{
  "motion": "/home/z/bridge/rl/bridge_amp_v4/motions_forward_knee/t800_walk_forward_knee.npz",
  "amp_motions": [
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    "/home/z/bridge/rl/bridge_amp_v4/motions_stand_turn/t800_turn_right_forward_knee.npz"
  ],
  "standing_turn_repair": true,
  "cpu": {
    "raw_normalizer_moments": true,
    "normalization_is_read_only": true,
    "normalized_space_gradient_penalty": true,
    "style_reward_dt_scaling": true,
    "air_time_active_at_028m_s": true,
    "linear_sliding_and_force_history_axes": true,
    "expert_temporal_windows": true,
    "retarget_geometry_checks": true,
    "forward_knee_geometry": true,
    "actual_joint_axis_reflection_and_involution": true,
    "native_posture_reward": true,
    "target_bounds_are_forward_geometry": true,
    "expert_windows_do_not_cross_clips": true
  },
  "gpu": {
    "actor_dim": 1038,
    "critic_dim": 1041,
    "amp_shape": [
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      48
    ],
    "healthy_history_advances_once_on_partial_reset": true,
    "terminal_full_window_captured_before_reset": true,
    "repeated_observation_reads_preserve_history": true,
    "expert_online_feature_alignment": true,
    "contact_rows_match_foot_body_order": [
      "right_ankle_roll_link",
      "left_ankle_roll_link"
    ],
    "native_target_clip_applied_after_scale_and_offset": true,
    "standing_pose_reward_good": 1.0,
    "standing_pose_reward_reversed_knees_and_shoulders": 0.000927288958337158
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}