{
  "source_asset": "DH_PGC_140_50/DH_PGC_140_50.urdf",
  "source_urdf": "/root/.cache/embodichain_data/extract/DH_PGC_140_50/DH_PGC_140_50.urdf",
  "source_urdf_sha256": "4fcdbc603df6ddc3900f4de60c092e15a1509571c0cba899ac202f95f6ca96d7",
  "image": "dh_pgc_140_50.png",
  "image_sha256": "f524c3dcf5731dc40e12f4b538fefddc915d9a39632f2789f06fd7b947e8e452",
  "render_cfg": {
    "renderer": "rt",
    "spp": 1,
    "denoising": {
      "offscreen": "dlss"
    },
    "dlss_quality": 2,
    "tone_mapping_enabled": false
  },
  "camera": {
    "eye": [
      0.18027531251311302,
      -0.26570646099746226,
      0.22614795356988907
    ],
    "target": [
      -3.725290298461914e-09,
      -0.010316429659724236,
      0.09094146639108658
    ],
    "up": [
      0,
      0,
      1
    ],
    "intrinsics": [
      2100,
      2100,
      800,
      540
    ],
    "near": 0.005,
    "far": 60,
    "width": 1600,
    "height": 1080
  },
  "bounds": {
    "min": [
      -0.03754997253417969,
      -0.059032730758190155,
      0.019999999552965164
    ],
    "max": [
      0.03754996508359909,
      0.038399871438741684,
      0.1618829369544983
    ]
  },
  "physics_stepped": false,
  "joint_positions": {
    "finger1_joint": 0.0,
    "finger2_joint": 0.0
  },
  "warmup_frames": 48,
  "material_overrides": [],
  "root_position": [
    -2.9695002012886107e-09,
    -8.731149137020111e-11,
    0.028382916003465652
  ],
  "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": 0.22534414529800417
    },
    {
      "name": "fill",
      "relative_to_bounds_center": [
        -1.5,
        -0.5,
        1.0
      ],
      "intensity": 100,
      "size": 0.22534414529800417
    },
    {
      "name": "rim",
      "relative_to_bounds_center": [
        0.0,
        1.5,
        1.5
      ],
      "intensity": 150,
      "size": 0.22534414529800417
    }
  ],
  "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"
}
