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      "family": "ankle-boot",
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        {
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    },
    {
      "control": "table_disabled",
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      "robot": "so101"
    },
    {
      "control": "table_support",
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      "placements": [
        {
          "position_m": [
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          "shoe_id": "slipper-left",
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        {
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          "shoe_id": "slipper-right",
          "yaw_rad": 0.00590997
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      ],
      "repeat": 0,
      "robot": "ur5e"
    },
    {
      "control": "table_disabled",
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      "id": "ur5e-slipper-00-table_disabled",
      "placements": [
        {
          "position_m": [
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        },
        {
          "position_m": [
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            0.57139025,
            0.08879678
          ],
          "shoe_id": "slipper-right",
          "yaw_rad": 0.00590997
        }
      ],
      "repeat": 0,
      "robot": "ur5e"
    },
    {
      "control": "table_support",
      "family": "slipper",
      "id": "piper-slipper-00-table_support",
      "placements": [
        {
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          "shoe_id": "slipper-right",
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        }
      ],
      "repeat": 0,
      "robot": "piper"
    },
    {
      "control": "table_disabled",
      "family": "slipper",
      "id": "piper-slipper-00-table_disabled",
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        {
          "position_m": [
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      ],
      "repeat": 0,
      "robot": "piper"
    },
    {
      "control": "table_support",
      "family": "slipper",
      "id": "so101-slipper-00-table_support",
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        {
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      ],
      "repeat": 0,
      "robot": "so101"
    },
    {
      "control": "table_disabled",
      "family": "slipper",
      "id": "so101-slipper-00-table_disabled",
      "placements": [
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          "position_m": [
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        {
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      ],
      "repeat": 0,
      "robot": "so101"
    },
    {
      "control": "table_support",
      "family": "slipper",
      "id": "ur5e-slipper-01-table_support",
      "placements": [
        {
          "position_m": [
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          "shoe_id": "slipper-left",
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        },
        {
          "position_m": [
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          "shoe_id": "slipper-right",
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      ],
      "repeat": 1,
      "robot": "ur5e"
    },
    {
      "control": "table_disabled",
      "family": "slipper",
      "id": "ur5e-slipper-01-table_disabled",
      "placements": [
        {
          "position_m": [
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        },
        {
          "position_m": [
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          "shoe_id": "slipper-right",
          "yaw_rad": -0.2118499
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      ],
      "repeat": 1,
      "robot": "ur5e"
    },
    {
      "control": "table_support",
      "family": "slipper",
      "id": "piper-slipper-01-table_support",
      "placements": [
        {
          "position_m": [
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          "shoe_id": "slipper-left",
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        },
        {
          "position_m": [
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          "shoe_id": "slipper-right",
          "yaw_rad": -0.2118499
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      ],
      "repeat": 1,
      "robot": "piper"
    },
    {
      "control": "table_disabled",
      "family": "slipper",
      "id": "piper-slipper-01-table_disabled",
      "placements": [
        {
          "position_m": [
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          "shoe_id": "slipper-left",
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        },
        {
          "position_m": [
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            0.56254283,
            0.06338254
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          "shoe_id": "slipper-right",
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        }
      ],
      "repeat": 1,
      "robot": "piper"
    },
    {
      "control": "table_support",
      "family": "slipper",
      "id": "so101-slipper-01-table_support",
      "placements": [
        {
          "position_m": [
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            0.38738392,
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        {
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      ],
      "repeat": 1,
      "robot": "so101"
    },
    {
      "control": "table_disabled",
      "family": "slipper",
      "id": "so101-slipper-01-table_disabled",
      "placements": [
        {
          "position_m": [
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          "shoe_id": "slipper-left",
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        {
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            0.56254283,
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          "shoe_id": "slipper-right",
          "yaw_rad": -0.2118499
        }
      ],
      "repeat": 1,
      "robot": "so101"
    },
    {
      "control": "table_support",
      "family": "slipper",
      "id": "ur5e-slipper-02-table_support",
      "placements": [
        {
          "position_m": [
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          "shoe_id": "slipper-left",
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        {
          "position_m": [
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          "shoe_id": "slipper-right",
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      ],
      "repeat": 2,
      "robot": "ur5e"
    },
    {
      "control": "table_disabled",
      "family": "slipper",
      "id": "ur5e-slipper-02-table_disabled",
      "placements": [
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        },
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        }
      ],
      "repeat": 2,
      "robot": "ur5e"
    },
    {
      "control": "table_support",
      "family": "slipper",
      "id": "piper-slipper-02-table_support",
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        },
        {
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      ],
      "repeat": 2,
      "robot": "piper"
    },
    {
      "control": "table_disabled",
      "family": "slipper",
      "id": "piper-slipper-02-table_disabled",
      "placements": [
        {
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          "shoe_id": "slipper-left",
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        },
        {
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          "shoe_id": "slipper-right",
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      ],
      "repeat": 2,
      "robot": "piper"
    },
    {
      "control": "table_support",
      "family": "slipper",
      "id": "so101-slipper-02-table_support",
      "placements": [
        {
          "position_m": [
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        },
        {
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      ],
      "repeat": 2,
      "robot": "so101"
    },
    {
      "control": "table_disabled",
      "family": "slipper",
      "id": "so101-slipper-02-table_disabled",
      "placements": [
        {
          "position_m": [
            0.40473021,
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          "shoe_id": "slipper-left",
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        },
        {
          "position_m": [
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          "shoe_id": "slipper-right",
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      ],
      "repeat": 2,
      "robot": "so101"
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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."
}