{
  "source_asset": "DH_PGI_140_80/DH_PGI_140_80.urdf",
  "source_urdf": "/root/.cache/embodichain_data/extract/DH_PGI_140_80/DH_PGI_140_80.urdf",
  "source_urdf_sha256": "09997a476916af8a9bca51d2cb110bd044275eec6a0707ab84d4bc67c2476b1f",
  "image": "dh_pgi_140_80.png",
  "image_sha256": "d185e2e0c8b352dbf9040ebe5b866743759e4f3e86418346e9d913971cf255b3",
  "render_cfg": {
    "renderer": "rt",
    "spp": 1,
    "denoising": {
      "offscreen": "dlss"
    },
    "dlss_quality": 2,
    "tone_mapping_enabled": false
  },
  "camera": {
    "eye": [
      0.20685425601899624,
      -0.2929166840016842,
      0.2562846291065216
    ],
    "target": [
      0.0013247188180685043,
      -0.0017498396337032318,
      0.1021374762058258
    ],
    "up": [
      0,
      0,
      1
    ],
    "intrinsics": [
      2100,
      2100,
      800,
      540
    ],
    "near": 0.005,
    "far": 60,
    "width": 1600,
    "height": 1080
  },
  "bounds": {
    "min": [
      -0.05999986454844475,
      -0.03259968012571335,
      0.019999999552965164
    ],
    "max": [
      0.06264930218458176,
      0.029100000858306885,
      0.18427494168281555
    ]
  },
  "physics_stepped": false,
  "joint_positions": {
    "gripper_finger1_joint_1": 0.0,
    "gripper_finger2_joint_1": 0.0
  },
  "warmup_frames": 48,
  "material_overrides": [],
  "root_position": [
    0.0,
    0.0,
    0.019999999552965164
  ],
  "root_rotation_degrees": [
    0,
    0,
    0
  ],
  "emission_intensity": 80,
  "emission_color": [
    0.92,
    0.95,
    1.0
  ],
  "rect_lights": [
    {
      "name": "key",
      "relative_to_bounds_center": [
        1.0,
        -1.2,
        2.0
      ],
      "intensity": 180,
      "size": 0.2569119215011597
    },
    {
      "name": "fill",
      "relative_to_bounds_center": [
        -1.5,
        -0.5,
        1.0
      ],
      "intensity": 100,
      "size": 0.2569119215011597
    },
    {
      "name": "rim",
      "relative_to_bounds_center": [
        0.0,
        1.5,
        1.5
      ],
      "intensity": 150,
      "size": 0.2569119215011597
    }
  ],
  "description": "Source visual geometry and materials rendered by native OfflineRT with environment intensity 80 and three rectangular studio lights; no physics steps.",
  "configuration": "Source articulation at zero-coordinate display pose",
  "display_preprocessing": [],
  "renderer_runtime": "DexSim native OfflineRT via Python 3.11, Torch 2.7.0+cu128; NVIDIA RTX PRO 5000 72GB Blackwell"
}
