Publish reviewed DVIDIA native robot simulation evidence and local tools

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+asset-library/v01/benchmark/attempts.json filter=lfs diff=lfs merge=lfs -text

README.md

@@ -435,3 +435,8 @@ are included.
 [DVIDIA](https://dvidia.org/) · [Research](https://research.dvidia.org/) ·
 [GitHub](https://github.com/Dvidia-Inference/dvidia-training) ·
 [@iammrriver](https://x.com/iammrriver) · [hello@dvidia.org](mailto:hello@dvidia.org)
+
+
+## Shoe asset library v0.1
+
+[Explore the asset library](asset-library/v01/index.html): six original rigid shoe proxies and UR5e/Robotiq, PiPER and SO-101 scenes. [Complete benchmark](asset-library/v01/benchmark/report.html). Native loading and support tests do not establish shoe grasping, deformation or physical transfer.

asset-library/v01/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 DVIDIA contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

asset-library/v01/README.md

@@ -0,0 +1,134 @@
+# DVIDIA asset library v0.1
+
+Load a supported arm and synthetic shoes into local CPU simulation, inspect
+their native 3D geometry, and save a portable scene descriptor. The first release
+includes UR5e + Robotiq 2F-85, PiPER, SO-101, and left/right instances of trainers,
+ankle boots and slippers.
+
+These shoes are original **rigid proxies with untested physical properties**.
+This release supplies scene assets and an asset benchmark. It does not install
+a trained shoe-organizing policy, calibrate deformation, or qualify a physical
+robot. SO-101 has **five arm axes plus a gripper command**; UR5e and PiPER have
+six arm axes plus a gripper command.
+
+## Install and provision once
+
+Clone the asset-library branch, or check out the exact source commit linked
+from a published benchmark before installing its arm extra:
+
+~~~sh
+git clone --branch feat/shoe-asset-library-v01 https://github.com/Dvidia-Inference/dvidia-training.git
+cd dvidia-training
+python3.12 -m venv .venv
+source .venv/bin/activate
+python -m pip install '.[arm]'
+dvidia-assets list
+dvidia-assets fetch ur5e --output ./robot-assets
+dvidia-assets fetch piper --output ./robot-assets
+dvidia-assets fetch so101 --output ./robot-assets
+~~~
+
+Fetch UR5e first when sharing one root: it requires a fresh output directory.
+PiPER and SO-101 then add their own fresh robot folders. Run each fetch once. Fetch downloads only the
+packaged, hash-pinned upstream allowlist. Keep the resulting model files and
+Python dependencies; scene, load, benchmark and inspect then run offline.
+Descriptors cannot introduce URLs, plugins, arbitrary XML or overrides to the
+physical catalog.
+
+## Load shoes into the simulator
+
+~~~sh
+dvidia-assets scene --robot piper --assets ./robot-assets \
+  --pair trainer --output ./trainer-scene
+python -m http.server 8000 --bind 127.0.0.1 --directory ./trainer-scene
+~~~
+
+On Windows use `py -3.12 -m venv .venv`, `.venv\Scripts\python.exe`
+and `.venv\Scripts\dvidia-assets.exe`; activation is optional.
+
+Open http://localhost:8000. The selector offers only the exported shoe families.
+Use `--pair all` with a fresh output directory to include trainers, ankle boots
+and slippers in one preview.
+Use a fresh output directory for each export.
+
+The exporter compiles verified native arm assets, adds shoe bodies and an
+infinite flat support plane, and runs two seconds of physics with arm commands
+held at initialization. The offline browser shows compiled arm meshes and shoe
+collision primitives, recorded every 20 ms. Orbit the camera, scrub initial and
+settled states and switch to collision geometry. **The browser replays saved
+poses; it does not run physics.** Pair selection filters the recording visually.
+
+Download a descriptor and rerun exactly that selection:
+
+~~~sh
+dvidia-assets load ./trainer-scene/scene.json \
+  --assets ./robot-assets --output ./reloaded-scene
+dvidia-assets inspect ./reloaded-scene
+~~~
+
+Descriptors contain robot ID, ordered shoe IDs, timestep, catalog version and
+exact catalog hash. They contain no machine-specific paths. Incompatible
+catalogs and changed or unknown descriptor fields are rejected.
+
+## Run the benchmark
+
+~~~sh
+dvidia-assets benchmark --assets ./robot-assets \
+  --seed 612047 --repeats 3 --output ./asset-benchmark
+dvidia-assets inspect ./asset-benchmark
+~~~
+
+For an existing separate UR5e asset root, add --ur5e-assets PATH. Add
+--source-commit FULL_COMMIT_SHA to record a frozen code revision. The benchmark
+produces machine-readable receipts and a readable report, retains failures,
+and measures its defined native asset protocol rather than a learned skill.
+Read scenario definitions, denominators, negative controls and timing scope
+before comparing results.
+
+## Hardware and offline use
+
+MuJoCo 3.15.0 runs on the CPU. No CUDA GPU, model weights, cloud inference service
+or physical robot connection is required. The optional arm dependencies and
+upstream model files require network access during provisioning.
+
+The browser needs JavaScript, WebGL2 and DecompressionStream. Serve the complete
+exported directory through a local HTTP server; file URLs cannot reliably load
+the data. All scripts, geometry, motion and notices are bundled locally. Browser
+graphics support is separate from GPU compute for native simulation.
+
+Minimum RAM and CPU targets have **not** been established across machines.
+The benchmark host's measured peak memory and timing are observations, not
+universal minimum specifications or a real-time guarantee.
+
+## Evidence and licenses
+
+Each catalog property carries units, evidence status and source. Shoe geometry,
+dimensions, mass and friction are authored assumptions. Left/right variants
+are procedural instances, not independently captured real objects. The flat
+plane, gravity and contact settings are simulation choices. No laces, fabric
+dynamics, compressible soles, liquid contents or fracture are modeled.
+
+DVIDIA code, catalog and original shoes are MIT licensed. Arm models retain
+their upstream licenses: UR5e BSD-3-Clause, Robotiq 2F-85 BSD-2-Clause, PiPER MIT
+and SO-101 Apache-2.0. Exports retain original model licenses and READMEs under
+licenses/. Three.js and OrbitControls are MIT; their notices accompany every
+viewer.
+
+The preview integrity manifest records every file's byte count and SHA256.
+Inspection checks the complete inventory, exact catalog and descriptors,
+bounded compressed geometry and motion, finite poses, mesh indices and original
+notices. Hashes establish consistency, not authenticity, accurate physics or
+real-world transfer.
+
+## Rebuild the viewer
+
+The checked-in browser bundle uses pinned dependencies:
+
+~~~sh
+npm ci --prefix viewer
+npm run build:assets --prefix viewer
+~~~
+
+Next steps are measured object families, calibrated contact and robot/task
+compatibility benchmarks. Appearance cannot establish friction, stiffness,
+safe squeeze force or graspability.

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asset-library/v01/benchmark/protocol.json

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+        },
+        {
+          "position_m": [
+            0.39971386,
+            0.54759708,
+            0.08089116
+          ],
+          "shoe_id": "slipper-right",
+          "yaw_rad": -0.06194345
+        }
+      ],
+      "repeat": 2,
+      "robot": "piper"
+    },
+    {
+      "control": "table_disabled",
+      "family": "slipper",
+      "id": "piper-slipper-02-table_disabled",
+      "placements": [
+        {
+          "position_m": [
+            0.40473021,
+            0.39342813,
+            0.06637683
+          ],
+          "shoe_id": "slipper-left",
+          "yaw_rad": -0.1863574
+        },
+        {
+          "position_m": [
+            0.39971386,
+            0.54759708,
+            0.08089116
+          ],
+          "shoe_id": "slipper-right",
+          "yaw_rad": -0.06194345
+        }
+      ],
+      "repeat": 2,
+      "robot": "piper"
+    },
+    {
+      "control": "table_support",
+      "family": "slipper",
+      "id": "so101-slipper-02-table_support",
+      "placements": [
+        {
+          "position_m": [
+            0.40473021,
+            0.39342813,
+            0.06637683
+          ],
+          "shoe_id": "slipper-left",
+          "yaw_rad": -0.1863574
+        },
+        {
+          "position_m": [
+            0.39971386,
+            0.54759708,
+            0.08089116
+          ],
+          "shoe_id": "slipper-right",
+          "yaw_rad": -0.06194345
+        }
+      ],
+      "repeat": 2,
+      "robot": "so101"
+    },
+    {
+      "control": "table_disabled",
+      "family": "slipper",
+      "id": "so101-slipper-02-table_disabled",
+      "placements": [
+        {
+          "position_m": [
+            0.40473021,
+            0.39342813,
+            0.06637683
+          ],
+          "shoe_id": "slipper-left",
+          "yaw_rad": -0.1863574
+        },
+        {
+          "position_m": [
+            0.39971386,
+            0.54759708,
+            0.08089116
+          ],
+          "shoe_id": "slipper-right",
+          "yaw_rad": -0.06194345
+        }
+      ],
+      "repeat": 2,
+      "robot": "so101"
+    }
+  ],
+  "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."
+}

asset-library/v01/benchmark/report.html

@@ -0,0 +1,31 @@
+<!doctype html><html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>DVIDIA · Shoe asset benchmark</title><style>body{font:18px/1.65 Georgia,serif;max-width:1000px;margin:auto;padding:24px;background:#fafaf7;color:#292d27}a{color:#396751}.scroll{overflow:auto}table{border-collapse:collapse;font:14px/1.5 system-ui}td,th{text-align:left;padding:10px;border-bottom:1px solid #ddd}pre{white-space:pre-wrap;overflow-wrap:anywhere;font-size:13px}</style><main><p>DVIDIA RESEARCH</p><h1>Shoe assets: load, drop, settle</h1><p>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.</p><p>54 planned attempts. Failures and invalid attempts remain in the denominator. Support success is expected with the table; zero support successes are expected with its collisions disabled.</p><p><a href="protocol.json">Frozen protocol and catalog</a> · <a href="attempts.json">Every native trajectory</a> · <a href="report.json">Report</a> · <a href="integrity.json">Integrity</a></p><div class="scroll"><table><thead><tr><th>Arm</th><th>Control</th><th>Attempts</th><th>Valid</th><th>Supported</th><th>Gravity</th><th>Other contact</th><th>Expected outcome</th></tr></thead><tbody><tr><td>ur5e</td><td>table_support</td><td>9</td><td>9</td><td>9</td><td>9</td><td>0</td><td>9</td></tr><tr><td>ur5e</td><td>table_disabled</td><td>9</td><td>9</td><td>0</td><td>9</td><td>0</td><td>9</td></tr><tr><td>piper</td><td>table_support</td><td>9</td><td>9</td><td>9</td><td>9</td><td>0</td><td>9</td></tr><tr><td>piper</td><td>table_disabled</td><td>9</td><td>9</td><td>0</td><td>9</td><td>0</td><td>9</td></tr><tr><td>so101</td><td>table_support</td><td>9</td><td>9</td><td>9</td><td>9</td><td>0</td><td>9</td></tr><tr><td>so101</td><td>table_disabled</td><td>9</td><td>9</td><td>0</td><td>9</td><td>0</td><td>9</td></tr></tbody></table></div><h2>Measurement scope</h2><p>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.</p><pre>{
+  &quot;attempt_wall&quot;: {
+    &quot;count&quot;: 54,
+    &quot;max_seconds&quot;: 6.704695750027895,
+    &quot;p50_seconds&quot;: 0.10058806301094592,
+    &quot;p95_seconds&quot;: 0.1465771359624341,
+    &quot;p99_seconds&quot;: 3.3758932149712857,
+    &quot;total_seconds&quot;: 12.352415461326018
+  },
+  &quot;compile&quot;: {
+    &quot;count&quot;: 54,
+    &quot;max_seconds&quot;: 0.4138097499962896,
+    &quot;p50_seconds&quot;: 0.06565612449776381,
+    &quot;p95_seconds&quot;: 0.0985709686996415,
+    &quot;p99_seconds&quot;: 0.37721267603570585,
+    &quot;total_seconds&quot;: 4.094927620142698
+  },
+  &quot;native_step&quot;: {
+    &quot;count&quot;: 27000,
+    &quot;max_seconds&quot;: 0.00011191610246896744,
+    &quot;p50_seconds&quot;: 8.500181138515472e-06,
+    &quot;p95_seconds&quot;: 1.5750061720609665e-05,
+    &quot;p99_seconds&quot;: 2.3417582269757922e-05,
+    &quot;total_seconds&quot;: 0.2501475957687944
+  },
+  &quot;process_peak_rss_bytes&quot;: 1111916544,
+  &quot;run_wall_seconds&quot;: 12.361563832964748,
+  &quot;scope&quot;: &quot;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.&quot;,
+  &quot;simulated_seconds&quot;: 54.0,
+  &quot;simulated_seconds_per_run_wall_second&quot;: 4.368379335306871
+}</pre><p>Sampled trajectories are privileged native state. The first library checks composition and passive support. A manipulation controller and measured shoe properties are separate evidence requirements.</p><footer><a href="https://research.dvidia.org/">DVIDIA research</a> · <a href="https://github.com/Dvidia-Inference/dvidia-training">GitHub</a> · <a href="https://x.com/iammrriver">@iammrriver</a> · <a href="mailto:hello@dvidia.org">hello@dvidia.org</a></footer></main></html>

asset-library/v01/benchmark/report.json

@@ -0,0 +1,111 @@
+{
+  "attempted": 54,
+  "attempts_sha256": "78a9ae2aa84bb484b6bddda21773663afa586e48321493fef2542218fc49f8eb",
+  "catalog_sha256": "49f8cf25ea1a90a0760940353cd21e08c8de8d90e42c325738ec4faad5a96e15",
+  "hardware": {
+    "cpu_model": "Apple M5",
+    "logical_cpu_count": 10,
+    "machine": "arm64",
+    "platform": "Darwin",
+    "python": "3.12.9",
+    "total_memory_bytes": 25769803776
+  },
+  "physical_robot_ready": false,
+  "protocol_sha256": "d5abad1ebf9eda71d1f47606ba0664b9e4bfe6970c54088bf43d5e818782268d",
+  "schema": "dvidia.asset-library-benchmark/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.",
+  "shoe_manipulation_qualified": false,
+  "summary": [
+    {
+      "attempted": 9,
+      "control": "table_support",
+      "expected_outcome": 9,
+      "gravity_success": 9,
+      "robot": "ur5e",
+      "support_success": 9,
+      "unexpected_contact_attempts": 0,
+      "valid": 9
+    },
+    {
+      "attempted": 9,
+      "control": "table_disabled",
+      "expected_outcome": 9,
+      "gravity_success": 9,
+      "robot": "ur5e",
+      "support_success": 0,
+      "unexpected_contact_attempts": 0,
+      "valid": 9
+    },
+    {
+      "attempted": 9,
+      "control": "table_support",
+      "expected_outcome": 9,
+      "gravity_success": 9,
+      "robot": "piper",
+      "support_success": 9,
+      "unexpected_contact_attempts": 0,
+      "valid": 9
+    },
+    {
+      "attempted": 9,
+      "control": "table_disabled",
+      "expected_outcome": 9,
+      "gravity_success": 9,
+      "robot": "piper",
+      "support_success": 0,
+      "unexpected_contact_attempts": 0,
+      "valid": 9
+    },
+    {
+      "attempted": 9,
+      "control": "table_support",
+      "expected_outcome": 9,
+      "gravity_success": 9,
+      "robot": "so101",
+      "support_success": 9,
+      "unexpected_contact_attempts": 0,
+      "valid": 9
+    },
+    {
+      "attempted": 9,
+      "control": "table_disabled",
+      "expected_outcome": 9,
+      "gravity_success": 9,
+      "robot": "so101",
+      "support_success": 0,
+      "unexpected_contact_attempts": 0,
+      "valid": 9
+    }
+  ],
+  "timing": {
+    "attempt_wall": {
+      "count": 54,
+      "max_seconds": 6.704695750027895,
+      "p50_seconds": 0.10058806301094592,
+      "p95_seconds": 0.1465771359624341,
+      "p99_seconds": 3.3758932149712857,
+      "total_seconds": 12.352415461326018
+    },
+    "compile": {
+      "count": 54,
+      "max_seconds": 0.4138097499962896,
+      "p50_seconds": 0.06565612449776381,
+      "p95_seconds": 0.0985709686996415,
+      "p99_seconds": 0.37721267603570585,
+      "total_seconds": 4.094927620142698
+    },
+    "native_step": {
+      "count": 27000,
+      "max_seconds": 0.00011191610246896744,
+      "p50_seconds": 8.500181138515472e-06,
+      "p95_seconds": 1.5750061720609665e-05,
+      "p99_seconds": 2.3417582269757922e-05,
+      "total_seconds": 0.2501475957687944
+    },
+    "process_peak_rss_bytes": 1111916544,
+    "run_wall_seconds": 12.361563832964748,
+    "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.",
+    "simulated_seconds": 54.0,
+    "simulated_seconds_per_run_wall_second": 4.368379335306871
+  }
+}

asset-library/v01/catalog.json

@@ -0,0 +1,1129 @@
+{
+  "schema": "dvidia.asset-catalog/v1",
+  "version": "0.1.0",
+  "license": "MIT",
+  "license_scope": "Original DVIDIA catalog and procedural shoes only; robot simulation assets retain their individual licenses.",
+  "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.",
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "time": "s",
+    "angle": "rad",
+    "quaternion": "wxyz"
+  },
+  "world_frame": "right-handed; robot base reference at world origin, +z up",
+  "robots": [
+    {
+      "id": "ur5e",
+      "name": "UR5e + Robotiq 2F-85",
+      "version": "0.1.0",
+      "immutable_id": "dvidia/robots/ur5e-2f85@0.1.0",
+      "arm_axes": 6,
+      "gripper_command_axes": 1,
+      "gripper_mechanical_joints": 8,
+      "native_command_units": [
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "native_0_255"
+      ],
+      "gripper_command": "Native coupled gripper servo input [0,255]; not a measured gap or calibrated force.",
+      "licenses": {
+        "universal_robots_ur5e": "BSD-3-Clause",
+        "robotiq_2f85": "BSD-2-Clause"
+      },
+      "source": {
+        "repository": "https://github.com/google-deepmind/mujoco_menagerie",
+        "commit": "0059d4335f8156206f63a35662313385f7ad6d74",
+        "verification": "Packaged SHA256 allowlist; assets are read from verified bytes, without network access.",
+        "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"
+        ],
+        "home_scope": "Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."
+      },
+      "home_joint_positions": {
+        "shoulder_pan_joint": -1.5708,
+        "shoulder_lift_joint": -1.5708,
+        "elbow_joint": 1.5708,
+        "wrist_1_joint": -1.5708,
+        "wrist_2_joint": -1.5708,
+        "wrist_3_joint": 0
+      },
+      "expected_dimensions": {
+        "nq": 14,
+        "nv": 14,
+        "nu": 7,
+        "neq": 3
+      },
+      "compatibility": {
+        "scene_loading": true,
+        "shoe_grasp_qualified": false,
+        "physical_robot_ready": false,
+        "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."
+      },
+      "openness_scope": "These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."
+    },
+    {
+      "id": "piper",
+      "name": "AgileX PiPER",
+      "version": "0.1.0",
+      "immutable_id": "dvidia/robots/piper@0.1.0",
+      "arm_axes": 6,
+      "gripper_command_axes": 1,
+      "gripper_mechanical_joints": 2,
+      "native_command_units": [
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "m"
+      ],
+      "gripper_command": "single-finger slide target in metres, native range [0,0.035]; not total jaw gap",
+      "licenses": {
+        "agilex_piper": "MIT"
+      },
+      "source": {
+        "repository": "https://github.com/google-deepmind/mujoco_menagerie",
+        "commit": "0059d4335f8156206f63a35662313385f7ad6d74",
+        "verification": "Packaged SHA256 allowlist; assets are read from verified bytes, without network access.",
+        "model_urls": [
+          "https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/agilex_piper"
+        ],
+        "home_scope": "Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."
+      },
+      "home_joint_positions": {
+        "joint1": 0,
+        "joint2": 1.57,
+        "joint3": -1.3485,
+        "joint4": 0,
+        "joint5": 0,
+        "joint6": 0,
+        "joint7": 0,
+        "joint8": 0
+      },
+      "expected_dimensions": {
+        "nq": 8,
+        "nv": 8,
+        "nu": 7,
+        "neq": 1
+      },
+      "compatibility": {
+        "scene_loading": true,
+        "shoe_grasp_qualified": false,
+        "physical_robot_ready": false,
+        "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."
+      },
+      "openness_scope": "These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."
+    },
+    {
+      "id": "so101",
+      "name": "The Robot Studio SO101",
+      "version": "0.1.0",
+      "immutable_id": "dvidia/robots/so101@0.1.0",
+      "arm_axes": 5,
+      "gripper_command_axes": 1,
+      "gripper_mechanical_joints": 1,
+      "native_command_units": [
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad"
+      ],
+      "gripper_command": "moving-jaw hinge angle target in radians; not linear jaw gap",
+      "licenses": {
+        "robotstudio_so101": "Apache-2.0"
+      },
+      "source": {
+        "repository": "https://github.com/google-deepmind/mujoco_menagerie",
+        "commit": "0059d4335f8156206f63a35662313385f7ad6d74",
+        "verification": "Packaged SHA256 allowlist; assets are read from verified bytes, without network access.",
+        "model_urls": [
+          "https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/robotstudio_so101"
+        ],
+        "home_scope": "Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."
+      },
+      "home_joint_positions": {
+        "shoulder_pan": 0,
+        "shoulder_lift": 0,
+        "elbow_flex": 0,
+        "wrist_flex": 0,
+        "wrist_roll": 0,
+        "gripper": 0
+      },
+      "expected_dimensions": {
+        "nq": 6,
+        "nv": 6,
+        "nu": 6,
+        "neq": 0
+      },
+      "compatibility": {
+        "scene_loading": true,
+        "shoe_grasp_qualified": false,
+        "physical_robot_ready": false,
+        "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."
+      },
+      "openness_scope": "These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."
+    }
+  ],
+  "shoes": [
+    {
+      "id": "trainer-left",
+      "name": "Trainer / left",
+      "version": "0.1.0",
+      "immutable_id": "dvidia/shoes/trainer-left@0.1.0",
+      "family": "trainer",
+      "pair_id": "dvidia/shoes/trainer-pair@0.1.0",
+      "side": "left",
+      "license": "MIT",
+      "source": {
+        "kind": "original_procedural",
+        "author": "DVIDIA",
+        "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights."
+      },
+      "properties": {
+        "dimensions_m": {
+          "value": [
+            0.28,
+            0.1,
+            0.087
+          ],
+          "units": "m; length x, width y, maximum height z",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_kg": {
+          "value": 0.3,
+          "units": "kg",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "sliding_friction": {
+          "value": 0.8,
+          "units": "dimensionless",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "torsional_friction": {
+          "value": 0.005,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "rolling_friction": {
+          "value": 0.0001,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_distribution": {
+          "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.",
+          "units": "model assumption",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "deformation": {
+          "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.",
+          "units": "model class",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "contact_solver": {
+          "value": {
+            "condim": 4,
+            "priority": 1,
+            "solref": [
+              0.02,
+              1
+            ],
+            "solimp": [
+              0.9,
+              0.95,
+              0.001,
+              0.5,
+              2
+            ]
+          },
+          "units": "MuJoCo solver parameters; no calibrated stiffness or damping",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        }
+      },
+      "frame": {
+        "origin": "sole bottom center",
+        "axes": "right-handed; +x toward toe, +y lateral, +z up",
+        "sole_bottom_z_m": 0,
+        "initial_bottom_z_m": 0.08
+      },
+      "geometry": [
+        {
+          "name": "sole",
+          "type": "box",
+          "size_m": [
+            0.14,
+            0.05,
+            0.01
+          ],
+          "position_m": [
+            0,
+            0,
+            0.01
+          ],
+          "mass_fraction": 0.35,
+          "rgba": [
+            0.16,
+            0.17,
+            0.18,
+            1
+          ]
+        },
+        {
+          "name": "upper",
+          "type": "ellipsoid",
+          "size_m": [
+            0.122,
+            0.047,
+            0.035
+          ],
+          "position_m": [
+            -0.005,
+            0.003,
+            0.052
+          ],
+          "mass_fraction": 0.55,
+          "rgba": [
+            0.2,
+            0.38,
+            0.58,
+            1
+          ]
+        },
+        {
+          "name": "toe",
+          "type": "ellipsoid",
+          "size_m": [
+            0.04,
+            0.047,
+            0.026
+          ],
+          "position_m": [
+            0.095,
+            0.003,
+            0.045
+          ],
+          "mass_fraction": 0.1,
+          "rgba": [
+            0.78,
+            0.82,
+            0.83,
+            1
+          ]
+        }
+      ],
+      "fidelity": {
+        "geometry": "authored coarse proxy",
+        "native_contact": "available for numerical testing",
+        "measured_contact": "untested",
+        "deformation": "unsupported",
+        "shoe_grasp_qualified": false,
+        "physical_robot_ready": false
+      }
+    },
+    {
+      "id": "trainer-right",
+      "name": "Trainer / right",
+      "version": "0.1.0",
+      "immutable_id": "dvidia/shoes/trainer-right@0.1.0",
+      "family": "trainer",
+      "pair_id": "dvidia/shoes/trainer-pair@0.1.0",
+      "side": "right",
+      "license": "MIT",
+      "source": {
+        "kind": "original_procedural",
+        "author": "DVIDIA",
+        "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights."
+      },
+      "properties": {
+        "dimensions_m": {
+          "value": [
+            0.28,
+            0.1,
+            0.087
+          ],
+          "units": "m; length x, width y, maximum height z",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_kg": {
+          "value": 0.3,
+          "units": "kg",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "sliding_friction": {
+          "value": 0.8,
+          "units": "dimensionless",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "torsional_friction": {
+          "value": 0.005,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "rolling_friction": {
+          "value": 0.0001,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_distribution": {
+          "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.",
+          "units": "model assumption",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "deformation": {
+          "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.",
+          "units": "model class",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "contact_solver": {
+          "value": {
+            "condim": 4,
+            "priority": 1,
+            "solref": [
+              0.02,
+              1
+            ],
+            "solimp": [
+              0.9,
+              0.95,
+              0.001,
+              0.5,
+              2
+            ]
+          },
+          "units": "MuJoCo solver parameters; no calibrated stiffness or damping",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        }
+      },
+      "frame": {
+        "origin": "sole bottom center",
+        "axes": "right-handed; +x toward toe, +y lateral, +z up",
+        "sole_bottom_z_m": 0,
+        "initial_bottom_z_m": 0.08
+      },
+      "geometry": [
+        {
+          "name": "sole",
+          "type": "box",
+          "size_m": [
+            0.14,
+            0.05,
+            0.01
+          ],
+          "position_m": [
+            0,
+            0,
+            0.01
+          ],
+          "mass_fraction": 0.35,
+          "rgba": [
+            0.16,
+            0.17,
+            0.18,
+            1
+          ]
+        },
+        {
+          "name": "upper",
+          "type": "ellipsoid",
+          "size_m": [
+            0.122,
+            0.047,
+            0.035
+          ],
+          "position_m": [
+            -0.005,
+            -0.003,
+            0.052
+          ],
+          "mass_fraction": 0.55,
+          "rgba": [
+            0.2,
+            0.38,
+            0.58,
+            1
+          ]
+        },
+        {
+          "name": "toe",
+          "type": "ellipsoid",
+          "size_m": [
+            0.04,
+            0.047,
+            0.026
+          ],
+          "position_m": [
+            0.095,
+            -0.003,
+            0.045
+          ],
+          "mass_fraction": 0.1,
+          "rgba": [
+            0.78,
+            0.82,
+            0.83,
+            1
+          ]
+        }
+      ],
+      "fidelity": {
+        "geometry": "authored coarse proxy",
+        "native_contact": "available for numerical testing",
+        "measured_contact": "untested",
+        "deformation": "unsupported",
+        "shoe_grasp_qualified": false,
+        "physical_robot_ready": false
+      }
+    },
+    {
+      "id": "ankle-boot-left",
+      "name": "Ankle Boot / left",
+      "version": "0.1.0",
+      "immutable_id": "dvidia/shoes/ankle-boot-left@0.1.0",
+      "family": "ankle-boot",
+      "pair_id": "dvidia/shoes/ankle-boot-pair@0.1.0",
+      "side": "left",
+      "license": "MIT",
+      "source": {
+        "kind": "original_procedural",
+        "author": "DVIDIA",
+        "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights."
+      },
+      "properties": {
+        "dimensions_m": {
+          "value": [
+            0.29,
+            0.108,
+            0.19
+          ],
+          "units": "m; length x, width y, maximum height z",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_kg": {
+          "value": 0.5,
+          "units": "kg",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "sliding_friction": {
+          "value": 0.9,
+          "units": "dimensionless",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "torsional_friction": {
+          "value": 0.005,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "rolling_friction": {
+          "value": 0.0001,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_distribution": {
+          "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.",
+          "units": "model assumption",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "deformation": {
+          "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.",
+          "units": "model class",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "contact_solver": {
+          "value": {
+            "condim": 4,
+            "priority": 1,
+            "solref": [
+              0.02,
+              1
+            ],
+            "solimp": [
+              0.9,
+              0.95,
+              0.001,
+              0.5,
+              2
+            ]
+          },
+          "units": "MuJoCo solver parameters; no calibrated stiffness or damping",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        }
+      },
+      "frame": {
+        "origin": "sole bottom center",
+        "axes": "right-handed; +x toward toe, +y lateral, +z up",
+        "sole_bottom_z_m": 0,
+        "initial_bottom_z_m": 0.08
+      },
+      "geometry": [
+        {
+          "name": "sole",
+          "type": "box",
+          "size_m": [
+            0.145,
+            0.054,
+            0.012
+          ],
+          "position_m": [
+            0,
+            0,
+            0.012
+          ],
+          "mass_fraction": 0.35,
+          "rgba": [
+            0.16,
+            0.17,
+            0.18,
+            1
+          ]
+        },
+        {
+          "name": "upper",
+          "type": "ellipsoid",
+          "size_m": [
+            0.13,
+            0.05,
+            0.04
+          ],
+          "position_m": [
+            0.01,
+            0.004,
+            0.064
+          ],
+          "mass_fraction": 0.3,
+          "rgba": [
+            0.37,
+            0.24,
+            0.16,
+            1
+          ]
+        },
+        {
+          "name": "ankle",
+          "type": "ellipsoid",
+          "size_m": [
+            0.047,
+            0.049,
+            0.055
+          ],
+          "position_m": [
+            -0.085,
+            0.004,
+            0.135
+          ],
+          "mass_fraction": 0.35,
+          "rgba": [
+            0.37,
+            0.24,
+            0.16,
+            1
+          ]
+        }
+      ],
+      "fidelity": {
+        "geometry": "authored coarse proxy",
+        "native_contact": "available for numerical testing",
+        "measured_contact": "untested",
+        "deformation": "unsupported",
+        "shoe_grasp_qualified": false,
+        "physical_robot_ready": false
+      }
+    },
+    {
+      "id": "ankle-boot-right",
+      "name": "Ankle Boot / right",
+      "version": "0.1.0",
+      "immutable_id": "dvidia/shoes/ankle-boot-right@0.1.0",
+      "family": "ankle-boot",
+      "pair_id": "dvidia/shoes/ankle-boot-pair@0.1.0",
+      "side": "right",
+      "license": "MIT",
+      "source": {
+        "kind": "original_procedural",
+        "author": "DVIDIA",
+        "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights."
+      },
+      "properties": {
+        "dimensions_m": {
+          "value": [
+            0.29,
+            0.108,
+            0.19
+          ],
+          "units": "m; length x, width y, maximum height z",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_kg": {
+          "value": 0.5,
+          "units": "kg",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "sliding_friction": {
+          "value": 0.9,
+          "units": "dimensionless",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "torsional_friction": {
+          "value": 0.005,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "rolling_friction": {
+          "value": 0.0001,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_distribution": {
+          "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.",
+          "units": "model assumption",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "deformation": {
+          "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.",
+          "units": "model class",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "contact_solver": {
+          "value": {
+            "condim": 4,
+            "priority": 1,
+            "solref": [
+              0.02,
+              1
+            ],
+            "solimp": [
+              0.9,
+              0.95,
+              0.001,
+              0.5,
+              2
+            ]
+          },
+          "units": "MuJoCo solver parameters; no calibrated stiffness or damping",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        }
+      },
+      "frame": {
+        "origin": "sole bottom center",
+        "axes": "right-handed; +x toward toe, +y lateral, +z up",
+        "sole_bottom_z_m": 0,
+        "initial_bottom_z_m": 0.08
+      },
+      "geometry": [
+        {
+          "name": "sole",
+          "type": "box",
+          "size_m": [
+            0.145,
+            0.054,
+            0.012
+          ],
+          "position_m": [
+            0,
+            0,
+            0.012
+          ],
+          "mass_fraction": 0.35,
+          "rgba": [
+            0.16,
+            0.17,
+            0.18,
+            1
+          ]
+        },
+        {
+          "name": "upper",
+          "type": "ellipsoid",
+          "size_m": [
+            0.13,
+            0.05,
+            0.04
+          ],
+          "position_m": [
+            0.01,
+            -0.004,
+            0.064
+          ],
+          "mass_fraction": 0.3,
+          "rgba": [
+            0.37,
+            0.24,
+            0.16,
+            1
+          ]
+        },
+        {
+          "name": "ankle",
+          "type": "ellipsoid",
+          "size_m": [
+            0.047,
+            0.049,
+            0.055
+          ],
+          "position_m": [
+            -0.085,
+            -0.004,
+            0.135
+          ],
+          "mass_fraction": 0.35,
+          "rgba": [
+            0.37,
+            0.24,
+            0.16,
+            1
+          ]
+        }
+      ],
+      "fidelity": {
+        "geometry": "authored coarse proxy",
+        "native_contact": "available for numerical testing",
+        "measured_contact": "untested",
+        "deformation": "unsupported",
+        "shoe_grasp_qualified": false,
+        "physical_robot_ready": false
+      }
+    },
+    {
+      "id": "slipper-left",
+      "name": "Slipper / left",
+      "version": "0.1.0",
+      "immutable_id": "dvidia/shoes/slipper-left@0.1.0",
+      "family": "slipper",
+      "pair_id": "dvidia/shoes/slipper-pair@0.1.0",
+      "side": "left",
+      "license": "MIT",
+      "source": {
+        "kind": "original_procedural",
+        "author": "DVIDIA",
+        "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights."
+      },
+      "properties": {
+        "dimensions_m": {
+          "value": [
+            0.27,
+            0.102,
+            0.055
+          ],
+          "units": "m; length x, width y, maximum height z",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_kg": {
+          "value": 0.15,
+          "units": "kg",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "sliding_friction": {
+          "value": 0.65,
+          "units": "dimensionless",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "torsional_friction": {
+          "value": 0.005,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "rolling_friction": {
+          "value": 0.0001,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_distribution": {
+          "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.",
+          "units": "model assumption",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "deformation": {
+          "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.",
+          "units": "model class",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "contact_solver": {
+          "value": {
+            "condim": 4,
+            "priority": 1,
+            "solref": [
+              0.02,
+              1
+            ],
+            "solimp": [
+              0.9,
+              0.95,
+              0.001,
+              0.5,
+              2
+            ]
+          },
+          "units": "MuJoCo solver parameters; no calibrated stiffness or damping",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        }
+      },
+      "frame": {
+        "origin": "sole bottom center",
+        "axes": "right-handed; +x toward toe, +y lateral, +z up",
+        "sole_bottom_z_m": 0,
+        "initial_bottom_z_m": 0.08
+      },
+      "geometry": [
+        {
+          "name": "sole",
+          "type": "box",
+          "size_m": [
+            0.135,
+            0.051,
+            0.009
+          ],
+          "position_m": [
+            0,
+            0,
+            0.009
+          ],
+          "mass_fraction": 0.35,
+          "rgba": [
+            0.16,
+            0.17,
+            0.18,
+            1
+          ]
+        },
+        {
+          "name": "upper",
+          "type": "ellipsoid",
+          "size_m": [
+            0.09,
+            0.049,
+            0.017
+          ],
+          "position_m": [
+            0.045,
+            0.002,
+            0.038
+          ],
+          "mass_fraction": 0.65,
+          "rgba": [
+            0.52,
+            0.31,
+            0.37,
+            1
+          ]
+        }
+      ],
+      "fidelity": {
+        "geometry": "authored coarse proxy",
+        "native_contact": "available for numerical testing",
+        "measured_contact": "untested",
+        "deformation": "unsupported",
+        "shoe_grasp_qualified": false,
+        "physical_robot_ready": false
+      }
+    },
+    {
+      "id": "slipper-right",
+      "name": "Slipper / right",
+      "version": "0.1.0",
+      "immutable_id": "dvidia/shoes/slipper-right@0.1.0",
+      "family": "slipper",
+      "pair_id": "dvidia/shoes/slipper-pair@0.1.0",
+      "side": "right",
+      "license": "MIT",
+      "source": {
+        "kind": "original_procedural",
+        "author": "DVIDIA",
+        "scope": "New primitive geometry; no redistributed scans, videos, photographs or model weights."
+      },
+      "properties": {
+        "dimensions_m": {
+          "value": [
+            0.27,
+            0.102,
+            0.055
+          ],
+          "units": "m; length x, width y, maximum height z",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_kg": {
+          "value": 0.15,
+          "units": "kg",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "sliding_friction": {
+          "value": 0.65,
+          "units": "dimensionless",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "torsional_friction": {
+          "value": 0.005,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "rolling_friction": {
+          "value": 0.0001,
+          "units": "m",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "mass_distribution": {
+          "value": "Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.",
+          "units": "model assumption",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "deformation": {
+          "value": "Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.",
+          "units": "model class",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        },
+        "contact_solver": {
+          "value": {
+            "condim": 4,
+            "priority": 1,
+            "solref": [
+              0.02,
+              1
+            ],
+            "solimp": [
+              0.9,
+              0.95,
+              0.001,
+              0.5,
+              2
+            ]
+          },
+          "units": "MuJoCo solver parameters; no calibrated stiffness or damping",
+          "evidence": "untested",
+          "source": "Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."
+        }
+      },
+      "frame": {
+        "origin": "sole bottom center",
+        "axes": "right-handed; +x toward toe, +y lateral, +z up",
+        "sole_bottom_z_m": 0,
+        "initial_bottom_z_m": 0.08
+      },
+      "geometry": [
+        {
+          "name": "sole",
+          "type": "box",
+          "size_m": [
+            0.135,
+            0.051,
+            0.009
+          ],
+          "position_m": [
+            0,
+            0,
+            0.009
+          ],
+          "mass_fraction": 0.35,
+          "rgba": [
+            0.16,
+            0.17,
+            0.18,
+            1
+          ]
+        },
+        {
+          "name": "upper",
+          "type": "ellipsoid",
+          "size_m": [
+            0.09,
+            0.049,
+            0.017
+          ],
+          "position_m": [
+            0.045,
+            -0.002,
+            0.038
+          ],
+          "mass_fraction": 0.65,
+          "rgba": [
+            0.52,
+            0.31,
+            0.37,
+            1
+          ]
+        }
+      ],
+      "fidelity": {
+        "geometry": "authored coarse proxy",
+        "native_contact": "available for numerical testing",
+        "measured_contact": "untested",
+        "deformation": "unsupported",
+        "shoe_grasp_qualified": false,
+        "physical_robot_ready": false
+      }
+    }
+  ],
+  "environment": {
+    "id": "open-support-plane",
+    "version": "0.1.0",
+    "license": "MIT",
+    "geometry": "Infinite collision plane at z=0; displayed with 2 m half extents. Not a finite tabletop or rack.",
+    "name": "asset_table",
+    "gravity_m_s2": [
+      0,
+      0,
+      -9.81
+    ],
+    "property_evidence": "untested authored 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."
+  },
+  "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."
+  ],
+  "catalog_sha256": "592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7"
+}

asset-library/v01/index.html

@@ -0,0 +1,16 @@
+<!doctype html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>DVIDIA · Shoe asset library</title><style>
+:root{font-family:Georgia,serif;color:#262e29;background:#fafaf7}*{box-sizing:border-box}body{margin:0;background-image:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='160' height='160'%3E%3Cfilter id='n'%3E%3CfeTurbulence type='fractalNoise' baseFrequency='.8' numOctaves='3'/%3E%3C/filter%3E%3Crect width='100%25' height='100%25' opacity='.025' filter='url(%23n)'/%3E%3C/svg%3E")}main{max-width:1120px;padding:32px 22px;margin:auto}header,footer,nav{display:flex;gap:20px;flex-wrap:wrap;align-items:center;font:13px system-ui}header{border-bottom:1px solid #d7ddd4;padding-bottom:20px}a{color:#37604b;min-height:44px;display:inline-flex;align-items:center;overflow-wrap:anywhere}h1{font-size:clamp(34px,6vw,62px);font-weight:400;line-height:1.12;max-width:18ch}h2{font-weight:400}p{font-size:17px;line-height:1.7;max-width:78ch}.tag,article span{font:12px system-ui;letter-spacing:.06em;color:#566854}.cards{display:grid;grid-template-columns:repeat(auto-fit,minmax(min(100%,270px),1fr));gap:16px;margin:30px 0}article{border:1px solid #d7ddd4;background:#fff8;padding:22px}article p{font-size:15px}pre{white-space:pre-wrap;overflow-wrap:anywhere;background:#edf0e9;padding:18px;line-height:1.6;font-size:13px}.note{border-left:3px solid #789180;padding-left:18px}footer{border-top:1px solid #d7ddd4;margin-top:36px;padding-top:18px}
+</style></head><body><main><header><strong>DVIDIA / ASSET LIBRARY</strong><a href="https://research.dvidia.org/papers/shoe-asset-library-v01/">Research note</a><a href="https://github.com/Dvidia-Inference/dvidia-training/tree/45bef6315c9632b33915e1ce993babd2926b8f7d">Pinned source</a></header>
+<p class="tag">VERSION 0.1 · LOCAL CPU SIMULATION</p><h1>Load a robot. Add a pair of shoes.</h1><p>Six original rigid shoe proxies across trainers, ankle boots and slippers, with left/right identities, three supported robot models and reusable scene files. Inspect the native 3D geometry, choose a pair, then download the scene and run it locally.</p>
+<div class="cards"><article><span>Native scene preview</span><h2>UR5e + Robotiq</h2><p>6 arm axes + gripper. BSD model assets.</p><a href="previews/ur5e/index.html">Explore shoes with UR5e + Robotiq →</a></article><article><span>Native scene preview</span><h2>PiPER</h2><p>6 arm axes + gripper. MIT model assets.</p><a href="previews/piper/index.html">Explore shoes with PiPER →</a></article><article><span>Native scene preview</span><h2>SO-101</h2><p>5 arm axes + gripper. Apache-2.0 model assets.</p><a href="previews/so101/index.html">Explore shoes with SO-101 →</a></article></div><p class="note">These are synthetic geometry and contact-development assets. Dimensions, mass and friction are declared assumptions. Deformation, shoe grasping and hardware transfer have not been validated. The browser replays recorded settling; native physics runs locally.</p>
+<h2>Run your own scene</h2><pre>git clone https://github.com/Dvidia-Inference/dvidia-training.git
+cd dvidia-training
+git checkout 45bef6315c9632b33915e1ce993babd2926b8f7d
+python3.12 -m venv .venv
+.venv/bin/python -m pip install '.[arm]'
+.venv/bin/dvidia-assets fetch piper --output runs/assets
+.venv/bin/dvidia-assets scene --robot piper --assets runs/assets --pair trainer --output runs/my-shoe-scene
+.venv/bin/python -m http.server 8360 --bind 127.0.0.1 --directory runs/my-shoe-scene</pre>
+<p>Open localhost:8360 after the command finishes. On Windows use <code>.venv\Scripts\</code> executables. Provisioning needs a network connection; scene simulation uses the pinned local models. A discrete GPU is not required. Minimum memory and hard real-time performance remain unmeasured.</p>
+<nav><a href="benchmark/report.html">Inspect every benchmark attempt →</a><a href="catalog.json">Download the asset catalog</a><a href="README.md">Installation and evidence guide</a><a href="library-integrity.json">Verify all file hashes</a></nav>
+<footer><span>Original shoe assets and tooling: MIT. Robot models retain their own licenses.</span><a href="https://x.com/iammrriver">@iammrriver</a><a href="mailto:hello@dvidia.org">hello@dvidia.org</a></footer></main></body></html>

asset-library/v01/library-integrity.json

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asset-library/v01/previews/piper/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 DVIDIA contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

asset-library/v01/previews/piper/README.md

@@ -0,0 +1,5 @@
+# DVIDIA asset library preview
+
+Recorded native MuJoCo scene settling with held arm commands. The browser displays saved poses and does not run physics. Shoes are authored rigid proxies with untested physical properties. No learned shoe skill, calibrated deformation, hardware or real-time qualification.
+
+Serve this directory with `python -m http.server 8000` and open http://localhost:8000. Everything is local; JavaScript, WebGL2 and DecompressionStream are required. The pair selector filters recorded objects visually; use a downloaded scene descriptor with dvidia-assets scene --config to compile and simulate only that pair. geometry.bin.gz and motion.bin.gz decode to bounded little-endian Float32 positions and wxyz quaternions. MIT applies to DVIDIA code and synthetic shoes. Robot model licenses and original READMEs remain under licenses/. Three.js/OrbitControls notices are included.

asset-library/v01/previews/piper/catalog.json

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+{"schema":"dvidia.asset-catalog/v1","version":"0.1.0","license":"MIT","license_scope":"Original DVIDIA catalog and procedural shoes only; robot simulation assets retain their individual licenses.","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.","units":{"length":"m","mass":"kg","time":"s","angle":"rad","quaternion":"wxyz"},"world_frame":"right-handed; robot base reference at world origin, +z up","robots":[{"id":"ur5e","name":"UR5e + Robotiq 2F-85","version":"0.1.0","immutable_id":"dvidia/robots/ur5e-2f85@0.1.0","arm_axes":6,"gripper_command_axes":1,"gripper_mechanical_joints":8,"native_command_units":["rad","rad","rad","rad","rad","rad","native_0_255"],"gripper_command":"Native coupled gripper servo input [0,255]; not a measured gap or calibrated force.","licenses":{"universal_robots_ur5e":"BSD-3-Clause","robotiq_2f85":"BSD-2-Clause"},"source":{"repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","verification":"Packaged SHA256 allowlist; assets are read from verified bytes, without network access.","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"],"home_scope":"Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."},"home_joint_positions":{"shoulder_pan_joint":-1.5708,"shoulder_lift_joint":-1.5708,"elbow_joint":1.5708,"wrist_1_joint":-1.5708,"wrist_2_joint":-1.5708,"wrist_3_joint":0},"expected_dimensions":{"nq":14,"nv":14,"nu":7,"neq":3},"compatibility":{"scene_loading":true,"shoe_grasp_qualified":false,"physical_robot_ready":false,"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."},"openness_scope":"These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."},{"id":"piper","name":"AgileX PiPER","version":"0.1.0","immutable_id":"dvidia/robots/piper@0.1.0","arm_axes":6,"gripper_command_axes":1,"gripper_mechanical_joints":2,"native_command_units":["rad","rad","rad","rad","rad","rad","m"],"gripper_command":"single-finger slide target in metres, native range [0,0.035]; not total jaw gap","licenses":{"agilex_piper":"MIT"},"source":{"repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","verification":"Packaged SHA256 allowlist; assets are read from verified bytes, without network access.","model_urls":["https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/agilex_piper"],"home_scope":"Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."},"home_joint_positions":{"joint1":0,"joint2":1.57,"joint3":-1.3485,"joint4":0,"joint5":0,"joint6":0,"joint7":0,"joint8":0},"expected_dimensions":{"nq":8,"nv":8,"nu":7,"neq":1},"compatibility":{"scene_loading":true,"shoe_grasp_qualified":false,"physical_robot_ready":false,"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."},"openness_scope":"These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."},{"id":"so101","name":"The Robot Studio SO101","version":"0.1.0","immutable_id":"dvidia/robots/so101@0.1.0","arm_axes":5,"gripper_command_axes":1,"gripper_mechanical_joints":1,"native_command_units":["rad","rad","rad","rad","rad","rad"],"gripper_command":"moving-jaw hinge angle target in radians; not linear jaw gap","licenses":{"robotstudio_so101":"Apache-2.0"},"source":{"repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","verification":"Packaged SHA256 allowlist; assets are read from verified bytes, without network access.","model_urls":["https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/robotstudio_so101"],"home_scope":"Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."},"home_joint_positions":{"shoulder_pan":0,"shoulder_lift":0,"elbow_flex":0,"wrist_flex":0,"wrist_roll":0,"gripper":0},"expected_dimensions":{"nq":6,"nv":6,"nu":6,"neq":0},"compatibility":{"scene_loading":true,"shoe_grasp_qualified":false,"physical_robot_ready":false,"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."},"openness_scope":"These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."}],"shoes":[{"id":"trainer-left","name":"Trainer / left","version":"0.1.0","immutable_id":"dvidia/shoes/trainer-left@0.1.0","family":"trainer","pair_id":"dvidia/shoes/trainer-pair@0.1.0","side":"left","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.28,0.1,0.087],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.3,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.8,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; 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+<html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>DVIDIA · Asset library</title><style>
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+[hidden]{display:none!important}</style></head><body><main><header><span class="brand">DVIDIA RESEARCH</span><a href="https://research.dvidia.org/">Research footprints ↗</a></header><h1>A scene you can take with you.</h1><p class="subtitle" id="subtitle">Loading a reusable arm and shoe scene from the local asset library.</p><div class="layout"><section class="viewer" aria-label="Interactive native 3D asset preview"><div class="toolbar"><label>Shoe collection<select id="pair" disabled><option value="all">All three pairs</option><option value="trainer">Trainer</option><option value="ankle-boot">Ankle boot</option><option value="slipper">Slipper</option></select></label><div class="camera"><button data-camera="home" disabled>Orbit view</button><button data-camera="top" disabled>Top</button><button data-camera="front" disabled>Front</button></div></div><div class="stage" id="stage"><canvas id="canvas" tabindex="0" aria-label="3D robot and shoes. Drag to orbit, scroll to zoom; arrow keys orbit, plus and minus zoom, H resets camera."></canvas><div class="overlay"><span>Recorded native 3D scene</span><span id="mode-label">Visual geometry</span></div><div class="hint">Drag to orbit · Scroll or pinch to zoom · Arrow keys orbit · + / − zoom · H home</div><div id="loading" class="loading" role="status">Opening local geometry and recorded body poses…</div></div><div class="playback"><button id="play" aria-pressed="false" disabled>Play settling</button><input id="timeline" type="range" min="0" max="100" step="1" value="100" disabled aria-label="Recorded settling timeline"><span id="clock">2.00 / 2.00 s</span><button id="collision" disabled aria-pressed="false">Collision shapes</button></div><div id="status" class="status">Browser physics: none. Native body poses were recorded locally.</div></section><aside class="sidebar"><section><span class="badge">Synthetic rigid shoe proxies</span><h2 id="robot-name">Native arm geometry</h2><dl class="facts"><div><dt>Arm / gripper</dt><dd id="axes">—</dd></div><div><dt>Selected shoe family</dt><dd id="family">—</dd></div><div><dt>Nominal dimensions · meters</dt><dd id="dimensions">—</dd></div><div><dt>Nominal mass · kg per shoe</dt><dd id="mass">—</dd></div><div><dt>Physical evidence</dt><dd>Untested assumptions</dd></div><div><dt>Recorded contact pairs · whole scene</dt><dd id="contacts">—</dd></div></dl><p class="note">Pair selection hides other shoes in this recording. It does not recompute physics. Download the selected descriptor to rerun that pair locally.</p></section><section><h2>Load it locally.</h2><pre class="command" id="command">dvidia-assets scene …</pre><button id="copy" disabled>Copy command</button><div class="downloads"><a id="descriptor" href="scene.json" download>Download scene descriptor ↓</a><a href="catalog.json" download>Asset catalog and property evidence ↓</a><a href="preview-integrity.json" download>Preview integrity manifest ↓</a><a href="reference_replay.third-party.txt">Viewer license notices ↗</a><a href="README.md">Offline instructions and scope ↗</a></div><p class="note">The CLI uses CPU MuJoCo. Download the pinned robot models once; scene loading then runs offline. Keep the assets and Python environment on your machine.</p></section></aside></div><section class="details"><div><h2>Geometry you can inspect. Assumptions you can see.</h2><p>The arm uses its pinned upstream meshes and joint mechanism. Each shoe combines original boxes and ellipsoids for a lightweight collision model. The left and right instances have persistent identities.</p><p>Shoe mass, friction, size and shape are authored assumptions. These rigid proxies do not reproduce real shoe deformation, laces, fabric, insole compression or calibrated grasp forces.</p></div><div><h2>What this preview measures.</h2><p>A two-second native settling run under gravity, with arm commands held at initialization. Use the timeline to inspect initial and settled states, and collision mode to see the surfaces used by the engine.</p><p>It does not demonstrate a learned shoe-organizing policy, grasp success, physical transfer or a real-time guarantee. The browser replays Float32 body poses; the simulation used native precision.</p></div></section><nav class="robot-links" id="robot-links" aria-label="Other published robot previews" hidden><a href="../ur5e/">UR5e + Robotiq</a><a href="../piper/">PiPER</a><a href="../so101/">SO-101</a><a href="../../">Asset library overview ↗</a></nav><footer><span>Open-source DVIDIA tools</span><a href="https://github.com/Dvidia-Inference/dvidia-training">GitHub</a><a href="https://x.com/iammrriver">@iammrriver</a><a href="mailto:hello@dvidia.org">hello@dvidia.org</a></footer><noscript><p>This viewer needs JavaScript and WebGL2. The <a href="catalog.json">asset catalog</a> and <a href="scene.json">scene descriptor</a> remain available.</p></noscript></main><script src="asset_library.bundle.js" defer></script></body></html>

asset-library/v01/previews/piper/licenses/agilex_piper/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 RosenYin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

asset-library/v01/previews/piper/licenses/agilex_piper/README.md

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+## AgileX PiPER Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.4 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+### Overview
+
+This package contains a simplified robot description (MJCF) of the [AgileX PiPER](https://global.agilex.ai/products/piper). It is derived from the publicly available [model](https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha/src/piper_description/urdf).
+
+<p float="left">
+  <img src="piper.png" width="400">
+</p>
+
+### Derivation steps
+
+1.  Added `<mujoco> <compiler balanceinertia="true" discardvisual="false"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Converted the the .objs to .xmls using [obj2mjcf](https://github.com/kevinzakka/obj2mjcf) and replaced the original stls with them (since each obj in mujoco can have 1 color).
+4. Merged similar materials between the .objs
+5. Created a `<default>` section to define common properties for joints, actuators, and geoms.
+6. Added an equality constraint so that the right finger mimics the position of the left finger.
+7. Manually designed box collision geoms for the gripper.
+8. Added `exclude` clause to prevent collisions between `base_link` and `link1`.
+9. Added position controlled actuators.
+10. Added `impratio=10` and `cone=elliptic` for better noslip.
+11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under an [MIT License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Omar Rayyan](https://orayyan.com/).

asset-library/v01/previews/piper/model.json

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asset-library/v01/previews/piper/preview-integrity.json

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asset-library/v01/previews/piper/reference_replay.third-party.txt

@@ -0,0 +1,26 @@
+DVIDIA self-hosted reference replay
+
+Three.js 0.180.0 and OrbitControls
+https://github.com/mrdoob/three.js/tree/r180
+
+The MIT License
+
+Copyright © 2010-2025 three.js authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

asset-library/v01/previews/piper/scene.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-scene/v1","catalog_version":"0.1.0","catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7","robot":"piper","shoe_ids":["trainer-left","trainer-right","ankle-boot-left","ankle-boot-right","slipper-left","slipper-right"],"timestep":0.002}

asset-library/v01/previews/piper/scenes/ankle-boot.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-scene/v1","catalog_version":"0.1.0","catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7","robot":"piper","shoe_ids":["ankle-boot-left","ankle-boot-right"],"timestep":0.002}

asset-library/v01/previews/piper/scenes/slipper.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-scene/v1","catalog_version":"0.1.0","catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7","robot":"piper","shoe_ids":["slipper-left","slipper-right"],"timestep":0.002}

asset-library/v01/previews/piper/scenes/trainer.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-scene/v1","catalog_version":"0.1.0","catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7","robot":"piper","shoe_ids":["trainer-left","trainer-right"],"timestep":0.002}

asset-library/v01/previews/so101/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 DVIDIA contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

asset-library/v01/previews/so101/README.md

@@ -0,0 +1,5 @@
+# DVIDIA asset library preview
+
+Recorded native MuJoCo scene settling with held arm commands. The browser displays saved poses and does not run physics. Shoes are authored rigid proxies with untested physical properties. No learned shoe skill, calibrated deformation, hardware or real-time qualification.
+
+Serve this directory with `python -m http.server 8000` and open http://localhost:8000. Everything is local; JavaScript, WebGL2 and DecompressionStream are required. The pair selector filters recorded objects visually; use a downloaded scene descriptor with dvidia-assets scene --config to compile and simulate only that pair. geometry.bin.gz and motion.bin.gz decode to bounded little-endian Float32 positions and wxyz quaternions. MIT applies to DVIDIA code and synthetic shoes. Robot model licenses and original READMEs remain under licenses/. Three.js/OrbitControls notices are included.

asset-library/v01/previews/so101/catalog.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-catalog/v1","version":"0.1.0","license":"MIT","license_scope":"Original DVIDIA catalog and procedural shoes only; robot simulation assets retain their individual licenses.","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.","units":{"length":"m","mass":"kg","time":"s","angle":"rad","quaternion":"wxyz"},"world_frame":"right-handed; robot base reference at world origin, +z up","robots":[{"id":"ur5e","name":"UR5e + Robotiq 2F-85","version":"0.1.0","immutable_id":"dvidia/robots/ur5e-2f85@0.1.0","arm_axes":6,"gripper_command_axes":1,"gripper_mechanical_joints":8,"native_command_units":["rad","rad","rad","rad","rad","rad","native_0_255"],"gripper_command":"Native coupled gripper servo input [0,255]; not a measured gap or calibrated force.","licenses":{"universal_robots_ur5e":"BSD-3-Clause","robotiq_2f85":"BSD-2-Clause"},"source":{"repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","verification":"Packaged SHA256 allowlist; assets are read from verified bytes, without network access.","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"],"home_scope":"Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."},"home_joint_positions":{"shoulder_pan_joint":-1.5708,"shoulder_lift_joint":-1.5708,"elbow_joint":1.5708,"wrist_1_joint":-1.5708,"wrist_2_joint":-1.5708,"wrist_3_joint":0},"expected_dimensions":{"nq":14,"nv":14,"nu":7,"neq":3},"compatibility":{"scene_loading":true,"shoe_grasp_qualified":false,"physical_robot_ready":false,"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."},"openness_scope":"These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."},{"id":"piper","name":"AgileX PiPER","version":"0.1.0","immutable_id":"dvidia/robots/piper@0.1.0","arm_axes":6,"gripper_command_axes":1,"gripper_mechanical_joints":2,"native_command_units":["rad","rad","rad","rad","rad","rad","m"],"gripper_command":"single-finger slide target in metres, native range [0,0.035]; not total jaw gap","licenses":{"agilex_piper":"MIT"},"source":{"repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","verification":"Packaged SHA256 allowlist; assets are read from verified bytes, without network access.","model_urls":["https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/agilex_piper"],"home_scope":"Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."},"home_joint_positions":{"joint1":0,"joint2":1.57,"joint3":-1.3485,"joint4":0,"joint5":0,"joint6":0,"joint7":0,"joint8":0},"expected_dimensions":{"nq":8,"nv":8,"nu":7,"neq":1},"compatibility":{"scene_loading":true,"shoe_grasp_qualified":false,"physical_robot_ready":false,"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."},"openness_scope":"These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."},{"id":"so101","name":"The Robot Studio SO101","version":"0.1.0","immutable_id":"dvidia/robots/so101@0.1.0","arm_axes":5,"gripper_command_axes":1,"gripper_mechanical_joints":1,"native_command_units":["rad","rad","rad","rad","rad","rad"],"gripper_command":"moving-jaw hinge angle target in radians; not linear jaw gap","licenses":{"robotstudio_so101":"Apache-2.0"},"source":{"repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","verification":"Packaged SHA256 allowlist; assets are read from verified bytes, without network access.","model_urls":["https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/robotstudio_so101"],"home_scope":"Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."},"home_joint_positions":{"shoulder_pan":0,"shoulder_lift":0,"elbow_flex":0,"wrist_flex":0,"wrist_roll":0,"gripper":0},"expected_dimensions":{"nq":6,"nv":6,"nu":6,"neq":0},"compatibility":{"scene_loading":true,"shoe_grasp_qualified":false,"physical_robot_ready":false,"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."},"openness_scope":"These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."}],"shoes":[{"id":"trainer-left","name":"Trainer / left","version":"0.1.0","immutable_id":"dvidia/shoes/trainer-left@0.1.0","family":"trainer","pair_id":"dvidia/shoes/trainer-pair@0.1.0","side":"left","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.28,0.1,0.087],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.3,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.8,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.14,0.05,0.01],"position_m":[0,0,0.01],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.122,0.047,0.035],"position_m":[-0.005,0.003,0.052],"mass_fraction":0.55,"rgba":[0.2,0.38,0.58,1]},{"name":"toe","type":"ellipsoid","size_m":[0.04,0.047,0.026],"position_m":[0.095,0.003,0.045],"mass_fraction":0.1,"rgba":[0.78,0.82,0.83,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"trainer-right","name":"Trainer / right","version":"0.1.0","immutable_id":"dvidia/shoes/trainer-right@0.1.0","family":"trainer","pair_id":"dvidia/shoes/trainer-pair@0.1.0","side":"right","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.28,0.1,0.087],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.3,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.8,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.14,0.05,0.01],"position_m":[0,0,0.01],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.122,0.047,0.035],"position_m":[-0.005,-0.003,0.052],"mass_fraction":0.55,"rgba":[0.2,0.38,0.58,1]},{"name":"toe","type":"ellipsoid","size_m":[0.04,0.047,0.026],"position_m":[0.095,-0.003,0.045],"mass_fraction":0.1,"rgba":[0.78,0.82,0.83,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"ankle-boot-left","name":"Ankle Boot / left","version":"0.1.0","immutable_id":"dvidia/shoes/ankle-boot-left@0.1.0","family":"ankle-boot","pair_id":"dvidia/shoes/ankle-boot-pair@0.1.0","side":"left","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.29,0.108,0.19],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.5,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.9,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.145,0.054,0.012],"position_m":[0,0,0.012],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.13,0.05,0.04],"position_m":[0.01,0.004,0.064],"mass_fraction":0.3,"rgba":[0.37,0.24,0.16,1]},{"name":"ankle","type":"ellipsoid","size_m":[0.047,0.049,0.055],"position_m":[-0.085,0.004,0.135],"mass_fraction":0.35,"rgba":[0.37,0.24,0.16,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"ankle-boot-right","name":"Ankle Boot / right","version":"0.1.0","immutable_id":"dvidia/shoes/ankle-boot-right@0.1.0","family":"ankle-boot","pair_id":"dvidia/shoes/ankle-boot-pair@0.1.0","side":"right","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.29,0.108,0.19],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.5,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.9,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.145,0.054,0.012],"position_m":[0,0,0.012],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.13,0.05,0.04],"position_m":[0.01,-0.004,0.064],"mass_fraction":0.3,"rgba":[0.37,0.24,0.16,1]},{"name":"ankle","type":"ellipsoid","size_m":[0.047,0.049,0.055],"position_m":[-0.085,-0.004,0.135],"mass_fraction":0.35,"rgba":[0.37,0.24,0.16,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"slipper-left","name":"Slipper / left","version":"0.1.0","immutable_id":"dvidia/shoes/slipper-left@0.1.0","family":"slipper","pair_id":"dvidia/shoes/slipper-pair@0.1.0","side":"left","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.27,0.102,0.055],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.15,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.65,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.135,0.051,0.009],"position_m":[0,0,0.009],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.09,0.049,0.017],"position_m":[0.045,0.002,0.038],"mass_fraction":0.65,"rgba":[0.52,0.31,0.37,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"slipper-right","name":"Slipper / right","version":"0.1.0","immutable_id":"dvidia/shoes/slipper-right@0.1.0","family":"slipper","pair_id":"dvidia/shoes/slipper-pair@0.1.0","side":"right","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.27,0.102,0.055],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.15,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.65,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.135,0.051,0.009],"position_m":[0,0,0.009],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.09,0.049,0.017],"position_m":[0.045,-0.002,0.038],"mass_fraction":0.65,"rgba":[0.52,0.31,0.37,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}}],"environment":{"id":"open-support-plane","version":"0.1.0","license":"MIT","geometry":"Infinite collision plane at z=0; displayed with 2 m half extents. Not a finite tabletop or rack.","name":"asset_table","gravity_m_s2":[0,0,-9.81],"property_evidence":"untested authored 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."},"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."],"catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7"}

asset-library/v01/previews/so101/geometry.bin.gz

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+size 3182925

asset-library/v01/previews/so101/index.html

@@ -0,0 +1,4 @@
+<!doctype html>
+<html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>DVIDIA · Asset library</title><style>
+:root{font-family:Georgia,serif;color:#2b312d;background:#fafaf7;font-synthesis:none;--green:#386450;--line:#d9ded3}*{box-sizing:border-box}body{margin:0;background-image:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='180' height='180'%3E%3Cfilter id='n'%3E%3CfeTurbulence type='fractalNoise' baseFrequency='.7' numOctaves='3' stitchTiles='stitch'/%3E%3C/filter%3E%3Crect width='100%25' height='100%25' opacity='.025' filter='url(%23n)'/%3E%3C/svg%3E")}main{max-width:1480px;margin:auto;padding:28px 32px}header{display:flex;justify-content:space-between;align-items:center;gap:16px;flex-wrap:wrap}.brand{font:700 13px system-ui;letter-spacing:.18em}a{color:var(--green);overflow-wrap:anywhere}h1{font-size:clamp(30px,4vw,46px);font-weight:400;margin:24px 0 10px}h2{font-size:23px;font-weight:400;margin:0 0 12px}p{line-height:1.6}.subtitle{color:#66705e;margin:0;max-width:90ch}.layout{display:grid;grid-template-columns:minmax(0,1fr) 290px;gap:26px;margin-top:25px}.viewer{min-width:0;border:1px solid var(--line);background:#f6f7f1}.toolbar{display:flex;flex-wrap:wrap;gap:10px;padding:13px;border-bottom:1px solid var(--line);align-items:end}.camera{display:flex;gap:6px;flex-wrap:wrap;margin-left:auto}button,select{min-height:44px;border:1px solid #c9d1c1;background:#fff;color:#334432;font:13px system-ui;padding:9px 13px;border-radius:3px;max-width:100%}button{cursor:pointer}button:hover{background:#edf2e7}button[aria-pressed=true]{background:#e1eddf;border-color:#76916e}button:disabled,select:disabled,input:disabled{opacity:.5}label{display:grid;gap:5px;font:12px system-ui;color:#5d6855}button:focus-visible,select:focus-visible,a:focus-visible,input:focus-visible,canvas:focus-visible{outline:3px solid #52839b;outline-offset:3px}.stage{height:clamp(390px,58vh,650px);position:relative;overflow:hidden;background:linear-gradient(#f2f5ed,#f8f8f3)}canvas{display:block;width:100%;height:100%;touch-action:none}.overlay{position:absolute;top:15px;left:15px;right:15px;pointer-events:none;font:11px system-ui;letter-spacing:.06em;text-transform:uppercase;display:flex;justify-content:space-between;gap:10px}.loading{position:absolute;inset:0;display:grid;place-content:center;padding:30px;background:#f4f6ee;text-align:center;font:14px system-ui;line-height:1.6;overflow-wrap:anywhere}.loading[hidden]{display:none}.hint{position:absolute;bottom:12px;left:15px;right:15px;font:11px system-ui;color:#67715d;pointer-events:none}.playback{padding:13px;display:flex;align-items:center;gap:10px;flex-wrap:wrap;border-top:1px solid var(--line)}input[type=range]{min-width:90px;flex:1;min-height:44px;accent-color:var(--green)}#clock{font:12px ui-monospace,monospace;white-space:nowrap}.status{font:12px system-ui;color:#68735c;padding:0 14px 13px;line-height:1.6}.sidebar{min-width:0}.badge{display:inline-block;font:11px system-ui;padding:5px 8px;background:#f3eade;color:#785a39;margin:0 0 10px}.facts{margin:15px 0;font:13px system-ui}.facts div{padding:11px 0;border-bottom:1px solid var(--line)}.facts dt{color:#687360;margin-bottom:5px}.facts dd{margin:0;font:14px ui-monospace,monospace;overflow-wrap:anywhere}.note{font:12px system-ui;color:#65705d;line-height:1.65}.downloads{display:grid;gap:10px;margin-top:20px}.downloads a{font:13px system-ui;min-height:38px;display:flex;align-items:center}.command{padding:13px;background:#edf1e7;border:1px solid var(--line);overflow-wrap:anywhere;white-space:pre-wrap;font:12px ui-monospace,monospace;line-height:1.8}.details{display:grid;grid-template-columns:1.2fr 1fr;gap:30px;border-top:1px solid var(--line);margin-top:27px;padding-top:24px}.details p{font-size:15px}.robot-links{display:flex;flex-wrap:wrap;gap:15px;font:13px system-ui;margin-top:18px}.robot-links a{min-height:36px;display:flex;align-items:center}footer{display:flex;gap:15px;flex-wrap:wrap;border-top:1px solid var(--line);margin-top:24px;padding-top:18px;font:12px system-ui}#error-details{white-space:pre-wrap}@media(max-width:900px){main{padding:22px 20px}.layout{grid-template-columns:minmax(0,1fr)}.sidebar{display:grid;grid-template-columns:1fr 1fr;gap:22px}.stage{height:500px}}@media(max-width:560px){main{padding:20px 12px}.toolbar{padding:10px}.toolbar label{flex:1;min-width:120px}.camera{margin:0;width:100%}.camera button{flex:1;padding:9px}.stage{height:390px}.sidebar,.details{grid-template-columns:1fr;gap:18px}.overlay{font-size:10px}.playback{padding:10px}.command{font-size:11px}.robot-links{gap:12px}}
+[hidden]{display:none!important}</style></head><body><main><header><span class="brand">DVIDIA RESEARCH</span><a href="https://research.dvidia.org/">Research footprints ↗</a></header><h1>A scene you can take with you.</h1><p class="subtitle" id="subtitle">Loading a reusable arm and shoe scene from the local asset library.</p><div class="layout"><section class="viewer" aria-label="Interactive native 3D asset preview"><div class="toolbar"><label>Shoe collection<select id="pair" disabled><option value="all">All three pairs</option><option value="trainer">Trainer</option><option value="ankle-boot">Ankle boot</option><option value="slipper">Slipper</option></select></label><div class="camera"><button data-camera="home" disabled>Orbit view</button><button data-camera="top" disabled>Top</button><button data-camera="front" disabled>Front</button></div></div><div class="stage" id="stage"><canvas id="canvas" tabindex="0" aria-label="3D robot and shoes. Drag to orbit, scroll to zoom; arrow keys orbit, plus and minus zoom, H resets camera."></canvas><div class="overlay"><span>Recorded native 3D scene</span><span id="mode-label">Visual geometry</span></div><div class="hint">Drag to orbit · Scroll or pinch to zoom · Arrow keys orbit · + / − zoom · H home</div><div id="loading" class="loading" role="status">Opening local geometry and recorded body poses…</div></div><div class="playback"><button id="play" aria-pressed="false" disabled>Play settling</button><input id="timeline" type="range" min="0" max="100" step="1" value="100" disabled aria-label="Recorded settling timeline"><span id="clock">2.00 / 2.00 s</span><button id="collision" disabled aria-pressed="false">Collision shapes</button></div><div id="status" class="status">Browser physics: none. Native body poses were recorded locally.</div></section><aside class="sidebar"><section><span class="badge">Synthetic rigid shoe proxies</span><h2 id="robot-name">Native arm geometry</h2><dl class="facts"><div><dt>Arm / gripper</dt><dd id="axes">—</dd></div><div><dt>Selected shoe family</dt><dd id="family">—</dd></div><div><dt>Nominal dimensions · meters</dt><dd id="dimensions">—</dd></div><div><dt>Nominal mass · kg per shoe</dt><dd id="mass">—</dd></div><div><dt>Physical evidence</dt><dd>Untested assumptions</dd></div><div><dt>Recorded contact pairs · whole scene</dt><dd id="contacts">—</dd></div></dl><p class="note">Pair selection hides other shoes in this recording. It does not recompute physics. Download the selected descriptor to rerun that pair locally.</p></section><section><h2>Load it locally.</h2><pre class="command" id="command">dvidia-assets scene …</pre><button id="copy" disabled>Copy command</button><div class="downloads"><a id="descriptor" href="scene.json" download>Download scene descriptor ↓</a><a href="catalog.json" download>Asset catalog and property evidence ↓</a><a href="preview-integrity.json" download>Preview integrity manifest ↓</a><a href="reference_replay.third-party.txt">Viewer license notices ↗</a><a href="README.md">Offline instructions and scope ↗</a></div><p class="note">The CLI uses CPU MuJoCo. Download the pinned robot models once; scene loading then runs offline. Keep the assets and Python environment on your machine.</p></section></aside></div><section class="details"><div><h2>Geometry you can inspect. Assumptions you can see.</h2><p>The arm uses its pinned upstream meshes and joint mechanism. Each shoe combines original boxes and ellipsoids for a lightweight collision model. The left and right instances have persistent identities.</p><p>Shoe mass, friction, size and shape are authored assumptions. These rigid proxies do not reproduce real shoe deformation, laces, fabric, insole compression or calibrated grasp forces.</p></div><div><h2>What this preview measures.</h2><p>A two-second native settling run under gravity, with arm commands held at initialization. Use the timeline to inspect initial and settled states, and collision mode to see the surfaces used by the engine.</p><p>It does not demonstrate a learned shoe-organizing policy, grasp success, physical transfer or a real-time guarantee. The browser replays Float32 body poses; the simulation used native precision.</p></div></section><nav class="robot-links" id="robot-links" aria-label="Other published robot previews" hidden><a href="../ur5e/">UR5e + Robotiq</a><a href="../piper/">PiPER</a><a href="../so101/">SO-101</a><a href="../../">Asset library overview ↗</a></nav><footer><span>Open-source DVIDIA tools</span><a href="https://github.com/Dvidia-Inference/dvidia-training">GitHub</a><a href="https://x.com/iammrriver">@iammrriver</a><a href="mailto:hello@dvidia.org">hello@dvidia.org</a></footer><noscript><p>This viewer needs JavaScript and WebGL2. The <a href="catalog.json">asset catalog</a> and <a href="scene.json">scene descriptor</a> remain available.</p></noscript></main><script src="asset_library.bundle.js" defer></script></body></html>

asset-library/v01/previews/so101/licenses/robotstudio_so101/LICENSE

@@ -0,0 +1,201 @@
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asset-library/v01/previews/so101/licenses/robotstudio_so101/README.md

@@ -0,0 +1,32 @@
+# The Robot Studio SO101 Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a robot description (MJCF) of the [The Robot Studio SO101 robot](https://github.com/TheRobotStudio/SO-ARM100/tree/main/Simulation/SO101) developed by [I2
+RT Robotics]. It is derived from the [publicly available
+MJCF](https://github.com/TheRobotStudio/SO-ARM100/blob/608122e9ac330a753735f2e18aee73338e9ac407/Simulation/SO101/so101_new_calib.xml#L1).
+
+<p float="left">
+  <img src="so101.png" width="400">
+</p>
+
+## MJCF derivation steps
+
+1. Copied `so101_new_calib.xml` (commit SHA aec17bbc256d1a7342d53aaa4950595d4c30b40d).
+2. Rounded floats and reformatted the XML for readability.
+3. Switched to implicitfast.
+4. Use default `forcerange` for actuators rather than 3.35 N/m.
+5. Added primitive collision geometries for the gripper and arm.
+6. Add default collision solver parameters for the gripper that work well for manipulation.
+7. Add a camera mount.
+
+## License
+
+This model is released under the [Apache License 2.0](LICENSE).

asset-library/v01/previews/so101/model.json

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+  }
+}

asset-library/v01/previews/so101/reference_replay.third-party.txt

@@ -0,0 +1,26 @@
+DVIDIA self-hosted reference replay
+
+Three.js 0.180.0 and OrbitControls
+https://github.com/mrdoob/three.js/tree/r180
+
+The MIT License
+
+Copyright © 2010-2025 three.js authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

asset-library/v01/previews/so101/scene.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-scene/v1","catalog_version":"0.1.0","catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7","robot":"so101","shoe_ids":["trainer-left","trainer-right","ankle-boot-left","ankle-boot-right","slipper-left","slipper-right"],"timestep":0.002}

asset-library/v01/previews/so101/scenes/ankle-boot.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-scene/v1","catalog_version":"0.1.0","catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7","robot":"so101","shoe_ids":["ankle-boot-left","ankle-boot-right"],"timestep":0.002}

asset-library/v01/previews/so101/scenes/slipper.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-scene/v1","catalog_version":"0.1.0","catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7","robot":"so101","shoe_ids":["slipper-left","slipper-right"],"timestep":0.002}

asset-library/v01/previews/so101/scenes/trainer.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-scene/v1","catalog_version":"0.1.0","catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7","robot":"so101","shoe_ids":["trainer-left","trainer-right"],"timestep":0.002}

asset-library/v01/previews/ur5e/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 DVIDIA contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

asset-library/v01/previews/ur5e/README.md

@@ -0,0 +1,5 @@
+# DVIDIA asset library preview
+
+Recorded native MuJoCo scene settling with held arm commands. The browser displays saved poses and does not run physics. Shoes are authored rigid proxies with untested physical properties. No learned shoe skill, calibrated deformation, hardware or real-time qualification.
+
+Serve this directory with `python -m http.server 8000` and open http://localhost:8000. Everything is local; JavaScript, WebGL2 and DecompressionStream are required. The pair selector filters recorded objects visually; use a downloaded scene descriptor with dvidia-assets scene --config to compile and simulate only that pair. geometry.bin.gz and motion.bin.gz decode to bounded little-endian Float32 positions and wxyz quaternions. MIT applies to DVIDIA code and synthetic shoes. Robot model licenses and original READMEs remain under licenses/. Three.js/OrbitControls notices are included.

asset-library/v01/previews/ur5e/catalog.json

@@ -0,0 +1 @@
+{"schema":"dvidia.asset-catalog/v1","version":"0.1.0","license":"MIT","license_scope":"Original DVIDIA catalog and procedural shoes only; robot simulation assets retain their individual licenses.","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.","units":{"length":"m","mass":"kg","time":"s","angle":"rad","quaternion":"wxyz"},"world_frame":"right-handed; robot base reference at world origin, +z up","robots":[{"id":"ur5e","name":"UR5e + Robotiq 2F-85","version":"0.1.0","immutable_id":"dvidia/robots/ur5e-2f85@0.1.0","arm_axes":6,"gripper_command_axes":1,"gripper_mechanical_joints":8,"native_command_units":["rad","rad","rad","rad","rad","rad","native_0_255"],"gripper_command":"Native coupled gripper servo input [0,255]; not a measured gap or calibrated force.","licenses":{"universal_robots_ur5e":"BSD-3-Clause","robotiq_2f85":"BSD-2-Clause"},"source":{"repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","verification":"Packaged SHA256 allowlist; assets are read from verified bytes, without network access.","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"],"home_scope":"Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."},"home_joint_positions":{"shoulder_pan_joint":-1.5708,"shoulder_lift_joint":-1.5708,"elbow_joint":1.5708,"wrist_1_joint":-1.5708,"wrist_2_joint":-1.5708,"wrist_3_joint":0},"expected_dimensions":{"nq":14,"nv":14,"nu":7,"neq":3},"compatibility":{"scene_loading":true,"shoe_grasp_qualified":false,"physical_robot_ready":false,"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."},"openness_scope":"These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."},{"id":"piper","name":"AgileX PiPER","version":"0.1.0","immutable_id":"dvidia/robots/piper@0.1.0","arm_axes":6,"gripper_command_axes":1,"gripper_mechanical_joints":2,"native_command_units":["rad","rad","rad","rad","rad","rad","m"],"gripper_command":"single-finger slide target in metres, native range [0,0.035]; not total jaw gap","licenses":{"agilex_piper":"MIT"},"source":{"repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","verification":"Packaged SHA256 allowlist; assets are read from verified bytes, without network access.","model_urls":["https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/agilex_piper"],"home_scope":"Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."},"home_joint_positions":{"joint1":0,"joint2":1.57,"joint3":-1.3485,"joint4":0,"joint5":0,"joint6":0,"joint7":0,"joint8":0},"expected_dimensions":{"nq":8,"nv":8,"nu":7,"neq":1},"compatibility":{"scene_loading":true,"shoe_grasp_qualified":false,"physical_robot_ready":false,"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."},"openness_scope":"These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."},{"id":"so101","name":"The Robot Studio SO101","version":"0.1.0","immutable_id":"dvidia/robots/so101@0.1.0","arm_axes":5,"gripper_command_axes":1,"gripper_mechanical_joints":1,"native_command_units":["rad","rad","rad","rad","rad","rad"],"gripper_command":"moving-jaw hinge angle target in radians; not linear jaw gap","licenses":{"robotstudio_so101":"Apache-2.0"},"source":{"repository":"https://github.com/google-deepmind/mujoco_menagerie","commit":"0059d4335f8156206f63a35662313385f7ad6d74","verification":"Packaged SHA256 allowlist; assets are read from verified bytes, without network access.","model_urls":["https://github.com/google-deepmind/mujoco_menagerie/tree/0059d4335f8156206f63a35662313385f7ad6d74/robotstudio_so101"],"home_scope":"Authored scene initialization: UR5e and PiPER use the upstream home arm pose, zero gripper coordinates; SO101 uses its zero reference pose."},"home_joint_positions":{"shoulder_pan":0,"shoulder_lift":0,"elbow_flex":0,"wrist_flex":0,"wrist_roll":0,"gripper":0},"expected_dimensions":{"nq":6,"nv":6,"nu":6,"neq":0},"compatibility":{"scene_loading":true,"shoe_grasp_qualified":false,"physical_robot_ready":false,"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."},"openness_scope":"These licenses cover pinned simulation assets; SDK and physical hardware design licenses are separate."}],"shoes":[{"id":"trainer-left","name":"Trainer / left","version":"0.1.0","immutable_id":"dvidia/shoes/trainer-left@0.1.0","family":"trainer","pair_id":"dvidia/shoes/trainer-pair@0.1.0","side":"left","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.28,0.1,0.087],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.3,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.8,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.14,0.05,0.01],"position_m":[0,0,0.01],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.122,0.047,0.035],"position_m":[-0.005,0.003,0.052],"mass_fraction":0.55,"rgba":[0.2,0.38,0.58,1]},{"name":"toe","type":"ellipsoid","size_m":[0.04,0.047,0.026],"position_m":[0.095,0.003,0.045],"mass_fraction":0.1,"rgba":[0.78,0.82,0.83,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"trainer-right","name":"Trainer / right","version":"0.1.0","immutable_id":"dvidia/shoes/trainer-right@0.1.0","family":"trainer","pair_id":"dvidia/shoes/trainer-pair@0.1.0","side":"right","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.28,0.1,0.087],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.3,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.8,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.14,0.05,0.01],"position_m":[0,0,0.01],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.122,0.047,0.035],"position_m":[-0.005,-0.003,0.052],"mass_fraction":0.55,"rgba":[0.2,0.38,0.58,1]},{"name":"toe","type":"ellipsoid","size_m":[0.04,0.047,0.026],"position_m":[0.095,-0.003,0.045],"mass_fraction":0.1,"rgba":[0.78,0.82,0.83,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"ankle-boot-left","name":"Ankle Boot / left","version":"0.1.0","immutable_id":"dvidia/shoes/ankle-boot-left@0.1.0","family":"ankle-boot","pair_id":"dvidia/shoes/ankle-boot-pair@0.1.0","side":"left","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.29,0.108,0.19],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.5,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.9,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.145,0.054,0.012],"position_m":[0,0,0.012],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.13,0.05,0.04],"position_m":[0.01,0.004,0.064],"mass_fraction":0.3,"rgba":[0.37,0.24,0.16,1]},{"name":"ankle","type":"ellipsoid","size_m":[0.047,0.049,0.055],"position_m":[-0.085,0.004,0.135],"mass_fraction":0.35,"rgba":[0.37,0.24,0.16,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"ankle-boot-right","name":"Ankle Boot / right","version":"0.1.0","immutable_id":"dvidia/shoes/ankle-boot-right@0.1.0","family":"ankle-boot","pair_id":"dvidia/shoes/ankle-boot-pair@0.1.0","side":"right","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.29,0.108,0.19],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.5,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.9,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.145,0.054,0.012],"position_m":[0,0,0.012],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.13,0.05,0.04],"position_m":[0.01,-0.004,0.064],"mass_fraction":0.3,"rgba":[0.37,0.24,0.16,1]},{"name":"ankle","type":"ellipsoid","size_m":[0.047,0.049,0.055],"position_m":[-0.085,-0.004,0.135],"mass_fraction":0.35,"rgba":[0.37,0.24,0.16,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"slipper-left","name":"Slipper / left","version":"0.1.0","immutable_id":"dvidia/shoes/slipper-left@0.1.0","family":"slipper","pair_id":"dvidia/shoes/slipper-pair@0.1.0","side":"left","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.27,0.102,0.055],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.15,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.65,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.135,0.051,0.009],"position_m":[0,0,0.009],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.09,0.049,0.017],"position_m":[0.045,0.002,0.038],"mass_fraction":0.65,"rgba":[0.52,0.31,0.37,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}},{"id":"slipper-right","name":"Slipper / right","version":"0.1.0","immutable_id":"dvidia/shoes/slipper-right@0.1.0","family":"slipper","pair_id":"dvidia/shoes/slipper-pair@0.1.0","side":"right","license":"MIT","source":{"kind":"original_procedural","author":"DVIDIA","scope":"New primitive geometry; no redistributed scans, videos, photographs or model weights."},"properties":{"dimensions_m":{"value":[0.27,0.102,0.055],"units":"m; length x, width y, maximum height z","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_kg":{"value":0.15,"units":"kg","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"sliding_friction":{"value":0.65,"units":"dimensionless","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"torsional_friction":{"value":0.005,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"rolling_friction":{"value":0.0001,"units":"m","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"mass_distribution":{"value":"Component mass fractions; overlapping solid primitives, inertia inferred by MuJoCo.","units":"model assumption","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"deformation":{"value":"Rigid-body proxy; no flexibility, crushing, cloth, laces, shell failure or deformation.","units":"model class","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."},"contact_solver":{"value":{"condim":4,"priority":1,"solref":[0.02,1],"solimp":[0.9,0.95,0.001,0.5,2]},"units":"MuJoCo solver parameters; no calibrated stiffness or damping","evidence":"untested","source":"Authored synthetic proxy for numerical scene tests; no real shoe, scan, measurement, material fit or calibration supports this value."}},"frame":{"origin":"sole bottom center","axes":"right-handed; +x toward toe, +y lateral, +z up","sole_bottom_z_m":0,"initial_bottom_z_m":0.08},"geometry":[{"name":"sole","type":"box","size_m":[0.135,0.051,0.009],"position_m":[0,0,0.009],"mass_fraction":0.35,"rgba":[0.16,0.17,0.18,1]},{"name":"upper","type":"ellipsoid","size_m":[0.09,0.049,0.017],"position_m":[0.045,-0.002,0.038],"mass_fraction":0.65,"rgba":[0.52,0.31,0.37,1]}],"fidelity":{"geometry":"authored coarse proxy","native_contact":"available for numerical testing","measured_contact":"untested","deformation":"unsupported","shoe_grasp_qualified":false,"physical_robot_ready":false}}],"environment":{"id":"open-support-plane","version":"0.1.0","license":"MIT","geometry":"Infinite collision plane at z=0; displayed with 2 m half extents. Not a finite tabletop or rack.","name":"asset_table","gravity_m_s2":[0,0,-9.81],"property_evidence":"untested authored 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."},"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."],"catalog_sha256":"592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7"}