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"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": [ 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": -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": "guide-labeled actor-mixture initialization source; not standalone learned-policy success", "seed": 2512, "scale": 0.05, "filtering": "none; every requested trial and its data retained" }