [ | |
| 0.02, | |
| 1 | |
| ] | |
| } | |
| }, | |
| "deformation": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model class", | |
| "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation." | |
| }, | |
| "dimensions_m": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m; length x, width y, maximum height z", | |
| "value": [ | |
| 0.29, | |
| 0.108, | |
| 0.19 | |
| ] | |
| }, | |
| "mass_distribution": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model assumption", | |
| "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo." | |
| }, | |
| "mass_kg": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "kg", | |
| "value": 0.5 | |
| }, | |
| "rolling_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.0001 | |
| }, | |
| "sliding_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "dimensionless", | |
| "value": 0.9 | |
| }, | |
| "torsional_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.005 | |
| } | |
| }, | |
| "side": "right", | |
| "source": { | |
| "author": "DVIDIA", | |
| "kind": "original_procedural", | |
| "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights." | |
| }, | |
| "version": "0.1.0" | |
| }, | |
| { | |
| "family": "slipper", | |
| "fidelity": { | |
| "deformation": "unsupported", | |
| "geometry": "authored coarse proxy", | |
| "measured_contact": "untested", | |
| "native_contact": "available for numerical testing", | |
| "physical_robot_ready": false, | |
| "shoe_grasp_qualified": false | |
| }, | |
| "frame": { | |
| "axes": "right-handed; +x toward toe, +y lateral, +z up", | |
| "initial_bottom_z_m": 0.08, | |
| "origin": "sole bottom center", | |
| "sole_bottom_z_m": 0 | |
| }, | |
| "geometry": [ | |
| { | |
| "mass_fraction": 0.35, | |
| "name": "sole", | |
| "position_m": [ | |
| 0, | |
| 0, | |
| 0.009 | |
| ], | |
| "rgba": [ | |
| 0.16, | |
| 0.17, | |
| 0.18, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.135, | |
| 0.051, | |
| 0.009 | |
| ], | |
| "type": "box" | |
| }, | |
| { | |
| "mass_fraction": 0.65, | |
| "name": "upper", | |
| "position_m": [ | |
| 0.045, | |
| 0.002, | |
| 0.038 | |
| ], | |
| "rgba": [ | |
| 0.52, | |
| 0.31, | |
| 0.37, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.09, | |
| 0.049, | |
| 0.017 | |
| ], | |
| "type": "ellipsoid" | |
| } | |
| ], | |
| "id": "slipper-left", | |
| "immutable_id": "dvidia/shoes/slipper-left@0.1.0", | |
| "license": "MIT", | |
| "name": "Slipper / left", | |
| "pair_id": "dvidia/shoes/slipper-pair@0.1.0", | |
| "properties": { | |
| "contact_solver": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "MuJoCo solver parameters; no calibrated stiffness or damping", | |
| "value": { | |
| "condim": 4, | |
| "priority": 1, | |
| "solimp": [ | |
| 0.9, | |
| 0.95, | |
| 0.001, | |
| 0.5, | |
| 2 | |
| ], | |
| "solref": [ | |
| 0.02, | |
| 1 | |
| ] | |
| } | |
| }, | |
| "deformation": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model class", | |
| "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation." | |
| }, | |
| "dimensions_m": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m; length x, width y, maximum height z", | |
| "value": [ | |
| 0.27, | |
| 0.102, | |
| 0.055 | |
| ] | |
| }, | |
| "mass_distribution": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model assumption", | |
| "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo." | |
| }, | |
| "mass_kg": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "kg", | |
| "value": 0.15 | |
| }, | |
| "rolling_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.0001 | |
| }, | |
| "sliding_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "dimensionless", | |
| "value": 0.65 | |
| }, | |
| "torsional_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.005 | |
| } | |
| }, | |
| "side": "left", | |
| "source": { | |
| "author": "DVIDIA", | |
| "kind": "original_procedural", | |
| "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights." | |
| }, | |
| "version": "0.1.0" | |
| }, | |
| { | |
| "family": "slipper", | |
| "fidelity": { | |
| "deformation": "unsupported", | |
| "geometry": "authored coarse proxy", | |
| "measured_contact": "untested", | |
| "native_contact": "available for numerical testing", | |
| "physical_robot_ready": false, | |
| "shoe_grasp_qualified": false | |
| }, | |
| "frame": { | |
| "axes": "right-handed; +x toward toe, +y lateral, +z up", | |
| "initial_bottom_z_m": 0.08, | |
| "origin": "sole bottom center", | |
| "sole_bottom_z_m": 0 | |
| }, | |
| "geometry": [ | |
| { | |
| "mass_fraction": 0.35, | |
| "name": "sole", | |
| "position_m": [ | |
| 0, | |
| 0, | |
| 0.009 | |
| ], | |
| "rgba": [ | |
| 0.16, | |
| 0.17, | |
| 0.18, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.135, | |
| 0.051, | |
| 0.009 | |
| ], | |
| "type": "box" | |
| }, | |
| { | |
| "mass_fraction": 0.65, | |
| "name": "upper", | |
| "position_m": [ | |
| 0.045, | |
| -0.002, | |
| 0.038 | |
| ], | |
| "rgba": [ | |
| 0.52, | |
| 0.31, | |
| 0.37, | |
| 1 | |
| ], | |
| "size_m": [ | |
| 0.09, | |
| 0.049, | |
| 0.017 | |
| ], | |
| "type": "ellipsoid" | |
| } | |
| ], | |
| "id": "slipper-right", | |
| "immutable_id": "dvidia/shoes/slipper-right@0.1.0", | |
| "license": "MIT", | |
| "name": "Slipper / right", | |
| "pair_id": "dvidia/shoes/slipper-pair@0.1.0", | |
| "properties": { | |
| "contact_solver": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "MuJoCo solver parameters; no calibrated stiffness or damping", | |
| "value": { | |
| "condim": 4, | |
| "priority": 1, | |
| "solimp": [ | |
| 0.9, | |
| 0.95, | |
| 0.001, | |
| 0.5, | |
| 2 | |
| ], | |
| "solref": [ | |
| 0.02, | |
| 1 | |
| ] | |
| } | |
| }, | |
| "deformation": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model class", | |
| "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation." | |
| }, | |
| "dimensions_m": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m; length x, width y, maximum height z", | |
| "value": [ | |
| 0.27, | |
| 0.102, | |
| 0.055 | |
| ] | |
| }, | |
| "mass_distribution": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "model assumption", | |
| "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo." | |
| }, | |
| "mass_kg": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "kg", | |
| "value": 0.15 | |
| }, | |
| "rolling_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.0001 | |
| }, | |
| "sliding_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "dimensionless", | |
| "value": 0.65 | |
| }, | |
| "torsional_friction": { | |
| "evidence": "untested", | |
| "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value.", | |
| "units": "m", | |
| "value": 0.005 | |
| } | |
| }, | |
| "side": "right", | |
| "source": { | |
| "author": "DVIDIA", | |
| "kind": "original_procedural", | |
| "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights." | |
| }, | |
| "version": "0.1.0" | |
| } | |
| ], | |
| "units": { | |
| "angle": "rad", | |
| "length": "m", | |
| "mass": "kg", | |
| "quaternion": "wxyz", | |
| "time": "s" | |
| }, | |
| "version": "0.1.0", | |
| "world_frame": "right-handed; robot base reference at world origin, +z up" | |
| }, | |
| "catalog_sha256": "49f8cf25ea1a90a0760940353cd21e08c8de8d90e42c325738ec4faad5a96e15", | |
| "comparison": "Both controls start at the identical free-joint positions, quaternions and held robot commands. table_disabled changes only the support plane collision masks to zero. Unexpected control support successes, errors and incomplete runs remain in the denominator.", | |
| "contact_recording_scope": "Loaded shoe contacts are sampled every 20 ms. Expected outcomes require no non-table shoe contacts in any recorded sample; transients between samples are not ruled out.", | |
| "duration_seconds": 1.0, | |
| "gravity_m_s2": [ | |
| 0.0, | |
| 0.0, | |
| -9.81 | |
| ], | |
| "implementation_sha256": { | |
| "asset_benchmark.py": "922cce190521b2b6a404bcece90e0f9f84b007d4987011d25ff5c8f6f914c40e", | |
| "asset_catalog.json": "592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7", | |
| "asset_library.py": "12520ca13b7806004be37a0d7e0d1e023c90410c1eba899296fdcd5b28fdc7f7", | |
| "reference_assets.lock.json": "941eb6f9fd474635a590b82c66b59a9d5124d8e0d9ddc203006f5b921d8d2861", | |
| "reference_sim.py": "c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8", | |
| "robot_profiles.lock.json": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", | |
| "robot_profiles.py": "fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d" | |
| }, | |
| "independence_note": "Matched seeded layouts are reused across robots and controls; these are synthetic numerical checks, not independent real shoes or held-out hardware trials.", | |
| "planned_attempts": 54, | |
| "repeats": 3, | |
| "sample_interval_seconds": 0.02, | |
| "schema": "dvidia.asset-library-protocol/v1", | |
| "scope": "Native CPU scene loading, free rigid-shoe gravity and passive table support. Original procedural shoe proxies with assumed physical properties. No shoe grasping, organizing policy, deformation calibration, learned skill or hardware qualification.", | |
| "seed": 612047, | |
| "source_commit": "441ee2871620104246ab9caeb89825f12a14b889", | |
| "thresholds": { | |
| "angular_speed_limit_rad_s": 0.2, | |
| "bottom_tolerance_m": 0.008, | |
| "contact_normal_force_min_n": 1e-06, | |
| "control_min_drop_m": 0.1, | |
| "gravity_position_tolerance_m": 0.001, | |
| "gravity_probe_seconds": 0.04, | |
| "gravity_velocity_tolerance_m_s": 0.015, | |
| "linear_speed_limit_m_s": 0.03, | |
| "support_window_seconds": 0.2 | |
| }, | |
| "timestep_seconds": 0.002, | |
| "timing_scope": "Native-step timings measure mj_step only on this host; state extraction, mj_forward, compilation, rendering, sensing, training and actuation are excluded. Attempt wall includes verification, compilation, physics and state extraction. Run wall ends before report serialization. Process peak RSS includes prior allocations and is not a minimum memory requirement. These measurements do not establish real-time robot performance." | |
| } | |