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            "camera_ids": {
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            "light_names": null,
            "light_ids": {
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            },
            "material_names": null,
            "material_ids": {
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            "texture_names": null,
            "texture_ids": {
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            "pair_ids": {
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                null
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            },
            "preserve_order": false
          }
        },
        "weight": 1.0
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      "lift_precise": {
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      "action_rate_l2": {
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      "joint_pos_limits": {
        "func": "mjlab.envs.mdp.rewards.joint_pos_limits",
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            "joint_names": [
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            "joint_ids": {
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            "body_names": null,
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            "camera_ids": {
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            "light_ids": {
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            "preserve_order": false
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        },
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      "joint_vel_hinge": {
        "func": "mjlab.tasks.manipulation.mdp.rewards.joint_velocity_hinge_penalty",
        "params": {
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          "asset_cfg": {
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            "joint_names": [
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            ],
            "joint_ids": {
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                null,
                null
              ]
            },
            "body_names": null,
            "body_ids": {
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                null
              ]
            },
            "geom_names": null,
            "geom_ids": {
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            },
            "site_names": null,
            "site_ids": {
              "slice": [
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                null
              ]
            },
            "actuator_names": null,
            "actuator_ids": {
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            "tendon_names": null,
            "tendon_ids": {
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            "camera_names": null,
            "camera_ids": {
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            "light_ids": {
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            "material_names": null,
            "material_ids": {
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              ]
            },
            "texture_names": null,
            "texture_ids": {
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            "pair_names": null,
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            "preserve_order": false
          }
        },
        "weight": -0.01
      }
    },
    "commands": {
      "lift_height": {
        "resampling_time_range": [
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          1000000000.0
        ],
        "debug_vis": true,
        "entity_name": "bottle",
        "success_threshold": 0.05,
        "difficulty": "fixed",
        "target_position_range": {
          "x": [
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            0.5
          ],
          "y": [
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            0.2
          ],
          "z": [
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          ]
        },
        "object_pose_range": null,
        "viz": {
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            0.0,
            0.3
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        }
      }
    },
    "reward_curriculum": {
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        "params": {
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          "stages": [
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              "weight": -0.01
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            {
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              "weight": -0.1
            },
            {
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              "weight": -1.0
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          ]
        }
      }
    }
  },
  "note": "Fixed per-world episode quotas; no IK, reachability, visibility or collision-start rejection. No training.",
  "role": "guide-labeled actor-mixture initialization source; not standalone learned-policy success",
  "seed": 2508,
  "scale": 0.05,
  "filtering": "none; every requested trial and its data retained"
}