diff --git a/.gitattributes b/.gitattributes
index a6344aac8c09253b3b630fb776ae94478aa0275b..8c9526bd1baa752a6847516f88849a38bd9d87ba 100644
--- a/.gitattributes
+++ b/.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
diff --git a/README.md b/README.md
index 16182e3d6c3b7e862e5733615917246823f3aab5..8f596e19264384fa27ce9253c8cc6e0bc713cfbf 100644
--- a/README.md
+++ b/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.
diff --git a/asset-library/v01/LICENSE b/asset-library/v01/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..a7056f2889009b6b736691291d2e65e63bab2fdc
--- /dev/null
+++ b/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.
diff --git a/asset-library/v01/README.md b/asset-library/v01/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..bdfa4af2afb929f65aa2aeb5496eeb1726ff88f2
--- /dev/null
+++ b/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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+ }
+ ],
+ "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."
+}
diff --git a/asset-library/v01/benchmark/report.html b/asset-library/v01/benchmark/report.html
new file mode 100644
index 0000000000000000000000000000000000000000..e1e34d36792406046aa688eb01811d2fcf5b03d9
--- /dev/null
+++ b/asset-library/v01/benchmark/report.html
@@ -0,0 +1,31 @@
+DVIDIA · Shoe asset benchmark
DVIDIA RESEARCH
Shoe assets: load, drop, settle
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.
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.
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.
{
+ "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
+}
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.
\ No newline at end of file
diff --git a/asset-library/v01/benchmark/report.json b/asset-library/v01/benchmark/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..88c895a4dfc61b88e45f73f196cde72a9bc303aa
--- /dev/null
+++ b/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
+ }
+}
diff --git a/asset-library/v01/catalog.json b/asset-library/v01/catalog.json
new file mode 100644
index 0000000000000000000000000000000000000000..4660981d1bcc629b6acba90285d4f37ab3d5a945
--- /dev/null
+++ b/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"
+}
diff --git a/asset-library/v01/index.html b/asset-library/v01/index.html
new file mode 100644
index 0000000000000000000000000000000000000000..b23f656e8be8c8c71decf49b28c4bdd7e8b7c315
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@@ -0,0 +1,16 @@
+DVIDIA · Shoe asset libraryDVIDIA / ASSET LIBRARYResearch notePinned source
+
VERSION 0.1 · LOCAL CPU SIMULATION
Load a robot. Add a pair of shoes.
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.
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.
Open localhost:8360 after the command finishes. On Windows use .venv\Scripts\ 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.