steve
A quadruped gait searched in a simulated ESP32 and servos, and the timing bug that inflated the first result.
10.40 mwalked by the gait re-searched against real servo timing; the first champion fell at 4.9 m under it
A walking gait for a four-jointed robot, searched in a simulator of an ESP32 driving servos, built as a Wokwi project. The first search's champion walked 6.7 m, but only because the harness applied all four joint commands at once. The firmware plays its servo pulses in staggered 3 ms slots; modelled that way, the champion fell at 4.9 m.
Re-searching against the honest model gave a 10.40 m gait. Re-run, the search harness reports 10.4037 m and a check that replays the chip's pulse timing reports 10.4026 m. It has never been run inside Wokwi itself.