{
  "preset": "teacher",
  "start_mode": "joint",
  "scale": 1.0,
  "envs": 56,
  "seed": 11,
  "successes": 51,
  "episodes": 56,
  "success_rate": 0.9107142857142857,
  "best_hold_s": [
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    9.5,
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    4.95,
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    9.0,
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    8.25,
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    3.25,
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  "max_clearance_m": [
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  "wall_s": 44.00380754470825,
  "env_steps_per_s": 356.33280106656645,
  "timing": {
    "simulate": 40.99398799799383,
    "observe": 2.5476296534761786,
    "render": 0.0,
    "reset": 0.1400713538751006,
    "ticks": 280
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  "outcomes": {
    "lifted, hold < 2 s": 3,
    "never bilaterally grasped": 2,
    "success": 51
  },
  "cartesian_starts": 0,
  "note": "privileged scripted expert via the 7-D action interface; not a learned policy"
}