{
  "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"
}