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+      "class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction",
+      "asset_name": "robot",
+      "debug_vis": false,
+      "clip": null,
+      "joint_names": [
+        "panda_joint.*"
+      ],
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+      "offset": 0.0,
+      "preserve_order": true,
+      "use_default_offset": false
+    },
+    "finger_joint": {
+      "class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction",
+      "asset_name": "robot",
+      "debug_vis": false,
+      "clip": null,
+      "joint_names": [
+        "finger_joint"
+      ],
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+      "func": "policies.pi0_family.collection_randomization:reset_collection_randomization",
+      "params": {},
+      "mode": "reset",
+      "interval_range_s": null,
+      "is_global_time": false,
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+    }
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+  "episode_length_s": 60,
+  "rewards": {},
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+    "time_out": {
+      "func": "isaaclab.envs.mdp.terminations:time_out",
+      "params": {},
+      "time_out": true
+    },
+    "success": {
+      "func": "robolab.core.task.conditionals:object_on_top",
+      "params": {
+        "object": [
+          "serving_bowl"
+        ],
+        "reference_object": "rack_l04",
+        "logical": "all",
+        "require_gripper_detached": true
+      },
+      "time_out": false
+    }
+  },
+  "curriculum": {},
+  "commands": {},
+  "subtasks": [
+    {
+      "conditions": {
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+          [
+            "functools.partial(<function object_grabbed at 0x720008e05300>, object='serving_bowl')",
+            0.0
+          ],
+          [
+            "functools.partial(<function object_in_container at 0x720008f7fc40>, object='serving_bowl', container='rack_l04', require_contact_with=False, require_gripper_detached=True)",
+            1.0
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+    "spatial",
+    "simple"
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+    "spatial",
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+  "_task_name": "PutBowlOnShelfTopTask",
+  "num_envs": 1,
+  "env_spacing": 10.0,
+  "contact_gripper": {
+    "gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"
+  },
+  "gripper_closure_cfg": null,
+  "instruction": "Put the serving bowl anywhere on the shelf in front of you",
+  "contact_object_list": [
+    "ceramic_mug",
+    "mug",
+    "rack_l04",
+    "serving_bowl",
+    "utilityjug_a01",
+    "table"
+  ],
+  "_instruction_variants": {
+    "default": "Put the serving bowl anywhere on the shelf in front of you",
+    "vague": "Put the bowl on shelf",
+    "specific": "Pick up the white serving bowl that's on the table to the right and place it on any open space on the shelf on the center of the table"
+  },
+  "policy": "pi05",
+  "renderer": "realtime"
+}
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