Replicating DexMachina Core Results

Hi, what are the frames that are used to train the different demonstrations that are seen in the figure below? Ex, what arguments do I pass in for the --clip parameter for the train_rl.sh script?

<img width="687" height="349" alt="Image" src="https://github.com/user-attachments/assets/43df6bca-6b53-4f76-b473-2003523f7102" />