A scene you can take with you.
Loading a reusable arm and shoe scene from the local asset library.
Geometry you can inspect. Assumptions you can see.
The arm uses its pinned upstream meshes and joint mechanism. Each shoe combines original boxes and ellipsoids for a lightweight collision model. The left and right instances have persistent identities.
Shoe mass, friction, size and shape are authored assumptions. These rigid proxies do not reproduce real shoe deformation, laces, fabric, insole compression or calibrated grasp forces.
What this preview measures.
A two-second native settling run under gravity, with arm commands held at initialization. Use the timeline to inspect initial and settled states, and collision mode to see the surfaces used by the engine.
It does not demonstrate a learned shoe-organizing policy, grasp success, physical transfer or a real-time guarantee. The browser replays Float32 body poses; the simulation used native precision.