{"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. 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+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; 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+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"}