{
  "source_sha256": "cc54c5638fafd4fd991b9916c75649c42ff5abb5de4383d93df39c41da6e016d",
  "cohorts": {
    "id": {
      "zero-shot": {
        "label": "zero-shot",
        "sha256": "3da76c131651a8605e250ddc83c5e4f466343d3dfa125a38f9f1bd390137c38a",
        "frozen_at": "2026-11-05T20:53:17.952193+00:00",
        "development_episodes_before_submission": 0,
        "widths": [
          100,
          34,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          90,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          144,
          324,
          324,
          324,
          324,
          324,
          324,
          324,
          324,
          324,
          156,
          473,
          134,
          135,
          137,
          138,
          138,
          138,
          138,
          138,
          138,
          138,
          138,
          130,
          112,
          182,
          182,
          182,
          182,
          182,
          182,
          182,
          182,
          182,
          14,
          14,
          7
        ],
        "activations": [
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "linear"
        ],
        "parameters": 19818049,
        "episodes": 100,
        "successes": 99,
        "success_rate": 0.99,
        "wilson_95_interval": [
          0.9455138038212946,
          0.9982325679358593
        ],
        "results": [
          {
            "success": true,
            "reason": "success",
            "steps": 337,
            "simulated_seconds": 6.7239999999994815,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.65625952727028,
            "maximum_tip_depth_m": 0.03182225836732544,
            "final_tip_depth_m": 0.03182225836732544
          },
          {
            "success": true,
            "reason": "success",
            "steps": 327,
            "simulated_seconds": 6.535999999999502,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 4.882069470956916,
            "maximum_tip_depth_m": 0.031984685505900945,
            "final_tip_depth_m": 0.031984685505900945
          },
          {
            "success": true,
            "reason": "success",
            "steps": 322,
            "simulated_seconds": 6.425999999999514,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 3.3594876305272923,
            "maximum_tip_depth_m": 0.03198068560720446,
            "final_tip_depth_m": 0.03198068560720446
          },
          {
            "success": true,
            "reason": "success",
            "steps": 352,
            "simulated_seconds": 7.035999999999447,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.832127475316838,
            "maximum_tip_depth_m": 0.03196597104863308,
            "final_tip_depth_m": 0.03196597104863308
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.135999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.0,
            "maximum_tip_depth_m": 0.03143633443223026,
            "final_tip_depth_m": 0.03143633443223026
          },
          {
            "success": true,
            "reason": "success",
            "steps": 332,
            "simulated_seconds": 6.629999999999492,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.510264194314416,
            "maximum_tip_depth_m": 0.03197265247034209,
            "final_tip_depth_m": 0.03197265247034209
          },
          {
            "success": true,
            "reason": "success",
            "steps": 312,
            "simulated_seconds": 6.239999999999535,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.614506540836416,
            "maximum_tip_depth_m": 0.03143678594608723,
            "final_tip_depth_m": 0.03143678594608723
          },
          {
            "success": true,
            "reason": "success",
            "steps": 258,
            "simulated_seconds": 5.141999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 2.3691289289247304,
            "maximum_tip_depth_m": 0.03143593126554595,
            "final_tip_depth_m": 0.03143593126554595
          },
          {
            "success": true,
            "reason": "success",
            "steps": 345,
            "simulated_seconds": 6.881999999999464,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.69047825018256,
            "maximum_tip_depth_m": 0.03197502879459502,
            "final_tip_depth_m": 0.03197502879459502
          },
          {
            "success": true,
            "reason": "success",
            "steps": 327,
            "simulated_seconds": 6.527999999999503,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.862286800337856,
            "maximum_tip_depth_m": 0.03197691471794184,
            "final_tip_depth_m": 0.03197691471794184
          },
          {
            "success": true,
            "reason": "success",
            "steps": 333,
            "simulated_seconds": 6.64999999999949,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.26695826411932,
            "maximum_tip_depth_m": 0.031979726324303015,
            "final_tip_depth_m": 0.031979726324303015
          },
          {
            "success": true,
            "reason": "success",
            "steps": 330,
            "simulated_seconds": 6.585999999999497,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.764381587840912,
            "maximum_tip_depth_m": 0.03197795063765391,
            "final_tip_depth_m": 0.03197795063765391
          },
          {
            "success": true,
            "reason": "success",
            "steps": 318,
            "simulated_seconds": 6.3519999999995225,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 5.750900958905865,
            "maximum_tip_depth_m": 0.03197118074784633,
            "final_tip_depth_m": 0.03197118074784633
          },
          {
            "success": true,
            "reason": "success",
            "steps": 454,
            "simulated_seconds": 9.079999999999702,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.597768510892415,
            "maximum_tip_depth_m": 0.03198282079130399,
            "final_tip_depth_m": 0.03198282079130399
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.135999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.0,
            "maximum_tip_depth_m": 0.03143633443223026,
            "final_tip_depth_m": 0.03143633443223026
          },
          {
            "success": true,
            "reason": "success",
            "steps": 325,
            "simulated_seconds": 6.497999999999506,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 3.2524150973029333,
            "maximum_tip_depth_m": 0.031984102456850294,
            "final_tip_depth_m": 0.031984102456850294
          },
          {
            "success": true,
            "reason": "success",
            "steps": 353,
            "simulated_seconds": 7.0419999999994465,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.824185126352173,
            "maximum_tip_depth_m": 0.031967738410848545,
            "final_tip_depth_m": 0.031967738410848545
          },
          {
            "success": true,
            "reason": "success",
            "steps": 339,
            "simulated_seconds": 6.761999999999477,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.862626437511743,
            "maximum_tip_depth_m": 0.03198389357338138,
            "final_tip_depth_m": 0.03198389357338138
          },
          {
            "success": true,
            "reason": "success",
            "steps": 382,
            "simulated_seconds": 7.6319999999993815,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.801198994470866,
            "maximum_tip_depth_m": 0.03197730847191432,
            "final_tip_depth_m": 0.03197730847191432
          },
          {
            "success": true,
            "reason": "success",
            "steps": 335,
            "simulated_seconds": 6.6879999999994855,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.635628660504747,
            "maximum_tip_depth_m": 0.03197368303486642,
            "final_tip_depth_m": 0.03197368303486642
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.135999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.0,
            "maximum_tip_depth_m": 0.03143633443223026,
            "final_tip_depth_m": 0.03143633443223026
          },
          {
            "success": true,
            "reason": "success",
            "steps": 332,
            "simulated_seconds": 6.6239999999994925,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.57563700240253,
            "maximum_tip_depth_m": 0.03197659146925047,
            "final_tip_depth_m": 0.03197659146925047
          },
          {
            "success": true,
            "reason": "success",
            "steps": 346,
            "simulated_seconds": 6.901999999999462,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.237330240690856,
            "maximum_tip_depth_m": 0.03198442250743877,
            "final_tip_depth_m": 0.03198442250743877
          },
          {
            "success": true,
            "reason": "success",
            "steps": 318,
            "simulated_seconds": 6.3519999999995225,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 2.533632352444468,
            "maximum_tip_depth_m": 0.031975221255207464,
            "final_tip_depth_m": 0.031975221255207464
          },
          {
            "success": true,
            "reason": "success",
            "steps": 341,
            "simulated_seconds": 6.811999999999472,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.481521997260746,
            "maximum_tip_depth_m": 0.03197845538046412,
            "final_tip_depth_m": 0.03197845538046412
          },
          {
            "success": true,
            "reason": "success",
            "steps": 388,
            "simulated_seconds": 7.755999999999368,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.659024722877213,
            "maximum_tip_depth_m": 0.03198392291578839,
            "final_tip_depth_m": 0.03198392291578839
          },
          {
            "success": true,
            "reason": "success",
            "steps": 380,
            "simulated_seconds": 7.583999999999387,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.62520418632046,
            "maximum_tip_depth_m": 0.03197760706659747,
            "final_tip_depth_m": 0.03197760706659747
          },
          {
            "success": true,
            "reason": "success",
            "steps": 335,
            "simulated_seconds": 6.689999999999485,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.32554707234453,
            "maximum_tip_depth_m": 0.031974651653358444,
            "final_tip_depth_m": 0.031974651653358444
          },
          {
            "success": true,
            "reason": "success",
            "steps": 324,
            "simulated_seconds": 6.46599999999951,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 3.477251660264982,
            "maximum_tip_depth_m": 0.031982795530937136,
            "final_tip_depth_m": 0.031982795530937136
          },
          {
            "success": true,
            "reason": "success",
            "steps": 328,
            "simulated_seconds": 6.5519999999995004,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.643171538355272,
            "maximum_tip_depth_m": 0.03197728437636199,
            "final_tip_depth_m": 0.03197728437636199
          },
          {
            "success": true,
            "reason": "success",
            "steps": 309,
            "simulated_seconds": 6.177999999999542,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.469862030512328,
            "maximum_tip_depth_m": 0.03143718184772981,
            "final_tip_depth_m": 0.03143718184772981
          },
          {
            "success": true,
            "reason": "success",
            "steps": 258,
            "simulated_seconds": 5.155999999999654,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 6.743569648287471,
            "maximum_tip_depth_m": 0.03143824397541578,
            "final_tip_depth_m": 0.03143824397541578
          },
          {
            "success": true,
            "reason": "success",
            "steps": 335,
            "simulated_seconds": 6.693999999999485,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.471080326573205,
            "maximum_tip_depth_m": 0.031978219425429166,
            "final_tip_depth_m": 0.031978219425429166
          },
          {
            "success": true,
            "reason": "success",
            "steps": 324,
            "simulated_seconds": 6.471999999999509,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 2.86161582888366,
            "maximum_tip_depth_m": 0.03198192890699059,
            "final_tip_depth_m": 0.03198192890699059
          },
          {
            "success": true,
            "reason": "success",
            "steps": 319,
            "simulated_seconds": 6.365999999999521,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 5.694067155677618,
            "maximum_tip_depth_m": 0.03197085006547007,
            "final_tip_depth_m": 0.03197085006547007
          },
          {
            "success": true,
            "reason": "success",
            "steps": 359,
            "simulated_seconds": 7.163999999999433,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.781382937584546,
            "maximum_tip_depth_m": 0.03198610707192734,
            "final_tip_depth_m": 0.03198610707192734
          },
          {
            "success": true,
            "reason": "success",
            "steps": 420,
            "simulated_seconds": 8.391999999999472,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.741211532933068,
            "maximum_tip_depth_m": 0.0319503874571464,
            "final_tip_depth_m": 0.0319503874571464
          },
          {
            "success": true,
            "reason": "success",
            "steps": 258,
            "simulated_seconds": 5.159999999999654,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 7.864213214580403,
            "maximum_tip_depth_m": 0.0314365375363439,
            "final_tip_depth_m": 0.0314365375363439
          },
          {
            "success": true,
            "reason": "success",
            "steps": 328,
            "simulated_seconds": 6.549999999999501,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.139350797057723,
            "maximum_tip_depth_m": 0.03197901079355664,
            "final_tip_depth_m": 0.03197901079355664
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.135999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.0,
            "maximum_tip_depth_m": 0.03143633443223026,
            "final_tip_depth_m": 0.03143633443223026
          },
          {
            "success": true,
            "reason": "success",
            "steps": 315,
            "simulated_seconds": 6.28399999999953,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.82125335323511,
            "maximum_tip_depth_m": 0.031438654787300124,
            "final_tip_depth_m": 0.031438654787300124
          },
          {
            "success": true,
            "reason": "success",
            "steps": 315,
            "simulated_seconds": 6.28599999999953,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.672991684940513,
            "maximum_tip_depth_m": 0.03143820227946803,
            "final_tip_depth_m": 0.03143820227946803
          },
          {
            "success": true,
            "reason": "success",
            "steps": 378,
            "simulated_seconds": 7.545999999999391,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.73504052688359,
            "maximum_tip_depth_m": 0.03196466932682657,
            "final_tip_depth_m": 0.03196466932682657
          },
          {
            "success": true,
            "reason": "success",
            "steps": 317,
            "simulated_seconds": 6.3339999999995245,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 4.678415491061638,
            "maximum_tip_depth_m": 0.03197503953578307,
            "final_tip_depth_m": 0.03197503953578307
          },
          {
            "success": true,
            "reason": "success",
            "steps": 372,
            "simulated_seconds": 7.437999999999403,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.75063448504191,
            "maximum_tip_depth_m": 0.03143849024792744,
            "final_tip_depth_m": 0.03143849024792744
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.135999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.0,
            "maximum_tip_depth_m": 0.03143633443223026,
            "final_tip_depth_m": 0.03143633443223026
          },
          {
            "success": true,
            "reason": "success",
            "steps": 331,
            "simulated_seconds": 6.6059999999994945,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.848959951025073,
            "maximum_tip_depth_m": 0.031979771720234584,
            "final_tip_depth_m": 0.031979771720234584
          },
          {
            "success": true,
            "reason": "success",
            "steps": 329,
            "simulated_seconds": 6.565999999999499,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.29805983316317,
            "maximum_tip_depth_m": 0.03197235078528027,
            "final_tip_depth_m": 0.03197235078528027
          },
          {
            "success": true,
            "reason": "success",
            "steps": 372,
            "simulated_seconds": 7.421999999999405,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.721633408744484,
            "maximum_tip_depth_m": 0.031437635754606785,
            "final_tip_depth_m": 0.031437635754606785
          },
          {
            "success": true,
            "reason": "success",
            "steps": 328,
            "simulated_seconds": 6.543999999999501,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 4.812999115662152,
            "maximum_tip_depth_m": 0.03198302756229343,
            "final_tip_depth_m": 0.03198302756229343
          },
          {
            "success": true,
            "reason": "success",
            "steps": 341,
            "simulated_seconds": 6.815999999999471,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.80898311141413,
            "maximum_tip_depth_m": 0.031977753637111805,
            "final_tip_depth_m": 0.031977753637111805
          },
          {
            "success": true,
            "reason": "success",
            "steps": 314,
            "simulated_seconds": 6.263999999999532,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.62073901932688,
            "maximum_tip_depth_m": 0.03197172396334347,
            "final_tip_depth_m": 0.03197172396334347
          },
          {
            "success": true,
            "reason": "success",
            "steps": 324,
            "simulated_seconds": 6.475999999999509,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.82027433962475,
            "maximum_tip_depth_m": 0.031971858739459236,
            "final_tip_depth_m": 0.031971858739459236
          },
          {
            "success": true,
            "reason": "success",
            "steps": 385,
            "simulated_seconds": 7.6859999999993756,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.605583876865232,
            "maximum_tip_depth_m": 0.031986495301121576,
            "final_tip_depth_m": 0.031986495301121576
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.135999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.0,
            "maximum_tip_depth_m": 0.03143633443223026,
            "final_tip_depth_m": 0.03143633443223026
          },
          {
            "success": true,
            "reason": "success",
            "steps": 339,
            "simulated_seconds": 6.763999999999477,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.819110518422836,
            "maximum_tip_depth_m": 0.03197076699609691,
            "final_tip_depth_m": 0.03197076699609691
          },
          {
            "success": true,
            "reason": "success",
            "steps": 281,
            "simulated_seconds": 5.601999999999605,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.806262388549893,
            "maximum_tip_depth_m": 0.03143797833276557,
            "final_tip_depth_m": 0.03143797833276557
          },
          {
            "success": true,
            "reason": "success",
            "steps": 308,
            "simulated_seconds": 6.155999999999544,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.931504252179728,
            "maximum_tip_depth_m": 0.03188375092197582,
            "final_tip_depth_m": 0.03188375092197582
          },
          {
            "success": true,
            "reason": "success",
            "steps": 307,
            "simulated_seconds": 6.121999999999548,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.76036727067428,
            "maximum_tip_depth_m": 0.031437699960417176,
            "final_tip_depth_m": 0.031437699960417176
          },
          {
            "success": true,
            "reason": "success",
            "steps": 315,
            "simulated_seconds": 6.295999999999529,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.796675939107303,
            "maximum_tip_depth_m": 0.03143710558383578,
            "final_tip_depth_m": 0.03143710558383578
          },
          {
            "success": true,
            "reason": "success",
            "steps": 330,
            "simulated_seconds": 6.583999999999497,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.777071847783752,
            "maximum_tip_depth_m": 0.031959780182235,
            "final_tip_depth_m": 0.031959780182235
          },
          {
            "success": true,
            "reason": "success",
            "steps": 276,
            "simulated_seconds": 5.503999999999616,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.760439095610288,
            "maximum_tip_depth_m": 0.03143855768960169,
            "final_tip_depth_m": 0.03143855768960169
          },
          {
            "success": true,
            "reason": "success",
            "steps": 311,
            "simulated_seconds": 6.207999999999538,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 5.0781412414855245,
            "maximum_tip_depth_m": 0.03196341453768081,
            "final_tip_depth_m": 0.03196341453768081
          },
          {
            "success": true,
            "reason": "success",
            "steps": 367,
            "simulated_seconds": 7.323999999999415,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.772065094040123,
            "maximum_tip_depth_m": 0.03185478935528574,
            "final_tip_depth_m": 0.03185478935528574
          },
          {
            "success": true,
            "reason": "success",
            "steps": 390,
            "simulated_seconds": 7.797999999999363,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.735191574121792,
            "maximum_tip_depth_m": 0.03197675100239805,
            "final_tip_depth_m": 0.03197675100239805
          },
          {
            "success": true,
            "reason": "success",
            "steps": 258,
            "simulated_seconds": 5.141999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 3.0575694103402693,
            "maximum_tip_depth_m": 0.03143832013875675,
            "final_tip_depth_m": 0.03143832013875675
          },
          {
            "success": true,
            "reason": "success",
            "steps": 349,
            "simulated_seconds": 6.961999999999455,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.757824444930222,
            "maximum_tip_depth_m": 0.03197070996410917,
            "final_tip_depth_m": 0.03197070996410917
          },
          {
            "success": true,
            "reason": "success",
            "steps": 342,
            "simulated_seconds": 6.83199999999947,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.836460884830984,
            "maximum_tip_depth_m": 0.03185131083212123,
            "final_tip_depth_m": 0.03185131083212123
          },
          {
            "success": true,
            "reason": "success",
            "steps": 318,
            "simulated_seconds": 6.355999999999522,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 3.504517129326925,
            "maximum_tip_depth_m": 0.03197407791165224,
            "final_tip_depth_m": 0.03197407791165224
          },
          {
            "success": true,
            "reason": "success",
            "steps": 342,
            "simulated_seconds": 6.835999999999469,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.633809871673257,
            "maximum_tip_depth_m": 0.03198239978673423,
            "final_tip_depth_m": 0.03198239978673423
          },
          {
            "success": true,
            "reason": "success",
            "steps": 317,
            "simulated_seconds": 6.3339999999995245,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 3.073098089569065,
            "maximum_tip_depth_m": 0.03197376755306064,
            "final_tip_depth_m": 0.03197376755306064
          },
          {
            "success": true,
            "reason": "success",
            "steps": 315,
            "simulated_seconds": 6.297999999999528,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 4.665544726709836,
            "maximum_tip_depth_m": 0.031972645857381576,
            "final_tip_depth_m": 0.031972645857381576
          },
          {
            "success": true,
            "reason": "success",
            "steps": 335,
            "simulated_seconds": 6.6879999999994855,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.790939857907823,
            "maximum_tip_depth_m": 0.031958147826773864,
            "final_tip_depth_m": 0.031958147826773864
          },
          {
            "success": true,
            "reason": "success",
            "steps": 353,
            "simulated_seconds": 7.043999999999446,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.75428065277814,
            "maximum_tip_depth_m": 0.031981444256856895,
            "final_tip_depth_m": 0.031981444256856895
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.137999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 3.3485372899243453,
            "maximum_tip_depth_m": 0.031436164576889414,
            "final_tip_depth_m": 0.031436164576889414
          },
          {
            "success": true,
            "reason": "success",
            "steps": 307,
            "simulated_seconds": 6.1339999999995465,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.790739494180713,
            "maximum_tip_depth_m": 0.03143862725603802,
            "final_tip_depth_m": 0.03143862725603802
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.135999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.0,
            "maximum_tip_depth_m": 0.03143633443223026,
            "final_tip_depth_m": 0.03143633443223026
          },
          {
            "success": true,
            "reason": "success",
            "steps": 332,
            "simulated_seconds": 6.639999999999491,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.571999747639097,
            "maximum_tip_depth_m": 0.03197980244395182,
            "final_tip_depth_m": 0.03197980244395182
          },
          {
            "success": true,
            "reason": "success",
            "steps": 315,
            "simulated_seconds": 6.28199999999953,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.84668226274814,
            "maximum_tip_depth_m": 0.03143685146136854,
            "final_tip_depth_m": 0.03143685146136854
          },
          {
            "success": true,
            "reason": "success",
            "steps": 334,
            "simulated_seconds": 6.671999999999487,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.777610374912516,
            "maximum_tip_depth_m": 0.03197099678243337,
            "final_tip_depth_m": 0.03197099678243337
          },
          {
            "success": true,
            "reason": "success",
            "steps": 321,
            "simulated_seconds": 6.411999999999516,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 3.677335310605749,
            "maximum_tip_depth_m": 0.031976806742641695,
            "final_tip_depth_m": 0.031976806742641695
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.135999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.0,
            "maximum_tip_depth_m": 0.03143633443223026,
            "final_tip_depth_m": 0.03143633443223026
          },
          {
            "success": true,
            "reason": "success",
            "steps": 344,
            "simulated_seconds": 6.879999999999464,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.870734447670955,
            "maximum_tip_depth_m": 0.03198277361508989,
            "final_tip_depth_m": 0.03198277361508989
          },
          {
            "success": true,
            "reason": "success",
            "steps": 323,
            "simulated_seconds": 6.447999999999512,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 4.043634667405514,
            "maximum_tip_depth_m": 0.031979037294626034,
            "final_tip_depth_m": 0.031979037294626034
          },
          {
            "success": true,
            "reason": "success",
            "steps": 312,
            "simulated_seconds": 6.237999999999535,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.695027119370657,
            "maximum_tip_depth_m": 0.03143797602485732,
            "final_tip_depth_m": 0.03143797602485732
          },
          {
            "success": true,
            "reason": "success",
            "steps": 375,
            "simulated_seconds": 7.4959999999993965,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.72132909387067,
            "maximum_tip_depth_m": 0.03197168360855557,
            "final_tip_depth_m": 0.03197168360855557
          },
          {
            "success": true,
            "reason": "success",
            "steps": 332,
            "simulated_seconds": 6.6239999999994925,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.728707797534852,
            "maximum_tip_depth_m": 0.031955459157980315,
            "final_tip_depth_m": 0.031955459157980315
          },
          {
            "success": true,
            "reason": "success",
            "steps": 323,
            "simulated_seconds": 6.445999999999512,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 5.512204895455705,
            "maximum_tip_depth_m": 0.031977043402469374,
            "final_tip_depth_m": 0.031977043402469374
          },
          {
            "success": true,
            "reason": "success",
            "steps": 396,
            "simulated_seconds": 7.91799999999935,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.765663596011816,
            "maximum_tip_depth_m": 0.03185477311806845,
            "final_tip_depth_m": 0.03185477311806845
          },
          {
            "success": true,
            "reason": "success",
            "steps": 328,
            "simulated_seconds": 6.545999999999501,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.639721068127834,
            "maximum_tip_depth_m": 0.03197337469126044,
            "final_tip_depth_m": 0.03197337469126044
          },
          {
            "success": true,
            "reason": "success",
            "steps": 274,
            "simulated_seconds": 5.473999999999619,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.723345591172173,
            "maximum_tip_depth_m": 0.031438646325866126,
            "final_tip_depth_m": 0.031438646325866126
          },
          {
            "success": false,
            "reason": "excess_contact_force",
            "steps": 95,
            "simulated_seconds": 1.8820000000000014,
            "longest_hold_seconds": 0.0,
            "peak_contact_force_N": 31.69871621866249,
            "maximum_tip_depth_m": 9.577636973900905e-06,
            "final_tip_depth_m": 9.577636973900905e-06
          },
          {
            "success": true,
            "reason": "success",
            "steps": 334,
            "simulated_seconds": 6.679999999999486,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.760778187556863,
            "maximum_tip_depth_m": 0.03197997235537242,
            "final_tip_depth_m": 0.03197997235537242
          },
          {
            "success": true,
            "reason": "success",
            "steps": 387,
            "simulated_seconds": 7.725999999999371,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.689417949355185,
            "maximum_tip_depth_m": 0.03197999859051465,
            "final_tip_depth_m": 0.03197999859051465
          },
          {
            "success": true,
            "reason": "success",
            "steps": 274,
            "simulated_seconds": 5.473999999999619,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.832931586163543,
            "maximum_tip_depth_m": 0.03143698686929852,
            "final_tip_depth_m": 0.03143698686929852
          },
          {
            "success": true,
            "reason": "success",
            "steps": 333,
            "simulated_seconds": 6.653999999999489,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.763175824576038,
            "maximum_tip_depth_m": 0.03194473144125243,
            "final_tip_depth_m": 0.03194473144125243
          },
          {
            "success": true,
            "reason": "success",
            "steps": 258,
            "simulated_seconds": 5.151999999999655,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 7.0788295693834336,
            "maximum_tip_depth_m": 0.031436889092078646,
            "final_tip_depth_m": 0.031436889092078646
          },
          {
            "success": true,
            "reason": "success",
            "steps": 324,
            "simulated_seconds": 6.46799999999951,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.750385048232804,
            "maximum_tip_depth_m": 0.03197441331808337,
            "final_tip_depth_m": 0.03197441331808337
          },
          {
            "success": true,
            "reason": "success",
            "steps": 335,
            "simulated_seconds": 6.699999999999484,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.581933564554472,
            "maximum_tip_depth_m": 0.03180018636166049,
            "final_tip_depth_m": 0.03180018636166049
          },
          {
            "success": true,
            "reason": "success",
            "steps": 257,
            "simulated_seconds": 5.135999999999656,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 0.0,
            "maximum_tip_depth_m": 0.03143633443223026,
            "final_tip_depth_m": 0.03143633443223026
          }
        ]
      }
    },
    "shifted": {
      "zero-shot": {
        "label": "zero-shot",
        "sha256": "3da76c131651a8605e250ddc83c5e4f466343d3dfa125a38f9f1bd390137c38a",
        "frozen_at": "2026-11-05T20:53:17.952193+00:00",
        "development_episodes_before_submission": 0,
        "widths": [
          100,
          34,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          202,
          90,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          1320,
          144,
          324,
          324,
          324,
          324,
          324,
          324,
          324,
          324,
          324,
          156,
          473,
          134,
          135,
          137,
          138,
          138,
          138,
          138,
          138,
          138,
          138,
          138,
          130,
          112,
          182,
          182,
          182,
          182,
          182,
          182,
          182,
          182,
          182,
          14,
          14,
          7
        ],
        "activations": [
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "relu",
          "linear"
        ],
        "parameters": 19818049,
        "episodes": 100,
        "successes": 94,
        "success_rate": 0.94,
        "wilson_95_interval": [
          0.8752318455410406,
          0.9722138760368118
        ],
        "results": [
          {
            "success": true,
            "reason": "success",
            "steps": 1032,
            "simulated_seconds": 20.62199999999945,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.246201165514904,
            "maximum_tip_depth_m": 0.031899433319198645,
            "final_tip_depth_m": 0.031899433319198645
          },
          {
            "success": true,
            "reason": "success",
            "steps": 596,
            "simulated_seconds": 11.902000000000644,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.800124428929507,
            "maximum_tip_depth_m": 0.031979681587785136,
            "final_tip_depth_m": 0.031979681587785136
          },
          {
            "success": true,
            "reason": "success",
            "steps": 413,
            "simulated_seconds": 8.257999999999427,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.974439054915244,
            "maximum_tip_depth_m": 0.03182452561588117,
            "final_tip_depth_m": 0.03182452561588117
          },
          {
            "success": false,
            "reason": "excess_contact_force",
            "steps": 95,
            "simulated_seconds": 1.8820000000000014,
            "longest_hold_seconds": 0.0,
            "peak_contact_force_N": 41.2062235331222,
            "maximum_tip_depth_m": 2.4565568715884112e-05,
            "final_tip_depth_m": 2.4565568715884112e-05
          },
          {
            "success": true,
            "reason": "success",
            "steps": 961,
            "simulated_seconds": 19.218000000000227,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 26.5886204861106,
            "maximum_tip_depth_m": 0.03197286559766083,
            "final_tip_depth_m": 0.03197286559766083
          },
          {
            "success": true,
            "reason": "success",
            "steps": 1083,
            "simulated_seconds": 21.64599999999888,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 26.162093113737175,
            "maximum_tip_depth_m": 0.03178910690148645,
            "final_tip_depth_m": 0.03178910690148645
          },
          {
            "success": true,
            "reason": "success",
            "steps": 734,
            "simulated_seconds": 14.664000000001566,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 26.08381513857061,
            "maximum_tip_depth_m": 0.031979941157927017,
            "final_tip_depth_m": 0.031979941157927017
          },
          {
            "success": true,
            "reason": "success",
            "steps": 538,
            "simulated_seconds": 10.758000000000262,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.16405627310779,
            "maximum_tip_depth_m": 0.03197053887976481,
            "final_tip_depth_m": 0.03197053887976481
          },
          {
            "success": true,
            "reason": "success",
            "steps": 326,
            "simulated_seconds": 6.515999999999504,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 8.002283724218755,
            "maximum_tip_depth_m": 0.031978056347858774,
            "final_tip_depth_m": 0.031978056347858774
          },
          {
            "success": true,
            "reason": "success",
            "steps": 448,
            "simulated_seconds": 8.95399999999966,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.2457429712265,
            "maximum_tip_depth_m": 0.03197699308654145,
            "final_tip_depth_m": 0.03197699308654145
          },
          {
            "success": true,
            "reason": "success",
            "steps": 706,
            "simulated_seconds": 14.10800000000138,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.47972590844824,
            "maximum_tip_depth_m": 0.031847840190853016,
            "final_tip_depth_m": 0.031847840190853016
          },
          {
            "success": true,
            "reason": "success",
            "steps": 800,
            "simulated_seconds": 15.99000000000201,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.333943867050316,
            "maximum_tip_depth_m": 0.031981485542606825,
            "final_tip_depth_m": 0.031981485542606825
          },
          {
            "success": true,
            "reason": "success",
            "steps": 1265,
            "simulated_seconds": 25.283999999996865,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 26.874433406684044,
            "maximum_tip_depth_m": 0.03197806350347171,
            "final_tip_depth_m": 0.03197806350347171
          },
          {
            "success": false,
            "reason": "excess_contact_force",
            "steps": 356,
            "simulated_seconds": 7.119999999999438,
            "longest_hold_seconds": 0.0,
            "peak_contact_force_N": 31.231087551813612,
            "maximum_tip_depth_m": 3.621116100321897e-05,
            "final_tip_depth_m": -4.192262139934844e-06
          },
          {
            "success": true,
            "reason": "success",
            "steps": 489,
            "simulated_seconds": 9.767999999999931,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.707496509096917,
            "maximum_tip_depth_m": 0.03197890830296496,
            "final_tip_depth_m": 0.03197890830296496
          },
          {
            "success": true,
            "reason": "success",
            "steps": 447,
            "simulated_seconds": 8.935999999999654,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.84084012975703,
            "maximum_tip_depth_m": 0.03196959178876563,
            "final_tip_depth_m": 0.03196959178876563
          },
          {
            "success": true,
            "reason": "success",
            "steps": 327,
            "simulated_seconds": 6.535999999999502,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.56243108578827,
            "maximum_tip_depth_m": 0.0319593667844858,
            "final_tip_depth_m": 0.0319593667844858
          },
          {
            "success": true,
            "reason": "success",
            "steps": 476,
            "simulated_seconds": 9.503999999999843,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.936883158115613,
            "maximum_tip_depth_m": 0.03194915612730531,
            "final_tip_depth_m": 0.03194915612730531
          },
          {
            "success": false,
            "reason": "excess_contact_force",
            "steps": 95,
            "simulated_seconds": 1.8820000000000014,
            "longest_hold_seconds": 0.0,
            "peak_contact_force_N": 62.44484126408007,
            "maximum_tip_depth_m": 2.4565568715884112e-05,
            "final_tip_depth_m": 2.4565568715884112e-05
          },
          {
            "success": true,
            "reason": "success",
            "steps": 452,
            "simulated_seconds": 9.027999999999684,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.237630322673127,
            "maximum_tip_depth_m": 0.031962497351900654,
            "final_tip_depth_m": 0.031962497351900654
          },
          {
            "success": true,
            "reason": "success",
            "steps": 889,
            "simulated_seconds": 17.776000000001027,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 26.46027361893708,
            "maximum_tip_depth_m": 0.031979999791083735,
            "final_tip_depth_m": 0.031979999791083735
          },
          {
            "success": true,
            "reason": "success",
            "steps": 933,
            "simulated_seconds": 18.660000000000537,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.644196035038732,
            "maximum_tip_depth_m": 0.03198367197089069,
            "final_tip_depth_m": 0.03198367197089069
          },
          {
            "success": true,
            "reason": "success",
            "steps": 1016,
            "simulated_seconds": 20.31599999999962,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.79546913975244,
            "maximum_tip_depth_m": 0.03196227418530978,
            "final_tip_depth_m": 0.03196227418530978
          },
          {
            "success": true,
            "reason": "success",
            "steps": 798,
            "simulated_seconds": 15.944000000001994,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.26881815182409,
            "maximum_tip_depth_m": 0.0318438715050513,
            "final_tip_depth_m": 0.0318438715050513
          },
          {
            "success": true,
            "reason": "success",
            "steps": 401,
            "simulated_seconds": 8.003999999999342,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.751925929349625,
            "maximum_tip_depth_m": 0.03197130996269648,
            "final_tip_depth_m": 0.03197130996269648
          },
          {
            "success": true,
            "reason": "success",
            "steps": 414,
            "simulated_seconds": 8.271999999999432,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.665473220589853,
            "maximum_tip_depth_m": 0.03185345639622933,
            "final_tip_depth_m": 0.03185345639622933
          },
          {
            "success": true,
            "reason": "success",
            "steps": 425,
            "simulated_seconds": 8.483999999999503,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.359045544856702,
            "maximum_tip_depth_m": 0.03191385465229585,
            "final_tip_depth_m": 0.03191385465229585
          },
          {
            "success": true,
            "reason": "success",
            "steps": 602,
            "simulated_seconds": 12.034000000000688,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.048257250365303,
            "maximum_tip_depth_m": 0.03198090231323564,
            "final_tip_depth_m": 0.03198090231323564
          },
          {
            "success": true,
            "reason": "success",
            "steps": 733,
            "simulated_seconds": 14.64600000000156,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.187238071365567,
            "maximum_tip_depth_m": 0.03198088820121692,
            "final_tip_depth_m": 0.03198088820121692
          },
          {
            "success": true,
            "reason": "success",
            "steps": 1059,
            "simulated_seconds": 21.173999999999143,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.689015809160676,
            "maximum_tip_depth_m": 0.03198014583954756,
            "final_tip_depth_m": 0.03198014583954756
          },
          {
            "success": true,
            "reason": "success",
            "steps": 719,
            "simulated_seconds": 14.37400000000147,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 26.448662214973854,
            "maximum_tip_depth_m": 0.03197106243018727,
            "final_tip_depth_m": 0.03197106243018727
          },
          {
            "success": true,
            "reason": "success",
            "steps": 846,
            "simulated_seconds": 16.908000000001508,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.203739594045192,
            "maximum_tip_depth_m": 0.03196036788122275,
            "final_tip_depth_m": 0.03196036788122275
          },
          {
            "success": true,
            "reason": "success",
            "steps": 971,
            "simulated_seconds": 19.41200000000012,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.471211933545348,
            "maximum_tip_depth_m": 0.031844123905346355,
            "final_tip_depth_m": 0.031844123905346355
          },
          {
            "success": true,
            "reason": "success",
            "steps": 541,
            "simulated_seconds": 10.806000000000278,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.305420666728974,
            "maximum_tip_depth_m": 0.031932926467053147,
            "final_tip_depth_m": 0.031932926467053147
          },
          {
            "success": true,
            "reason": "success",
            "steps": 517,
            "simulated_seconds": 10.33400000000012,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 27.705514952669464,
            "maximum_tip_depth_m": 0.03186931061493853,
            "final_tip_depth_m": 0.03186931061493853
          },
          {
            "success": false,
            "reason": "excess_contact_force",
            "steps": 195,
            "simulated_seconds": 3.8939999999997927,
            "longest_hold_seconds": 0.0,
            "peak_contact_force_N": 30.765713141211727,
            "maximum_tip_depth_m": 0.0002461067928538063,
            "final_tip_depth_m": 0.0002461067928538063
          },
          {
            "success": true,
            "reason": "success",
            "steps": 493,
            "simulated_seconds": 9.859999999999962,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.420269383453164,
            "maximum_tip_depth_m": 0.03196761633383366,
            "final_tip_depth_m": 0.03196761633383366
          },
          {
            "success": true,
            "reason": "success",
            "steps": 835,
            "simulated_seconds": 16.694000000001626,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.21822816606975,
            "maximum_tip_depth_m": 0.03197994644341917,
            "final_tip_depth_m": 0.03197994644341917
          },
          {
            "success": false,
            "reason": "excess_contact_force",
            "steps": 324,
            "simulated_seconds": 6.479999999999508,
            "longest_hold_seconds": 0.0,
            "peak_contact_force_N": 41.0954310152914,
            "maximum_tip_depth_m": 3.600286530441865e-05,
            "final_tip_depth_m": 1.3571456061289844e-05
          },
          {
            "success": true,
            "reason": "success",
            "steps": 627,
            "simulated_seconds": 12.536000000000856,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.270219538212864,
            "maximum_tip_depth_m": 0.031849496497874163,
            "final_tip_depth_m": 0.031849496497874163
          },
          {
            "success": true,
            "reason": "success",
            "steps": 399,
            "simulated_seconds": 7.979999999999343,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.10596354598725,
            "maximum_tip_depth_m": 0.031981756876766076,
            "final_tip_depth_m": 0.031981756876766076
          },
          {
            "success": true,
            "reason": "success",
            "steps": 658,
            "simulated_seconds": 13.142000000001058,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.780437517210338,
            "maximum_tip_depth_m": 0.03197528446558767,
            "final_tip_depth_m": 0.03197528446558767
          },
          {
            "success": true,
            "reason": "success",
            "steps": 928,
            "simulated_seconds": 18.5460000000006,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 26.595393047079313,
            "maximum_tip_depth_m": 0.03198126551494357,
            "final_tip_depth_m": 0.03198126551494357
          },
          {
            "success": true,
            "reason": "success",
            "steps": 728,
            "simulated_seconds": 14.552000000001529,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.89605252593067,
            "maximum_tip_depth_m": 0.031976717460785675,
            "final_tip_depth_m": 0.031976717460785675
          },
          {
            "success": true,
            "reason": "success",
            "steps": 454,
            "simulated_seconds": 9.063999999999696,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.77981564509935,
            "maximum_tip_depth_m": 0.03184637583083039,
            "final_tip_depth_m": 0.03184637583083039
          },
          {
            "success": true,
            "reason": "success",
            "steps": 706,
            "simulated_seconds": 14.116000000001383,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.412723032461855,
            "maximum_tip_depth_m": 0.03184489304713589,
            "final_tip_depth_m": 0.03184489304713589
          },
          {
            "success": true,
            "reason": "success",
            "steps": 450,
            "simulated_seconds": 8.981999999999669,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.570220943044898,
            "maximum_tip_depth_m": 0.03197666048810338,
            "final_tip_depth_m": 0.03197666048810338
          },
          {
            "success": true,
            "reason": "success",
            "steps": 792,
            "simulated_seconds": 15.834000000001957,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.567663169667462,
            "maximum_tip_depth_m": 0.0319722882164688,
            "final_tip_depth_m": 0.0319722882164688
          },
          {
            "success": true,
            "reason": "success",
            "steps": 440,
            "simulated_seconds": 8.787999999999604,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.630391566240274,
            "maximum_tip_depth_m": 0.03195973568469768,
            "final_tip_depth_m": 0.03195973568469768
          },
          {
            "success": true,
            "reason": "success",
            "steps": 430,
            "simulated_seconds": 8.585999999999537,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.56394186895693,
            "maximum_tip_depth_m": 0.03197086231469792,
            "final_tip_depth_m": 0.03197086231469792
          },
          {
            "success": true,
            "reason": "success",
            "steps": 1048,
            "simulated_seconds": 20.957999999999263,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.99076142677518,
            "maximum_tip_depth_m": 0.031969002178154626,
            "final_tip_depth_m": 0.031969002178154626
          },
          {
            "success": true,
            "reason": "success",
            "steps": 364,
            "simulated_seconds": 7.271999999999421,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.55738149402497,
            "maximum_tip_depth_m": 0.031973333394545445,
            "final_tip_depth_m": 0.031973333394545445
          },
          {
            "success": true,
            "reason": "success",
            "steps": 429,
            "simulated_seconds": 8.577999999999534,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.709460941718728,
            "maximum_tip_depth_m": 0.03198282069761138,
            "final_tip_depth_m": 0.03198282069761138
          },
          {
            "success": true,
            "reason": "success",
            "steps": 831,
            "simulated_seconds": 16.606000000001675,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.2542934387898,
            "maximum_tip_depth_m": 0.031981830619028706,
            "final_tip_depth_m": 0.031981830619028706
          },
          {
            "success": true,
            "reason": "success",
            "steps": 462,
            "simulated_seconds": 9.235999999999754,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.738216670851493,
            "maximum_tip_depth_m": 0.03183302153601625,
            "final_tip_depth_m": 0.03183302153601625
          },
          {
            "success": true,
            "reason": "success",
            "steps": 839,
            "simulated_seconds": 16.766000000001586,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.075308405981676,
            "maximum_tip_depth_m": 0.03198356649430212,
            "final_tip_depth_m": 0.03198356649430212
          },
          {
            "success": true,
            "reason": "success",
            "steps": 651,
            "simulated_seconds": 13.004000000001012,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.105342780221537,
            "maximum_tip_depth_m": 0.031956808697153116,
            "final_tip_depth_m": 0.031956808697153116
          },
          {
            "success": true,
            "reason": "success",
            "steps": 409,
            "simulated_seconds": 8.1779999999994,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.726000442029452,
            "maximum_tip_depth_m": 0.03196114164056241,
            "final_tip_depth_m": 0.03196114164056241
          },
          {
            "success": true,
            "reason": "success",
            "steps": 905,
            "simulated_seconds": 18.082000000000857,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.836709234115304,
            "maximum_tip_depth_m": 0.03197811935022565,
            "final_tip_depth_m": 0.03197811935022565
          },
          {
            "success": true,
            "reason": "success",
            "steps": 676,
            "simulated_seconds": 13.502000000001178,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.327358364644695,
            "maximum_tip_depth_m": 0.03196942296575306,
            "final_tip_depth_m": 0.03196942296575306
          },
          {
            "success": true,
            "reason": "success",
            "steps": 847,
            "simulated_seconds": 16.9240000000015,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.34417645539971,
            "maximum_tip_depth_m": 0.03198271831240851,
            "final_tip_depth_m": 0.03198271831240851
          },
          {
            "success": true,
            "reason": "success",
            "steps": 835,
            "simulated_seconds": 16.682000000001633,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.287103379971313,
            "maximum_tip_depth_m": 0.03197461132888352,
            "final_tip_depth_m": 0.03197461132888352
          },
          {
            "success": true,
            "reason": "success",
            "steps": 730,
            "simulated_seconds": 14.600000000001545,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.92601788623189,
            "maximum_tip_depth_m": 0.03197108590566833,
            "final_tip_depth_m": 0.03197108590566833
          },
          {
            "success": true,
            "reason": "success",
            "steps": 505,
            "simulated_seconds": 10.090000000000039,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.697589252132193,
            "maximum_tip_depth_m": 0.031978243052605215,
            "final_tip_depth_m": 0.031978243052605215
          },
          {
            "success": false,
            "reason": "excess_contact_force",
            "steps": 307,
            "simulated_seconds": 6.127999999999547,
            "longest_hold_seconds": 0.0,
            "peak_contact_force_N": 36.29073378386104,
            "maximum_tip_depth_m": 0.00021768689553564036,
            "final_tip_depth_m": 0.00021768689553564036
          },
          {
            "success": true,
            "reason": "success",
            "steps": 1003,
            "simulated_seconds": 20.047999999999767,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 27.75063115671639,
            "maximum_tip_depth_m": 0.031960879023680056,
            "final_tip_depth_m": 0.031960879023680056
          },
          {
            "success": true,
            "reason": "success",
            "steps": 413,
            "simulated_seconds": 8.259999999999428,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.64093768058663,
            "maximum_tip_depth_m": 0.03196836718777418,
            "final_tip_depth_m": 0.03196836718777418
          },
          {
            "success": true,
            "reason": "success",
            "steps": 559,
            "simulated_seconds": 11.164000000000398,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.28849662864404,
            "maximum_tip_depth_m": 0.031437638147130076,
            "final_tip_depth_m": 0.031437638147130076
          },
          {
            "success": true,
            "reason": "success",
            "steps": 891,
            "simulated_seconds": 17.80600000000101,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 26.36594970895357,
            "maximum_tip_depth_m": 0.03182202529849554,
            "final_tip_depth_m": 0.03182202529849554
          },
          {
            "success": true,
            "reason": "success",
            "steps": 619,
            "simulated_seconds": 12.364000000000798,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.751103988307527,
            "maximum_tip_depth_m": 0.03186192353750905,
            "final_tip_depth_m": 0.03186192353750905
          },
          {
            "success": true,
            "reason": "success",
            "steps": 809,
            "simulated_seconds": 16.168000000001918,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.55957953091047,
            "maximum_tip_depth_m": 0.031978480214508886,
            "final_tip_depth_m": 0.031978480214508886
          },
          {
            "success": true,
            "reason": "success",
            "steps": 818,
            "simulated_seconds": 16.348000000001818,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.630863873548467,
            "maximum_tip_depth_m": 0.03191977437945953,
            "final_tip_depth_m": 0.03191977437945953
          },
          {
            "success": true,
            "reason": "success",
            "steps": 431,
            "simulated_seconds": 8.601999999999542,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.586097383246837,
            "maximum_tip_depth_m": 0.03193346460789759,
            "final_tip_depth_m": 0.03193346460789759
          },
          {
            "success": true,
            "reason": "success",
            "steps": 327,
            "simulated_seconds": 6.533999999999502,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.69024858405269,
            "maximum_tip_depth_m": 0.03196747785524989,
            "final_tip_depth_m": 0.03196747785524989
          },
          {
            "success": true,
            "reason": "success",
            "steps": 506,
            "simulated_seconds": 10.102000000000043,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.566633632726994,
            "maximum_tip_depth_m": 0.03189752629381504,
            "final_tip_depth_m": 0.03189752629381504
          },
          {
            "success": true,
            "reason": "success",
            "steps": 588,
            "simulated_seconds": 11.746000000000592,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.76340467142177,
            "maximum_tip_depth_m": 0.031838936625912084,
            "final_tip_depth_m": 0.031838936625912084
          },
          {
            "success": true,
            "reason": "success",
            "steps": 794,
            "simulated_seconds": 15.862000000001967,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.95949341600125,
            "maximum_tip_depth_m": 0.03189086928394108,
            "final_tip_depth_m": 0.03189086928394108
          },
          {
            "success": true,
            "reason": "success",
            "steps": 735,
            "simulated_seconds": 14.690000000001575,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.154382080265435,
            "maximum_tip_depth_m": 0.031982006674567964,
            "final_tip_depth_m": 0.031982006674567964
          },
          {
            "success": true,
            "reason": "success",
            "steps": 372,
            "simulated_seconds": 7.437999999999403,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.464685494798847,
            "maximum_tip_depth_m": 0.03196397440983495,
            "final_tip_depth_m": 0.03196397440983495
          },
          {
            "success": true,
            "reason": "success",
            "steps": 652,
            "simulated_seconds": 13.024000000001019,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.411829225883523,
            "maximum_tip_depth_m": 0.03181383987276298,
            "final_tip_depth_m": 0.03181383987276298
          },
          {
            "success": true,
            "reason": "success",
            "steps": 525,
            "simulated_seconds": 10.48200000000017,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.7177828409936,
            "maximum_tip_depth_m": 0.031958495148108335,
            "final_tip_depth_m": 0.031958495148108335
          },
          {
            "success": true,
            "reason": "success",
            "steps": 717,
            "simulated_seconds": 14.338000000001458,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.575449811003814,
            "maximum_tip_depth_m": 0.03197345637875759,
            "final_tip_depth_m": 0.03197345637875759
          },
          {
            "success": true,
            "reason": "success",
            "steps": 508,
            "simulated_seconds": 10.144000000000057,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.958342531077005,
            "maximum_tip_depth_m": 0.03183589852729202,
            "final_tip_depth_m": 0.03183589852729202
          },
          {
            "success": true,
            "reason": "success",
            "steps": 513,
            "simulated_seconds": 10.246000000000091,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.68009468013816,
            "maximum_tip_depth_m": 0.03196040933560934,
            "final_tip_depth_m": 0.03196040933560934
          },
          {
            "success": true,
            "reason": "success",
            "steps": 477,
            "simulated_seconds": 9.52599999999985,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 21.356493335123847,
            "maximum_tip_depth_m": 0.031973789681315534,
            "final_tip_depth_m": 0.031973789681315534
          },
          {
            "success": true,
            "reason": "success",
            "steps": 940,
            "simulated_seconds": 18.788000000000466,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.21602410776766,
            "maximum_tip_depth_m": 0.03195702137452794,
            "final_tip_depth_m": 0.03195702137452794
          },
          {
            "success": true,
            "reason": "success",
            "steps": 778,
            "simulated_seconds": 15.54200000000186,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.294640654776963,
            "maximum_tip_depth_m": 0.03197685958705554,
            "final_tip_depth_m": 0.03197685958705554
          },
          {
            "success": true,
            "reason": "success",
            "steps": 535,
            "simulated_seconds": 10.698000000000242,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.673725308052475,
            "maximum_tip_depth_m": 0.0319752770549917,
            "final_tip_depth_m": 0.0319752770549917
          },
          {
            "success": true,
            "reason": "success",
            "steps": 841,
            "simulated_seconds": 16.81600000000156,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.55083274124398,
            "maximum_tip_depth_m": 0.03196954503836741,
            "final_tip_depth_m": 0.03196954503836741
          },
          {
            "success": true,
            "reason": "success",
            "steps": 645,
            "simulated_seconds": 12.894000000000975,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 22.1477727448719,
            "maximum_tip_depth_m": 0.03198366172349004,
            "final_tip_depth_m": 0.03198366172349004
          },
          {
            "success": true,
            "reason": "success",
            "steps": 1037,
            "simulated_seconds": 20.739999999999384,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.80521717651077,
            "maximum_tip_depth_m": 0.03197417122984714,
            "final_tip_depth_m": 0.03197417122984714
          },
          {
            "success": true,
            "reason": "success",
            "steps": 838,
            "simulated_seconds": 16.752000000001594,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.57185931170428,
            "maximum_tip_depth_m": 0.03197955907225675,
            "final_tip_depth_m": 0.03197955907225675
          },
          {
            "success": true,
            "reason": "success",
            "steps": 1024,
            "simulated_seconds": 20.469999999999533,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.99120830522485,
            "maximum_tip_depth_m": 0.03198146775026256,
            "final_tip_depth_m": 0.03198146775026256
          },
          {
            "success": true,
            "reason": "success",
            "steps": 887,
            "simulated_seconds": 17.73200000000105,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.04309858094254,
            "maximum_tip_depth_m": 0.031965654818025935,
            "final_tip_depth_m": 0.031965654818025935
          },
          {
            "success": true,
            "reason": "success",
            "steps": 449,
            "simulated_seconds": 8.963999999999663,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 19.614336800203098,
            "maximum_tip_depth_m": 0.03198250058471869,
            "final_tip_depth_m": 0.03198250058471869
          },
          {
            "success": true,
            "reason": "success",
            "steps": 559,
            "simulated_seconds": 11.166000000000398,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 24.68470885940974,
            "maximum_tip_depth_m": 0.031835847291213804,
            "final_tip_depth_m": 0.031835847291213804
          },
          {
            "success": true,
            "reason": "success",
            "steps": 413,
            "simulated_seconds": 8.243999999999422,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.84056790369377,
            "maximum_tip_depth_m": 0.03196467635644129,
            "final_tip_depth_m": 0.03196467635644129
          },
          {
            "success": true,
            "reason": "success",
            "steps": 488,
            "simulated_seconds": 9.741999999999923,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 20.70304730325916,
            "maximum_tip_depth_m": 0.031981656333587516,
            "final_tip_depth_m": 0.031981656333587516
          },
          {
            "success": true,
            "reason": "success",
            "steps": 932,
            "simulated_seconds": 18.630000000000553,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 25.879544990876827,
            "maximum_tip_depth_m": 0.0319761148251288,
            "final_tip_depth_m": 0.0319761148251288
          },
          {
            "success": true,
            "reason": "success",
            "steps": 535,
            "simulated_seconds": 10.69000000000024,
            "longest_hold_seconds": 1.0000000000000007,
            "peak_contact_force_N": 23.596880126397636,
            "maximum_tip_depth_m": 0.031968477562768216,
            "final_tip_depth_m": 0.031968477562768216
          }
        ]
      }
    }
  }
}
