[Manas-arumalla]

OpenArm-Puck starts with the right forearm inside the puck. It uses the shared home pose, which holds the right forearm level just above the table, and the puck starts under the wrist. Even with no reset noise, link6 is 4 mm inside the puck in every reset; with the usual joint noise, about two resets in three start overlapped, up to 25 mm deep. Found with the audit in #23.

This gives the puck task its own home pose with the right elbow raised from 90 to 101.4 deg (openarm_right_joint4 = 1.77). Nothing else changes, and the hand still starts over the puck, 4 cm higher. OpenArm-Puck-Vision shares it.

Checks

• Start: over 2048 resets with the usual noise, none start in contact with the puck or the table (was about 66%).
• Why not move the puck: shifting it 3 to 8 cm still leaves 33 to 68% of resets overlapped, because the forearm lies low across the table.
• Training: it learns just as well from the clean start. Same settings as a control on current main (1024 envs, 3000 iterations), scored with the audit from Add openarm-mjlab-audit: check whether a task's successes are honest #23:

	resets starting inside the puck	success
current start, seed 42	66%	99.9%
fixed start, seed 42	0%	99.7%
fixed start, seed 123	0%	100%
fixed start, seed 7	0%	99.9%

[k1000dai]

LGTM