[
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    "run": "comfree_pick_ccd100",
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    "run": "comfree_pick_tuned",
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    "arm_gravity_compensation": true,
    "note": "Scripted diagnostic; no policy training. MuJoCo convex mesh collision. CPU forward used only for measurement/render.",
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    "run": "comfree_rest",
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  {
    "run": "mjwarp_pick_reference",
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    "simulated_seconds": 9.0,
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  {
    "run": "mujoco_pick",
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    "task": "pick",
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  {
    "run": "mujoco_pick_gravcomp",
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  {
    "run": "mujoco_rest",
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    "simulated_seconds": 3.0,
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]