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                null
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            },
            "site_names": [
              "tcp"
            ],
            "site_ids": {
              "slice": [
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                null,
                null
              ]
            },
            "actuator_names": null,
            "actuator_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "tendon_names": null,
            "tendon_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "camera_names": null,
            "camera_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "light_names": null,
            "light_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "material_names": null,
            "material_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "texture_names": null,
            "texture_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "pair_names": null,
            "pair_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "preserve_order": false
          }
        },
        "weight": 1.0
      },
      "lift_precise": {
        "func": "mjlab.tasks.manipulation.mdp.rewards.bring_object_reward",
        "params": {
          "command_name": "lift_height",
          "object_name": "bottle",
          "std": 0.05
        },
        "weight": 1.0
      },
      "action_rate_l2": {
        "func": "mjlab.envs.mdp.rewards.action_rate_l2",
        "params": {},
        "weight": -0.01
      },
      "joint_pos_limits": {
        "func": "mjlab.envs.mdp.rewards.joint_pos_limits",
        "params": {
          "asset_cfg": {
            "name": "robot",
            "joint_names": [
              ".*"
            ],
            "joint_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "body_names": null,
            "body_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "geom_names": null,
            "geom_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "site_names": null,
            "site_ids": {
              "slice": [
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                null,
                null
              ]
            },
            "actuator_names": null,
            "actuator_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "tendon_names": null,
            "tendon_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "camera_names": null,
            "camera_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "light_names": null,
            "light_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "material_names": null,
            "material_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "texture_names": null,
            "texture_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "pair_names": null,
            "pair_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "preserve_order": false
          }
        },
        "weight": -10.0
      },
      "joint_vel_hinge": {
        "func": "mjlab.tasks.manipulation.mdp.rewards.joint_velocity_hinge_penalty",
        "params": {
          "max_vel": 0.5,
          "asset_cfg": {
            "name": "robot",
            "joint_names": [
              ".*"
            ],
            "joint_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "body_names": null,
            "body_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "geom_names": null,
            "geom_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "site_names": null,
            "site_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "actuator_names": null,
            "actuator_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "tendon_names": null,
            "tendon_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "camera_names": null,
            "camera_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "light_names": null,
            "light_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "material_names": null,
            "material_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "texture_names": null,
            "texture_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "pair_names": null,
            "pair_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "preserve_order": false
          }
        },
        "weight": -0.01
      }
    },
    "commands": {
      "lift_height": {
        "resampling_time_range": [
          1000000000.0,
          1000000000.0
        ],
        "debug_vis": true,
        "entity_name": "bottle",
        "success_threshold": 0.05,
        "difficulty": "fixed",
        "target_position_range": {
          "x": [
            0.3,
            0.5
          ],
          "y": [
            -0.2,
            0.2
          ],
          "z": [
            0.2,
            0.4
          ]
        },
        "object_pose_range": null,
        "viz": {
          "target_color": [
            1.0,
            0.5,
            0.0,
            0.3
          ]
        }
      }
    },
    "reward_curriculum": {
      "joint_vel_hinge_weight": {
        "func": "mjlab.envs.mdp.curriculums.reward_curriculum",
        "params": {
          "reward_name": "joint_vel_hinge",
          "stages": [
            {
              "step": 0,
              "weight": -0.01
            },
            {
              "step": 12000,
              "weight": -0.1
            },
            {
              "step": 24000,
              "weight": -1.0
            }
          ]
        }
      }
    }
  },
  "note": "Fixed per-world episode quotas; no IK, reachability, visibility or collision-start rejection. No training.",
  "role": "scripted restricted-DR initialization source; not learned-policy success",
  "seed": 2521,
  "scale": 0.05,
  "filtering": "none; every requested trial and its data retained"
}