{
  "robot": "AlohaMini",
  "model": "Aloha Mini 2 Pro",
  "configuration": "AlohaMini catalog defaults",
  "source_asset": "AlohaMini/alohamini2pro.urdf",
  "source_commit": "66033036bea07486a33b7027810956681287b4a3",
  "source_urdf_sha256": "444805be9200095dcd972c1e39fc2c6f7b95d2d675af074ca5ce16febd7e7210",
  "configured_control_dof": 15,
  "native_articulation_dof": 21,
  "control_parts": {
    "left_arm": [
      "left_shoulder_pan",
      "left_shoulder_lift",
      "left_elbow_flex",
      "left_wrist_flex",
      "left_wrist_yaw_joint",
      "left_wrist_roll"
    ],
    "right_arm": [
      "right_shoulder_pan",
      "right_shoulder_lift",
      "right_elbow_flex",
      "right_wrist_flex",
      "right_wrist_yaw_joint",
      "right_wrist_roll"
    ],
    "left_eef": [
      "left_gripper"
    ],
    "right_eef": [
      "right_gripper"
    ],
    "torso": [
      "vertical_move"
    ]
  },
  "additional_source_joints": [
    "root_x_axis_joint",
    "root_y_axis_joint",
    "root_z_rotation_joint",
    "wheel1_joint",
    "wheel2_joint",
    "wheel3_joint"
  ],
  "render_cfg": {
    "renderer": "rt",
    "spp": 1,
    "denoising": {
      "window": "dlss",
      "offscreen": "dlss"
    },
    "dlss": {
      "dlss_quality": 2,
      "upsample_ratio": null,
      "render_width": 0,
      "render_height": 0,
      "target_width": 0,
      "target_height": 0,
      "tiled_enabled": true,
      "exposure_compensation": 1.0
    },
    "nrd": {
      "max_indirect_bounces": 1,
      "denoising_range": 500000.0,
      "disocclusion_threshold": 0.01,
      "disocclusion_threshold_alternate": 0.05,
      "disocclusion_threshold_mix_enabled": true,
      "history_confidence_enabled": true,
      "history_confidence_probe_stride": 5,
      "history_confidence_sigma_scale": 2.0,
      "history_confidence_sensitivity": 1.0,
      "max_accumulated_frame_num": 30,
      "max_fast_accumulated_frame_num": 6,
      "history_fix_frame_num": 3,
      "diffuse_prepass_blur_radius": 30.0,
      "specular_prepass_blur_radius": 50.0,
      "anti_firefly_enabled": false,
      "sh_mode_enabled": false,
      "validation_enabled": false,
      "max_stabilized_frame_num": 63,
      "min_blur_radius": 1.0,
      "max_blur_radius": 30.0,
      "antilag_luminance_sigma_scale": 2.0,
      "antilag_luminance_sensitivity": 3.0,
      "taa_min_current_weight": 0.0625,
      "taa_sigma_scale": 2.0,
      "taa_depth_rejection_enabled": true,
      "taa_tone_mapping_enabled": false
    },
    "tone_mapping_enabled": false,
    "tone_mapping_exposure": 1.0,
    "min_bounces": 4,
    "max_bounces": 8
  },
  "camera": {
    "width": 960,
    "height": 1200,
    "intrinsics": [
      2350.0,
      2350.0,
      480.0,
      600.0
    ],
    "eye": [
      2.423019975423813,
      -1.5453052818775177,
      1.4318970441818237
    ],
    "target": [
      0.10995551943778992,
      -0.0032623112201690674,
      0.5507296323776245
    ],
    "up": [
      0.0,
      0.0,
      1.0
    ],
    "near": 0.03,
    "far": 60.0
  },
  "scene": {
    "presentation": "SimulationManager defaults with studio area lights",
    "direct_lights": [
      "studio_key",
      "studio_fill",
      "studio_rim"
    ],
    "emission_color": [
      0.92,
      0.95,
      1.0
    ],
    "emission_intensity": 80.0,
    "studio_lights": [
      {
        "uid": "studio_key",
        "light_type": "rect",
        "init_pos": [
          1.4,
          -1.0,
          2.0
        ],
        "direction": [
          -0.6028605644882187,
          0.4637388957601683,
          -0.6492344540642356
        ],
        "color": [
          1.0,
          1.0,
          1.0
        ],
        "intensity": 40.0,
        "rect_width": 1.6,
        "rect_height": 1.8,
        "enable_shadow": true
      },
      {
        "uid": "studio_fill",
        "light_type": "rect",
        "init_pos": [
          1.1,
          1.2,
          1.5
        ],
        "direction": [
          -0.5547001962252291,
          -0.665640235470275,
          -0.49923017660270624
        ],
        "color": [
          1.0,
          1.0,
          1.0
        ],
        "intensity": 25.0,
        "rect_width": 1.4,
        "rect_height": 1.6,
        "enable_shadow": true
      },
      {
        "uid": "studio_rim",
        "light_type": "rect",
        "init_pos": [
          -1.0,
          0.3,
          1.8
        ],
        "direction": [
          0.6645343026631946,
          -0.18123662799905305,
          -0.7249465119962123
        ],
        "color": [
          1.0,
          1.0,
          1.0
        ],
        "intensity": 40.0,
        "rect_width": 1.4,
        "rect_height": 1.5,
        "enable_shadow": true
      }
    ]
  },
  "root_position": [
    0.0,
    0.0,
    0.0
  ],
  "joint_positions": {
    "root_x_axis_joint": 0.0,
    "root_y_axis_joint": 0.0,
    "root_z_rotation_joint": 0.0,
    "vertical_move": 0.0,
    "wheel1_joint": 0.0,
    "wheel2_joint": 0.0,
    "wheel3_joint": 0.0,
    "left_shoulder_pan": -0.15000000596046448,
    "right_shoulder_pan": 0.15000000596046448,
    "left_shoulder_lift": -0.6000000238418579,
    "right_shoulder_lift": -0.6000000238418579,
    "left_elbow_flex": 0.800000011920929,
    "right_elbow_flex": 0.800000011920929,
    "left_wrist_flex": 0.0,
    "right_wrist_flex": 0.0,
    "left_wrist_yaw_joint": 0.0,
    "right_wrist_yaw_joint": 0.0,
    "left_wrist_roll": 0.0,
    "right_wrist_roll": 0.0,
    "left_gripper": -0.5,
    "right_gripper": -0.5
  },
  "physics_stepped": false,
  "warmup_frames": 48,
  "image": "aloha_mini_2_pro.png",
  "description": "Aloha Mini 2 Pro documentation illustration with native OfflineRT rendering, a display pose and three rectangular studio lights."
}