{
  "source_asset": "InspireHand/InspireRightHand/InspireRightHand.urdf",
  "source_urdf": "/root/.cache/embodichain_data/extract/InspireHand/InspireRightHand/InspireRightHand.urdf",
  "source_urdf_sha256": "552735ed7251a284034fdcc7f0aab08e750d04353f237d88bfe9b3f48988045f",
  "image": "inspire_right.png",
  "image_sha256": "37a64678f74f476631462307d9ca468b544db7b0b2c1fa5be4d59f109c981d50",
  "render_cfg": {
    "renderer": "rt",
    "spp": 1,
    "denoising": {
      "offscreen": "dlss"
    },
    "dlss_quality": 2,
    "tone_mapping_enabled": false
  },
  "camera": {
    "eye": [
      0.1337901881337166,
      -0.33330939546227456,
      0.2543578115105629
    ],
    "target": [
      -0.10821907967329025,
      0.009537067264318466,
      0.07285086065530777
    ],
    "up": [
      0,
      0,
      1
    ],
    "intrinsics": [
      2100,
      2100,
      800,
      540
    ],
    "near": 0.005,
    "far": 60,
    "width": 1600,
    "height": 1080
  },
  "bounds": {
    "min": [
      -0.21649575233459473,
      -0.027485430240631104,
      0.020000003278255463
    ],
    "max": [
      5.759300620411523e-05,
      0.046559564769268036,
      0.12570172548294067
    ]
  },
  "physics_stepped": false,
  "joint_positions": {
    "R_index_MCP_joint": 0.09427852183580399,
    "R_middle_MCP_joint": 0.10563871264457703,
    "R_pinky_MCP_joint": 0.0826960951089859,
    "R_ring_MCP_joint": 0.11572019755840302,
    "R_thumb_MCP_joint1": 0.30000001192092896,
    "R_index_DIP_joint": 0.06540311127901077,
    "R_middle_DIP_joint": 0.07346506416797638,
    "R_pinky_DIP_joint": 0.1032976359128952,
    "R_ring_DIP_joint": 0.08066773414611816,
    "R_thumb_MCP_joint2": -1.3160794973373413,
    "R_thumb_PIP_joint": 0.0,
    "R_thumb_DIP_joint": 0.0
  },
  "warmup_frames": 48,
  "material_overrides": [],
  "root_position": [
    0.0,
    0.0,
    0.08237381279468536
  ],
  "root_rotation_degrees": [
    0,
    -90,
    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": 0.30251158475875856
    },
    {
      "name": "fill",
      "relative_to_bounds_center": [
        -1.5,
        -0.5,
        1.0
      ],
      "intensity": 100,
      "size": 0.30251158475875856
    },
    {
      "name": "rim",
      "relative_to_bounds_center": [
        0.0,
        1.5,
        1.5
      ],
      "intensity": 150,
      "size": 0.30251158475875856
    }
  ],
  "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"
}