[
  {
    "completion_time": 0.03335762023925781,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17047079040397395,
      "valve_0-left gripper distance": 0.5407052844804953,
      "valve_1-right gripper distance": 0.5249669998311822,
      "valve_1-left gripper distance": 0.1737019173298595
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0,
    "bimanual_gripper_vertical_difference": 0.0,
    "task_success": 0.0
  },
  {
    "completion_time": 0.05632519721984863,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17002095133806056,
      "valve_0-left gripper distance": 0.5405569389384633,
      "valve_1-right gripper distance": 0.5248329428282932,
      "valve_1-left gripper distance": 0.17327547321179707
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0,
    "bimanual_gripper_vertical_difference": 0.0,
    "task_success": 0.0
  },
  {
    "completion_time": 0.08000683784484863,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1691916166505346,
      "valve_0-left gripper distance": 0.5402892413643586,
      "valve_1-right gripper distance": 0.5245759550885823,
      "valve_1-left gripper distance": 0.17247228541680376
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.3129646346357427e-18,
    "bimanual_gripper_vertical_difference": 0.0,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10284256935119629,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1685276579481884,
      "valve_0-left gripper distance": 0.5400754528953031,
      "valve_1-right gripper distance": 0.5243711932290273,
      "valve_1-left gripper distance": 0.17182892666202795
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 4.520985016387077e-06,
    "bimanual_gripper_vertical_difference": 8.246830995872756e-11,
    "task_success": 0.0
  },
  {
    "completion_time": 0.12669825553894043,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16799557577938087,
      "valve_0-left gripper distance": 0.539904713086728,
      "valve_1-right gripper distance": 0.524207652831768,
      "valve_1-left gripper distance": 0.1713135942100841
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 3.6184983740000788e-06,
    "bimanual_gripper_vertical_difference": 1.0059211241753018e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.14950060844421387,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16756896691185735,
      "valve_0-left gripper distance": 0.5397682759369635,
      "valve_1-right gripper distance": 0.5240767528353175,
      "valve_1-left gripper distance": 0.17090047494032076
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 3.017882415326407e-06,
    "bimanual_gripper_vertical_difference": 1.317916886733883e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.17579340934753418,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16722691024968528,
      "valve_0-left gripper distance": 0.5396591679796106,
      "valve_1-right gripper distance": 0.5239719192668522,
      "valve_1-left gripper distance": 0.1705692175550137
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 3.555295085850771e-05,
    "bimanual_gripper_vertical_difference": 4.602970385799868e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.19909143447875977,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16695258933746335,
      "valve_0-left gripper distance": 0.5395719322011435,
      "valve_1-right gripper distance": 0.5238879055820692,
      "valve_1-left gripper distance": 0.17030360795951466
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 7.60251255772235e-05,
    "bimanual_gripper_vertical_difference": 8.84358725139478e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.22278046607971191,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16673260599959464,
      "valve_0-left gripper distance": 0.5395020554552981,
      "valve_1-right gripper distance": 0.523820607554564,
      "valve_1-left gripper distance": 0.1700905582561882
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00010113923427369466,
    "bimanual_gripper_vertical_difference": 1.9464605482966135e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.24631166458129883,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16655617186164698,
      "valve_0-left gripper distance": 0.5394461886317237,
      "valve_1-right gripper distance": 0.5237667056893283,
      "valve_1-left gripper distance": 0.16991970511505877
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00014402232359466799,
    "bimanual_gripper_vertical_difference": 2.8686491182483564e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.26943063735961914,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1664146279341001,
      "valve_0-left gripper distance": 0.5394013905786442,
      "valve_1-right gripper distance": 0.5237234920956493,
      "valve_1-left gripper distance": 0.16978259286664824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00013099615714292116,
    "bimanual_gripper_vertical_difference": 3.900371884054979e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2932150363922119,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16630105529726066,
      "valve_0-left gripper distance": 0.5393654795813224,
      "valve_1-right gripper distance": 0.5236888011610792,
      "valve_1-left gripper distance": 0.16967256534507474
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00012013262337698279,
    "bimanual_gripper_vertical_difference": 5.181827319085859e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.31641292572021484,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16620992102505228,
      "valve_0-left gripper distance": 0.5393366654599178,
      "valve_1-right gripper distance": 0.5236609656282791,
      "valve_1-left gripper distance": 0.16958424067037126
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0001589388570271859,
    "bimanual_gripper_vertical_difference": 6.74858915758683e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.34007835388183594,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16613680039872353,
      "valve_0-left gripper distance": 0.5393136291813253,
      "valve_1-right gripper distance": 0.5236386346473563,
      "valve_1-left gripper distance": 0.1695133978748975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00024911711396230154,
    "bimanual_gripper_vertical_difference": 8.118042539782624e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.36319732666015625,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16607812008389913,
      "valve_0-left gripper distance": 0.5392950460842949,
      "valve_1-right gripper distance": 0.5236207192674542,
      "valve_1-left gripper distance": 0.16945645931347825
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00023260429667390059,
    "bimanual_gripper_vertical_difference": 9.612327082445896e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.38674068450927734,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16603105094219445,
      "valve_0-left gripper distance": 0.5392801569156019,
      "valve_1-right gripper distance": 0.5236063566271948,
      "valve_1-left gripper distance": 0.16941077516435446
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0002180887246411483,
    "bimanual_gripper_vertical_difference": 1.1064432731133778e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.41010594367980957,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16599327385790433,
      "valve_0-left gripper distance": 0.5392682193370981,
      "valve_1-right gripper distance": 0.5235948380135148,
      "valve_1-left gripper distance": 0.1693740968926513
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00035782265559367916,
    "bimanual_gripper_vertical_difference": 1.2269874462860991e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4333479404449463,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1659629466889398,
      "valve_0-left gripper distance": 0.5392585388354049,
      "valve_1-right gripper distance": 0.5235855992432661,
      "valve_1-left gripper distance": 0.1693445736345921
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0003379495968533349,
    "bimanual_gripper_vertical_difference": 1.3473165718893812e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.45729565620422363,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1659386316787792,
      "valve_0-left gripper distance": 0.5392507920734642,
      "valve_1-right gripper distance": 0.5235782044889534,
      "valve_1-left gripper distance": 0.16932089517917928
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0003201641812332013,
    "bimanual_gripper_vertical_difference": 1.4548337867736905e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.48098206520080566,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16591913261493788,
      "valve_0-left gripper distance": 0.5392445567084323,
      "valve_1-right gripper distance": 0.5235723249244527,
      "valve_1-left gripper distance": 0.16930186122693294
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006947880260472826,
    "bimanual_gripper_vertical_difference": 1.52207949022376e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5077807903289795,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16590338079456074,
      "valve_0-left gripper distance": 0.5392395228336615,
      "valve_1-right gripper distance": 0.5235674467875997,
      "valve_1-left gripper distance": 0.16928653068570387
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006617350022100362,
    "bimanual_gripper_vertical_difference": 1.5930670581640458e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5305886268615723,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1658907831668227,
      "valve_0-left gripper distance": 0.5392354665390083,
      "valve_1-right gripper distance": 0.523563616533946,
      "valve_1-left gripper distance": 0.16927421511374668
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006498400754260097,
    "bimanual_gripper_vertical_difference": 1.645118401101668e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5541107654571533,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1658806766757692,
      "valve_0-left gripper distance": 0.5392321887484438,
      "valve_1-right gripper distance": 0.5235605566631618,
      "valve_1-left gripper distance": 0.16926430840324608
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006867531248656952,
    "bimanual_gripper_vertical_difference": 1.6773990080989537e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5781540870666504,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16587253916326114,
      "valve_0-left gripper distance": 0.539229530027431,
      "valve_1-right gripper distance": 0.5235580952078049,
      "valve_1-left gripper distance": 0.1692563124532023
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0007357073294548129,
    "bimanual_gripper_vertical_difference": 1.6857857156512186e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6017887592315674,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16586598068952255,
      "valve_0-left gripper distance": 0.5392273375294102,
      "valve_1-right gripper distance": 0.5235560861615297,
      "valve_1-left gripper distance": 0.16924984135710053
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.000706375665975215,
    "bimanual_gripper_vertical_difference": 1.689800081194903e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6244306564331055,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16586073390131723,
      "valve_0-left gripper distance": 0.5392255741323039,
      "valve_1-right gripper distance": 0.5235545208202139,
      "valve_1-left gripper distance": 0.1692446349113539
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006793347564708607,
    "bimanual_gripper_vertical_difference": 1.681306393253889e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.647660493850708,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16585653236086775,
      "valve_0-left gripper distance": 0.539224135263842,
      "valve_1-right gripper distance": 0.5235532881286635,
      "valve_1-left gripper distance": 0.16924043100887387
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006543052811740085,
    "bimanual_gripper_vertical_difference": 1.690270049851487e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6711277961730957,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16585315618989147,
      "valve_0-left gripper distance": 0.5392229532061685,
      "valve_1-right gripper distance": 0.523552315902171,
      "valve_1-left gripper distance": 0.1692370258756581
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006310098480911236,
    "bimanual_gripper_vertical_difference": 1.6950889327103724e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6945624351501465,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16585041219336602,
      "valve_0-left gripper distance": 0.539221922139614,
      "valve_1-right gripper distance": 0.5235515427327042,
      "valve_1-left gripper distance": 0.16923420036235132
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.000912849415703074,
    "bimanual_gripper_vertical_difference": 1.7065012177299416e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7179152965545654,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16584819274441265,
      "valve_0-left gripper distance": 0.5392212317726212,
      "valve_1-right gripper distance": 0.5235509331680205,
      "valve_1-left gripper distance": 0.16923199184673277
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008828156316497848,
    "bimanual_gripper_vertical_difference": 1.6989003270850844e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7414059638977051,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16584640737685263,
      "valve_0-left gripper distance": 0.5392205860756875,
      "valve_1-right gripper distance": 0.5235504614548502,
      "valve_1-left gripper distance": 0.16923014654410087
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008547457010343255,
    "bimanual_gripper_vertical_difference": 1.6898575227303023e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7645547389984131,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16584497150228694,
      "valve_0-left gripper distance": 0.539220032783732,
      "valve_1-right gripper distance": 0.5235501014505113,
      "valve_1-left gripper distance": 0.1692286281779986
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008306735348636481,
    "bimanual_gripper_vertical_difference": 1.6819945020118965e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7873029708862305,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16584381311572222,
      "valve_0-left gripper distance": 0.5392195591488084,
      "valve_1-right gripper distance": 0.5235498265545581,
      "valve_1-left gripper distance": 0.1692273748504812
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008057507033213101,
    "bimanual_gripper_vertical_difference": 1.675868207170102e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8104491233825684,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.165434693442402,
      "valve_0-left gripper distance": 0.5390974230955285,
      "valve_1-right gripper distance": 0.5234125325464054,
      "valve_1-left gripper distance": 0.16884598381157329
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008322415578960818,
    "bimanual_gripper_vertical_difference": 4.10834770856722e-07,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8337576389312744,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16448283860208435,
      "valve_0-left gripper distance": 0.5388215847630213,
      "valve_1-right gripper distance": 0.5228997938672978,
      "valve_1-left gripper distance": 0.16802682459984647
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0017441496804891181,
    "bimanual_gripper_vertical_difference": 2.2813555813794297e-06,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8568117618560791,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16370861117934946,
      "valve_0-left gripper distance": 0.5384782416528378,
      "valve_1-right gripper distance": 0.5219135708864789,
      "valve_1-left gripper distance": 0.16714803642107398
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0031016051353068,
    "bimanual_gripper_vertical_difference": 1.4365586560933292e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.879533052444458,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16356780031797247,
      "valve_0-left gripper distance": 0.5381204208744771,
      "valve_1-right gripper distance": 0.5204627731192495,
      "valve_1-left gripper distance": 0.1663835625898756
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.009142918271559816,
    "bimanual_gripper_vertical_difference": 6.725067141028691e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9029948711395264,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16429960441360209,
      "valve_0-left gripper distance": 0.5377281384749427,
      "valve_1-right gripper distance": 0.5180078466168823,
      "valve_1-left gripper distance": 0.16571095065496824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.030415820683121056,
    "bimanual_gripper_vertical_difference": 0.0002091172859498032,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9266932010650635,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16601598332208248,
      "valve_0-left gripper distance": 0.5373230539179319,
      "valve_1-right gripper distance": 0.5146661571510263,
      "valve_1-left gripper distance": 0.1651012495029012
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.06532624269280783,
    "bimanual_gripper_vertical_difference": 0.0004855277009631549,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9504067897796631,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16864839462115344,
      "valve_0-left gripper distance": 0.5369642638711765,
      "valve_1-right gripper distance": 0.510863459899974,
      "valve_1-left gripper distance": 0.164573151173968
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.11082209458820325,
    "bimanual_gripper_vertical_difference": 0.0009231204234823653,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9774277210235596,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17182839036437972,
      "valve_0-left gripper distance": 0.5367071834736183,
      "valve_1-right gripper distance": 0.506679415685859,
      "valve_1-left gripper distance": 0.1641604215595763
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.16046410555978305,
    "bimanual_gripper_vertical_difference": 0.0015234727502379652,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0003485679626465,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17474553040982782,
      "valve_0-left gripper distance": 0.536542280784116,
      "valve_1-right gripper distance": 0.5018210594342082,
      "valve_1-left gripper distance": 0.16384635905433792
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.20727960649622862,
    "bimanual_gripper_vertical_difference": 0.00226105792135237,
    "task_success": 0.0
  },
  {
    "completion_time": 1.023101568222046,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17696438780390142,
      "valve_0-left gripper distance": 0.5364382560671506,
      "valve_1-right gripper distance": 0.49652985462753774,
      "valve_1-left gripper distance": 0.1636018754874178
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.24733392334332724,
    "bimanual_gripper_vertical_difference": 0.0030955520002812647,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0469880104064941,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1785567898209194,
      "valve_0-left gripper distance": 0.5363959089987244,
      "valve_1-right gripper distance": 0.4913057252851253,
      "valve_1-left gripper distance": 0.16342240035154101
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27996590379183084,
    "bimanual_gripper_vertical_difference": 0.003989766473608411,
    "task_success": 0.0
  },
  {
    "completion_time": 1.070629358291626,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17955586947100832,
      "valve_0-left gripper distance": 0.5364409072978787,
      "valve_1-right gripper distance": 0.4861388239226449,
      "valve_1-left gripper distance": 0.16331836440553452
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.30488797048609273,
    "bimanual_gripper_vertical_difference": 0.004913680226359895,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0934808254241943,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.18000866923059453,
      "valve_0-left gripper distance": 0.5365742471199682,
      "valve_1-right gripper distance": 0.48113482437122096,
      "valve_1-left gripper distance": 0.1632839135208998
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.32300929752450946,
    "bimanual_gripper_vertical_difference": 0.005843043466554026,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1169657707214355,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17997956448375335,
      "valve_0-left gripper distance": 0.5367787134540792,
      "valve_1-right gripper distance": 0.476409181696446,
      "valve_1-left gripper distance": 0.16330990479743354
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33528488650946014,
    "bimanual_gripper_vertical_difference": 0.00675870041300171,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1406192779541016,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17947201343441038,
      "valve_0-left gripper distance": 0.5370312613706889,
      "valve_1-right gripper distance": 0.47208159077219,
      "valve_1-left gripper distance": 0.1633826300542179
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.341736261544382,
    "bimanual_gripper_vertical_difference": 0.007644307200670798,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1633563041687012,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1785124683090199,
      "valve_0-left gripper distance": 0.5373175559169804,
      "valve_1-right gripper distance": 0.4682538616055613,
      "valve_1-left gripper distance": 0.16349295969141361
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34298311151413075,
    "bimanual_gripper_vertical_difference": 0.008486674898722797,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1866209506988525,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17699178620653924,
      "valve_0-left gripper distance": 0.5376207198664089,
      "valve_1-right gripper distance": 0.4649757622097265,
      "valve_1-left gripper distance": 0.16362848748253167
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3402605373385682,
    "bimanual_gripper_vertical_difference": 0.009272241275161065,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2101421356201172,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17514868083455182,
      "valve_0-left gripper distance": 0.5379138493055057,
      "valve_1-right gripper distance": 0.4622973389627394,
      "valve_1-left gripper distance": 0.16377001026742155
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33853824012069816,
    "bimanual_gripper_vertical_difference": 0.009994927538227887,
    "task_success": 0.0
  },
  {
    "completion_time": 1.232832670211792,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17281339162220608,
      "valve_0-left gripper distance": 0.538171659295104,
      "valve_1-right gripper distance": 0.460250085479962,
      "valve_1-left gripper distance": 0.16390158643668473
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.341715322828948,
    "bimanual_gripper_vertical_difference": 0.010645382344273821,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2557940483093262,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17000072900012905,
      "valve_0-left gripper distance": 0.53831369376922,
      "valve_1-right gripper distance": 0.4586929861317224,
      "valve_1-left gripper distance": 0.16396764498211144
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34998133473296983,
    "bimanual_gripper_vertical_difference": 0.011215981229032517,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2831854820251465,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16669299257314732,
      "valve_0-left gripper distance": 0.538292217045024,
      "valve_1-right gripper distance": 0.4571293878882516,
      "valve_1-left gripper distance": 0.1639421627781124
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36199819411804934,
    "bimanual_gripper_vertical_difference": 0.011700015394124262,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3075838088989258,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16338442711761314,
      "valve_0-left gripper distance": 0.5381758011574382,
      "valve_1-right gripper distance": 0.45546338543505144,
      "valve_1-left gripper distance": 0.16386215854642397
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3727015838375936,
    "bimanual_gripper_vertical_difference": 0.012102206653436082,
    "task_success": 0.0
  },
  {
    "completion_time": 1.331268548965454,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16020352047872427,
      "valve_0-left gripper distance": 0.5380218829411734,
      "valve_1-right gripper distance": 0.4536523523591669,
      "valve_1-left gripper distance": 0.16376030756433593
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.38165310801303687,
    "bimanual_gripper_vertical_difference": 0.012429507162811925,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3544330596923828,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1571967266378522,
      "valve_0-left gripper distance": 0.5378693375989323,
      "valve_1-right gripper distance": 0.45165059800113566,
      "valve_1-left gripper distance": 0.16365602762234405
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.38847042189349656,
    "bimanual_gripper_vertical_difference": 0.01268963459355688,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3783891201019287,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15441332457716272,
      "valve_0-left gripper distance": 0.5377548239571064,
      "valve_1-right gripper distance": 0.449472394140822,
      "valve_1-left gripper distance": 0.16357179777597458
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3933276721310028,
    "bimanual_gripper_vertical_difference": 0.01289034111487116,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4021153450012207,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1518284610210472,
      "valve_0-left gripper distance": 0.5377004691230243,
      "valve_1-right gripper distance": 0.44692258644574934,
      "valve_1-left gripper distance": 0.16352320181149568
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3964949020360356,
    "bimanual_gripper_vertical_difference": 0.013038415747266944,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4261510372161865,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14953765677114467,
      "valve_0-left gripper distance": 0.5376782362801604,
      "valve_1-right gripper distance": 0.44398086276402576,
      "valve_1-left gripper distance": 0.16349896913443102
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3973397886938518,
    "bimanual_gripper_vertical_difference": 0.013141741662766064,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4527640342712402,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14764122054550854,
      "valve_0-left gripper distance": 0.5376866423062334,
      "valve_1-right gripper distance": 0.44085084179318373,
      "valve_1-left gripper distance": 0.16349970356839966
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39629916424810685,
    "bimanual_gripper_vertical_difference": 0.013208759249086937,
    "task_success": 0.0
  },
  {
    "completion_time": 1.476365566253662,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1460900558032763,
      "valve_0-left gripper distance": 0.5377563107026021,
      "valve_1-right gripper distance": 0.43785010208247843,
      "valve_1-left gripper distance": 0.16354294415988993
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39444561044650134,
    "bimanual_gripper_vertical_difference": 0.01324579906650613,
    "task_success": 0.0
  },
  {
    "completion_time": 1.500502347946167,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14477275998011763,
      "valve_0-left gripper distance": 0.5378818001130603,
      "valve_1-right gripper distance": 0.43515324694527285,
      "valve_1-left gripper distance": 0.1636198520724488
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3923905454807614,
    "bimanual_gripper_vertical_difference": 0.01325723471807943,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5241072177886963,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14355779264328725,
      "valve_0-left gripper distance": 0.5380396464622986,
      "valve_1-right gripper distance": 0.43278308765080703,
      "valve_1-left gripper distance": 0.16371605526983418
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3904757852158775,
    "bimanual_gripper_vertical_difference": 0.013245344170117388,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5481154918670654,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14240252046165272,
      "valve_0-left gripper distance": 0.5382010771699841,
      "valve_1-right gripper distance": 0.43076039018685597,
      "valve_1-left gripper distance": 0.16381733310991695
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.38863265053682006,
    "bimanual_gripper_vertical_difference": 0.013211981290173216,
    "task_success": 0.0
  },
  {
    "completion_time": 1.571545124053955,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14130151966561916,
      "valve_0-left gripper distance": 0.5383495422385188,
      "valve_1-right gripper distance": 0.42908903624523836,
      "valve_1-left gripper distance": 0.16391313089838963
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.38667260972589335,
    "bimanual_gripper_vertical_difference": 0.013159154075289427,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5948905944824219,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14022957488996482,
      "valve_0-left gripper distance": 0.5384646394293436,
      "valve_1-right gripper distance": 0.4277779321371663,
      "valve_1-left gripper distance": 0.16398882146095267
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.38460433880760114,
    "bimanual_gripper_vertical_difference": 0.013088731238362043,
    "task_success": 0.0
  },
  {
    "completion_time": 1.617431402206421,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13921301834520114,
      "valve_0-left gripper distance": 0.5385317724777096,
      "valve_1-right gripper distance": 0.42683951295688527,
      "valve_1-left gripper distance": 0.1640365287563712
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3821421501289202,
    "bimanual_gripper_vertical_difference": 0.013003230225061543,
    "task_success": 0.0
  },
  {
    "completion_time": 1.640838384628296,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13829736306607648,
      "valve_0-left gripper distance": 0.5385587923383128,
      "valve_1-right gripper distance": 0.4262785314399435,
      "valve_1-left gripper distance": 0.16406268852256348
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3792584653755456,
    "bimanual_gripper_vertical_difference": 0.01290561532047398,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6643714904785156,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13752467029431592,
      "valve_0-left gripper distance": 0.5385565574078766,
      "valve_1-right gripper distance": 0.4260524056829056,
      "valve_1-left gripper distance": 0.16406888643379425
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3759073359651267,
    "bimanual_gripper_vertical_difference": 0.012799291727256678,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6877844333648682,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13687785251435103,
      "valve_0-left gripper distance": 0.5385360170801347,
      "valve_1-right gripper distance": 0.42611057537510855,
      "valve_1-left gripper distance": 0.16405947608965363
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.37248367735090254,
    "bimanual_gripper_vertical_difference": 0.012687022661584555,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7107272148132324,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13625625669046137,
      "valve_0-left gripper distance": 0.5384966520848561,
      "valve_1-right gripper distance": 0.42655182274220443,
      "valve_1-left gripper distance": 0.16403438572796633
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36927967273965995,
    "bimanual_gripper_vertical_difference": 0.01257030152966219,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7350373268127441,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1356024876914536,
      "valve_0-left gripper distance": 0.5384589437124736,
      "valve_1-right gripper distance": 0.4273265845356284,
      "valve_1-left gripper distance": 0.1640099283314832
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36641954118001485,
    "bimanual_gripper_vertical_difference": 0.012449599495512775,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7591772079467773,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1349953826200706,
      "valve_0-left gripper distance": 0.5384368622583238,
      "valve_1-right gripper distance": 0.42831556924942205,
      "valve_1-left gripper distance": 0.16399381884464104
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.365228832456968,
    "bimanual_gripper_vertical_difference": 0.012325684441782031,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7826786041259766,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1345993371341134,
      "valve_0-left gripper distance": 0.5384179800076271,
      "valve_1-right gripper distance": 0.4294013414116572,
      "valve_1-left gripper distance": 0.16398100519242523
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36348718759564724,
    "bimanual_gripper_vertical_difference": 0.0122012706415064,
    "task_success": 0.0
  },
  {
    "completion_time": 1.807013988494873,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1343935300443991,
      "valve_0-left gripper distance": 0.5383945713747696,
      "valve_1-right gripper distance": 0.43041326326043566,
      "valve_1-left gripper distance": 0.1639653685663341
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36032371238772365,
    "bimanual_gripper_vertical_difference": 0.012078639937508339,
    "task_success": 0.0
  },
  {
    "completion_time": 1.83152174949646,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1343104735886557,
      "valve_0-left gripper distance": 0.5383619604339738,
      "valve_1-right gripper distance": 0.4312761644648363,
      "valve_1-left gripper distance": 0.16394670772277106
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3569483404425059,
    "bimanual_gripper_vertical_difference": 0.011959145447169752,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8553931713104248,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13430266276963876,
      "valve_0-left gripper distance": 0.5383143794537064,
      "valve_1-right gripper distance": 0.4319970973089481,
      "valve_1-left gripper distance": 0.16392100412182972
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35334120464837715,
    "bimanual_gripper_vertical_difference": 0.011843135606430426,
    "task_success": 0.0
  },
  {
    "completion_time": 1.87890625,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13436270545517548,
      "valve_0-left gripper distance": 0.5382506592644455,
      "valve_1-right gripper distance": 0.43260185556929126,
      "valve_1-left gripper distance": 0.16388909253519704
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34981763488744655,
    "bimanual_gripper_vertical_difference": 0.01173087051627724,
    "task_success": 0.0
  },
  {
    "completion_time": 1.902052640914917,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1344624362216941,
      "valve_0-left gripper distance": 0.5381796505883534,
      "valve_1-right gripper distance": 0.433099290480772,
      "valve_1-left gripper distance": 0.16385504705671958
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3462121852199777,
    "bimanual_gripper_vertical_difference": 0.011622434477351737,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9295752048492432,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1345606112176565,
      "valve_0-left gripper distance": 0.5380837855913916,
      "valve_1-right gripper distance": 0.4335038625375122,
      "valve_1-left gripper distance": 0.16380484360547398
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3424265430660069,
    "bimanual_gripper_vertical_difference": 0.011517515764823804,
    "task_success": 0.0
  },
  {
    "completion_time": 1.952481746673584,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1346026301108153,
      "valve_0-left gripper distance": 0.5379522634367598,
      "valve_1-right gripper distance": 0.43378463130069916,
      "valve_1-left gripper distance": 0.16373206277254293
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33870376159997295,
    "bimanual_gripper_vertical_difference": 0.01141530325527921,
    "task_success": 0.0
  },
  {
    "completion_time": 1.975109338760376,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1346032567409905,
      "valve_0-left gripper distance": 0.5378133305053305,
      "valve_1-right gripper distance": 0.43395675184670496,
      "valve_1-left gripper distance": 0.1636548377587029
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33491399016109796,
    "bimanual_gripper_vertical_difference": 0.011315290143691353,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9985854625701904,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13456383426466215,
      "valve_0-left gripper distance": 0.5376925080729061,
      "valve_1-right gripper distance": 0.43406460488780174,
      "valve_1-left gripper distance": 0.16358424980421463
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33301293166396284,
    "bimanual_gripper_vertical_difference": 0.011217209269823478,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0222878456115723,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1346134237513751,
      "valve_0-left gripper distance": 0.5375970396595807,
      "valve_1-right gripper distance": 0.43412979538651986,
      "valve_1-left gripper distance": 0.1635214860495238
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3314106531466246,
    "bimanual_gripper_vertical_difference": 0.011122837047767738,
    "task_success": 0.0
  },
  {
    "completion_time": 2.046050548553467,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13493862524779437,
      "valve_0-left gripper distance": 0.5375290704770053,
      "valve_1-right gripper distance": 0.4341704897656841,
      "valve_1-left gripper distance": 0.1634730536424683
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33066832710917266,
    "bimanual_gripper_vertical_difference": 0.011037107315425012,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0690667629241943,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13559726172845024,
      "valve_0-left gripper distance": 0.5374753488493383,
      "valve_1-right gripper distance": 0.43408634893448866,
      "valve_1-left gripper distance": 0.16342728842931117
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33157763757263753,
    "bimanual_gripper_vertical_difference": 0.010964503915809278,
    "task_success": 0.0
  },
  {
    "completion_time": 2.092315912246704,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1366421415033937,
      "valve_0-left gripper distance": 0.5374716249501428,
      "valve_1-right gripper distance": 0.43383560340419486,
      "valve_1-left gripper distance": 0.1634047036387629
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33409274040903364,
    "bimanual_gripper_vertical_difference": 0.010909570983734391,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1166558265686035,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1377506168664298,
      "valve_0-left gripper distance": 0.5375021608454366,
      "valve_1-right gripper distance": 0.433562373134083,
      "valve_1-left gripper distance": 0.16339819632667998
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33682840849672807,
    "bimanual_gripper_vertical_difference": 0.010872590685764084,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1404452323913574,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13868810378715754,
      "valve_0-left gripper distance": 0.5375565616334139,
      "valve_1-right gripper distance": 0.4333199641727751,
      "valve_1-left gripper distance": 0.1634030368249483
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3393011432440873,
    "bimanual_gripper_vertical_difference": 0.010851349022978645,
    "task_success": 0.0
  },
  {
    "completion_time": 2.164571523666382,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13933318218082605,
      "valve_0-left gripper distance": 0.5376415132599647,
      "valve_1-right gripper distance": 0.4331458686985354,
      "valve_1-left gripper distance": 0.16342515669293242
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34194228225722073,
    "bimanual_gripper_vertical_difference": 0.010842820411954977,
    "task_success": 0.0
  },
  {
    "completion_time": 2.187643527984619,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13960384193373007,
      "valve_0-left gripper distance": 0.5377421546535404,
      "valve_1-right gripper distance": 0.4330397833650525,
      "valve_1-left gripper distance": 0.16345796595925352
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34427599262788466,
    "bimanual_gripper_vertical_difference": 0.010842822062800019,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2107303142547607,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13944576425644561,
      "valve_0-left gripper distance": 0.5378460732949446,
      "valve_1-right gripper distance": 0.4330223155063342,
      "valve_1-left gripper distance": 0.16349625904764672
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3465076999920732,
    "bimanual_gripper_vertical_difference": 0.010847023694541467,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2345950603485107,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13878566316129842,
      "valve_0-left gripper distance": 0.537950348062636,
      "valve_1-right gripper distance": 0.43313157315904616,
      "valve_1-left gripper distance": 0.1635401313310854
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3481354880508827,
    "bimanual_gripper_vertical_difference": 0.010850123568997595,
    "task_success": 0.0
  },
  {
    "completion_time": 2.258687734603882,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13771654364624455,
      "valve_0-left gripper distance": 0.5380593073142068,
      "valve_1-right gripper distance": 0.4333748850183826,
      "valve_1-left gripper distance": 0.16359156700921998
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3492243170057868,
    "bimanual_gripper_vertical_difference": 0.01084770544768938,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2827060222625732,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13624857378740315,
      "valve_0-left gripper distance": 0.5381726402186805,
      "valve_1-right gripper distance": 0.43374662578454415,
      "valve_1-left gripper distance": 0.1636468909914378
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34954033097866444,
    "bimanual_gripper_vertical_difference": 0.010835525820221044,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3060102462768555,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13429657935868614,
      "valve_0-left gripper distance": 0.5382559963796942,
      "valve_1-right gripper distance": 0.4342511472334927,
      "valve_1-left gripper distance": 0.1636804332358653
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3492753014475799,
    "bimanual_gripper_vertical_difference": 0.010808681015418216,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3300387859344482,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13187246812408512,
      "valve_0-left gripper distance": 0.5382706872935923,
      "valve_1-right gripper distance": 0.434868685518859,
      "valve_1-left gripper distance": 0.1636704800536017
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34869267115831515,
    "bimanual_gripper_vertical_difference": 0.010762436794399657,
    "task_success": 0.0
  },
  {
    "completion_time": 2.354231595993042,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.129327134662247,
      "valve_0-left gripper distance": 0.5382419850434886,
      "valve_1-right gripper distance": 0.4354836077133676,
      "valve_1-left gripper distance": 0.1636372970787422
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34785153366018184,
    "bimanual_gripper_vertical_difference": 0.010695398115868638,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3779590129852295,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12737562947237419,
      "valve_0-left gripper distance": 0.5382010562897422,
      "valve_1-right gripper distance": 0.4358994566435524,
      "valve_1-left gripper distance": 0.16360213934731416
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34598159057922245,
    "bimanual_gripper_vertical_difference": 0.01061280023904783,
    "task_success": 0.0
  },
  {
    "completion_time": 2.410072088241577,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12727356596701406,
      "valve_0-left gripper distance": 0.5381820058761506,
      "valve_1-right gripper distance": 0.4359601397861843,
      "valve_1-left gripper distance": 0.1635922768478616
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34433490256873206,
    "bimanual_gripper_vertical_difference": 0.010531223131510734,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4353456497192383,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1271121805522139,
      "valve_0-left gripper distance": 0.5381896566430608,
      "valve_1-right gripper distance": 0.43603174165621084,
      "valve_1-left gripper distance": 0.16361479679130164
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3431834316975712,
    "bimanual_gripper_vertical_difference": 0.010449431579936204,
    "task_success": 0.0
  },
  {
    "completion_time": 2.460016965866089,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1269849701528976,
      "valve_0-left gripper distance": 0.5381878401851378,
      "valve_1-right gripper distance": 0.43608663061335623,
      "valve_1-left gripper distance": 0.16363911860988792
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3417619578954751,
    "bimanual_gripper_vertical_difference": 0.010367722347746522,
    "task_success": 0.0
  },
  {
    "completion_time": 2.485863208770752,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1268672576403,
      "valve_0-left gripper distance": 0.5381743913219176,
      "valve_1-right gripper distance": 0.4361218518021168,
      "valve_1-left gripper distance": 0.16365508646150972
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34003670933045754,
    "bimanual_gripper_vertical_difference": 0.01028626019427904,
    "task_success": 0.0
  },
  {
    "completion_time": 2.510638475418091,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12675863571315812,
      "valve_0-left gripper distance": 0.5381613446291061,
      "valve_1-right gripper distance": 0.4361554012254249,
      "valve_1-left gripper distance": 0.16366543073394874
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3380094829427801,
    "bimanual_gripper_vertical_difference": 0.010205303101604649,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5354933738708496,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12665508049849702,
      "valve_0-left gripper distance": 0.5381582525685225,
      "valve_1-right gripper distance": 0.4361894303987072,
      "valve_1-left gripper distance": 0.16367614712637818
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3356433549097355,
    "bimanual_gripper_vertical_difference": 0.01012502277369016,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5610110759735107,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12655391329290003,
      "valve_0-left gripper distance": 0.5381631040292111,
      "valve_1-right gripper distance": 0.43622126245005055,
      "valve_1-left gripper distance": 0.1636862011764779
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33326185182303225,
    "bimanual_gripper_vertical_difference": 0.010045526174189363,
    "task_success": 0.0
  },
  {
    "completion_time": 2.586421012878418,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12645370526335395,
      "valve_0-left gripper distance": 0.5381647585093602,
      "valve_1-right gripper distance": 0.4362480677760753,
      "valve_1-left gripper distance": 0.1636898815598905
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3307581439796487,
    "bimanual_gripper_vertical_difference": 0.009966901244336466,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6123783588409424,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12636455989933376,
      "valve_0-left gripper distance": 0.5381576299119983,
      "valve_1-right gripper distance": 0.43629214636905267,
      "valve_1-left gripper distance": 0.16368615879741308
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.32817539044147404,
    "bimanual_gripper_vertical_difference": 0.009889257850540312,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6365368366241455,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12632546413878637,
      "valve_0-left gripper distance": 0.5381403759178478,
      "valve_1-right gripper distance": 0.4369065794479729,
      "valve_1-left gripper distance": 0.16368146148497953
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3294767941686394,
    "bimanual_gripper_vertical_difference": 0.009816219074817986,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6615149974823,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1258166185915147,
      "valve_0-left gripper distance": 0.5381235101728864,
      "valve_1-right gripper distance": 0.43722361699896933,
      "valve_1-left gripper distance": 0.16367628554640834
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33157384030254367,
    "bimanual_gripper_vertical_difference": 0.009741795488905582,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6852874755859375,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12568135982110956,
      "valve_0-left gripper distance": 0.5381076509074667,
      "valve_1-right gripper distance": 0.437430037696715,
      "valve_1-left gripper distance": 0.1636716289486822
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33240286567265864,
    "bimanual_gripper_vertical_difference": 0.009669025647478085,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7110300064086914,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1258176974850348,
      "valve_0-left gripper distance": 0.5380916525196722,
      "valve_1-right gripper distance": 0.43762405763112333,
      "valve_1-left gripper distance": 0.16366549491690702
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3301334965989739,
    "bimanual_gripper_vertical_difference": 0.009599369416919933,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7361702919006348,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12582299653724122,
      "valve_0-left gripper distance": 0.5380642372715732,
      "valve_1-right gripper distance": 0.4378130737919559,
      "valve_1-left gripper distance": 0.16364942002609834
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.32772385293742134,
    "bimanual_gripper_vertical_difference": 0.009531205261688993,
    "task_success": 0.0
  },
  {
    "completion_time": 2.761030435562134,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12588226466105643,
      "valve_0-left gripper distance": 0.5380103192066186,
      "valve_1-right gripper distance": 0.4379653521723954,
      "valve_1-left gripper distance": 0.16361270505293538
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.326534345259929,
    "bimanual_gripper_vertical_difference": 0.009464867039057393,
    "task_success": 0.0
  },
  {
    "completion_time": 2.785521984100342,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1259746603972779,
      "valve_0-left gripper distance": 0.5379447702491076,
      "valve_1-right gripper distance": 0.4381136148901638,
      "valve_1-left gripper distance": 0.16356418867902464
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3244892809500107,
    "bimanual_gripper_vertical_difference": 0.009400243750485376,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8107943534851074,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12606411840128304,
      "valve_0-left gripper distance": 0.5378769401562932,
      "valve_1-right gripper distance": 0.4382157298122859,
      "valve_1-left gripper distance": 0.16351250887728103
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3245898983757308,
    "bimanual_gripper_vertical_difference": 0.009337393123733564,
    "task_success": 0.0
  },
  {
    "completion_time": 2.836101531982422,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1260748101362933,
      "valve_0-left gripper distance": 0.5376960320252315,
      "valve_1-right gripper distance": 0.43824026600748717,
      "valve_1-left gripper distance": 0.1630093108195565
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3218594132929657,
    "bimanual_gripper_vertical_difference": 0.009280517961723047,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8621749877929688,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12594912794788934,
      "valve_0-left gripper distance": 0.5374309877994297,
      "valve_1-right gripper distance": 0.4381417119620286,
      "valve_1-left gripper distance": 0.16216669853618085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3192317945210614,
    "bimanual_gripper_vertical_difference": 0.009232504677475988,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8875339031219482,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12591353689980408,
      "valve_0-left gripper distance": 0.5371816381888178,
      "valve_1-right gripper distance": 0.4380556684468744,
      "valve_1-left gripper distance": 0.16135759461665242
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3169813229446314,
    "bimanual_gripper_vertical_difference": 0.009193642727099294,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9171600341796875,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12586298714304717,
      "valve_0-left gripper distance": 0.5369557556253353,
      "valve_1-right gripper distance": 0.43797062927331387,
      "valve_1-left gripper distance": 0.1606132422807175
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3144077811245887,
    "bimanual_gripper_vertical_difference": 0.009162982705800692,
    "task_success": 0.0
  },
  {
    "completion_time": 2.941751480102539,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12653317059173008,
      "valve_0-left gripper distance": 0.5368633868961551,
      "valve_1-right gripper distance": 0.43803634155136706,
      "valve_1-left gripper distance": 0.15982201212142094
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3178240112795113,
    "bimanual_gripper_vertical_difference": 0.009149040970464997,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9661271572113037,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12817860118911226,
      "valve_0-left gripper distance": 0.537060681014774,
      "valve_1-right gripper distance": 0.43809926934189336,
      "valve_1-left gripper distance": 0.15924296848893685
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.32526237144895775,
    "bimanual_gripper_vertical_difference": 0.009158969687121475,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9901273250579834,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12985583368124107,
      "valve_0-left gripper distance": 0.5373396609626714,
      "valve_1-right gripper distance": 0.4380688256019829,
      "valve_1-left gripper distance": 0.158832660796826
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3313163345110265,
    "bimanual_gripper_vertical_difference": 0.009190672013072436,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0169386863708496,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13068332234774477,
      "valve_0-left gripper distance": 0.5375746297241133,
      "valve_1-right gripper distance": 0.437952827993514,
      "valve_1-left gripper distance": 0.15850390169510023
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3351421771781946,
    "bimanual_gripper_vertical_difference": 0.009235364004845927,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0441367626190186,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1307403284306484,
      "valve_0-left gripper distance": 0.5377792324190571,
      "valve_1-right gripper distance": 0.43781760491058574,
      "valve_1-left gripper distance": 0.1582494117515978
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33684289854147953,
    "bimanual_gripper_vertical_difference": 0.00928534658815534,
    "task_success": 0.0
  },
  {
    "completion_time": 3.06927490234375,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1299835640548091,
      "valve_0-left gripper distance": 0.5379817998736919,
      "valve_1-right gripper distance": 0.43771126130578586,
      "valve_1-left gripper distance": 0.1580745767254715
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33572144173932683,
    "bimanual_gripper_vertical_difference": 0.00933285692834131,
    "task_success": 0.0
  },
  {
    "completion_time": 3.093074321746826,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12895816181870534,
      "valve_0-left gripper distance": 0.5381533854093999,
      "valve_1-right gripper distance": 0.4377530310066645,
      "valve_1-left gripper distance": 0.15794447575810466
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3340984246569852,
    "bimanual_gripper_vertical_difference": 0.009374988011463994,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1167726516723633,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12765707365092568,
      "valve_0-left gripper distance": 0.5382351478855196,
      "valve_1-right gripper distance": 0.4379564731988249,
      "valve_1-left gripper distance": 0.1578076623082151
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33231634863403514,
    "bimanual_gripper_vertical_difference": 0.009409068844744203,
    "task_success": 0.0
  },
  {
    "completion_time": 3.141031265258789,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1260514446316091,
      "valve_0-left gripper distance": 0.5382101700417057,
      "valve_1-right gripper distance": 0.4384031117397568,
      "valve_1-left gripper distance": 0.15764299523245498
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33180270204595297,
    "bimanual_gripper_vertical_difference": 0.009432417323651094,
    "task_success": 0.0
  },
  {
    "completion_time": 3.164608955383301,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12416974158772044,
      "valve_0-left gripper distance": 0.5381548940812464,
      "valve_1-right gripper distance": 0.4390656090765632,
      "valve_1-left gripper distance": 0.15748780585082958
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33261845945532587,
    "bimanual_gripper_vertical_difference": 0.009442742960071967,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1890435218811035,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12193900984190795,
      "valve_0-left gripper distance": 0.5381057784609815,
      "valve_1-right gripper distance": 0.4399622262913236,
      "valve_1-left gripper distance": 0.15736089870040706
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33494315419858395,
    "bimanual_gripper_vertical_difference": 0.009437192411946444,
    "task_success": 0.0
  },
  {
    "completion_time": 3.214099645614624,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11943350489264967,
      "valve_0-left gripper distance": 0.537963826652664,
      "valve_1-right gripper distance": 0.4410214520663849,
      "valve_1-left gripper distance": 0.15719762060242617
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3381874734397853,
    "bimanual_gripper_vertical_difference": 0.009413520466691002,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2398359775543213,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11848722360291367,
      "valve_0-left gripper distance": 0.5377234444041286,
      "valve_1-right gripper distance": 0.44153505973977764,
      "valve_1-left gripper distance": 0.15698984766096877
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34120221923813054,
    "bimanual_gripper_vertical_difference": 0.009383254216743676,
    "task_success": 0.0
  },
  {
    "completion_time": 3.266692638397217,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1181851865566446,
      "valve_0-left gripper distance": 0.5374784677336892,
      "valve_1-right gripper distance": 0.4417408516180852,
      "valve_1-left gripper distance": 0.15678711838445503
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34376921047922737,
    "bimanual_gripper_vertical_difference": 0.009351136799488445,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2938034534454346,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11789432644484929,
      "valve_0-left gripper distance": 0.5372805311888801,
      "valve_1-right gripper distance": 0.44187103798195665,
      "valve_1-left gripper distance": 0.1566181503399953
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3455382764627001,
    "bimanual_gripper_vertical_difference": 0.009317300238064196,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3224000930786133,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11761019871154257,
      "valve_0-left gripper distance": 0.5371320237523494,
      "valve_1-right gripper distance": 0.44194751537687177,
      "valve_1-left gripper distance": 0.15648443685357524
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34648988505600614,
    "bimanual_gripper_vertical_difference": 0.009281899837225346,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3489394187927246,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1172986116611033,
      "valve_0-left gripper distance": 0.5370368814339274,
      "valve_1-right gripper distance": 0.4419543951568102,
      "valve_1-left gripper distance": 0.1563915363233589
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3465766552913992,
    "bimanual_gripper_vertical_difference": 0.009244866141004011,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3755431175231934,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11695795995960745,
      "valve_0-left gripper distance": 0.5369937838802153,
      "valve_1-right gripper distance": 0.441878288025877,
      "valve_1-left gripper distance": 0.15634304791580336
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34568114774306036,
    "bimanual_gripper_vertical_difference": 0.00920610699068358,
    "task_success": 0.0
  },
  {
    "completion_time": 3.402287483215332,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1165785424151273,
      "valve_0-left gripper distance": 0.5369929590775085,
      "valve_1-right gripper distance": 0.4416608080981244,
      "valve_1-left gripper distance": 0.15632712811691957
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34380078342136766,
    "bimanual_gripper_vertical_difference": 0.009165533563286525,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4311165809631348,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11535784907008467,
      "valve_0-left gripper distance": 0.5370241540872983,
      "valve_1-right gripper distance": 0.4406785304565629,
      "valve_1-left gripper distance": 0.15633537636506187
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3430906764937149,
    "bimanual_gripper_vertical_difference": 0.009117651220049034,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4548773765563965,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11323652741016164,
      "valve_0-left gripper distance": 0.5370936604955215,
      "valve_1-right gripper distance": 0.4389260146022859,
      "valve_1-left gripper distance": 0.15637677255058674
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34291533041047073,
    "bimanual_gripper_vertical_difference": 0.009056351510685734,
    "task_success": 0.0
  },
  {
    "completion_time": 3.479198932647705,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11121301402405993,
      "valve_0-left gripper distance": 0.5372153365663541,
      "valve_1-right gripper distance": 0.43698547594308057,
      "valve_1-left gripper distance": 0.1564576076401655
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34260540227208935,
    "bimanual_gripper_vertical_difference": 0.009003660324095126,
    "task_success": 0.0
  },
  {
    "completion_time": 3.503180980682373,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10933028373065617,
      "valve_0-left gripper distance": 0.5373995298317777,
      "valve_1-right gripper distance": 0.43507572094697833,
      "valve_1-left gripper distance": 0.1565742584936924
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3419991089115653,
    "bimanual_gripper_vertical_difference": 0.008964404570351588,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5273044109344482,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10749760540695841,
      "valve_0-left gripper distance": 0.5376506972739697,
      "valve_1-right gripper distance": 0.4333552055665565,
      "valve_1-left gripper distance": 0.15672749818238751
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3410562283132249,
    "bimanual_gripper_vertical_difference": 0.008938195823454127,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5509092807769775,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1056541988038665,
      "valve_0-left gripper distance": 0.5379150667723236,
      "valve_1-right gripper distance": 0.43212778833832594,
      "valve_1-left gripper distance": 0.15689253073007392
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33979029867344346,
    "bimanual_gripper_vertical_difference": 0.008924934002243258,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5771982669830322,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10382931735327935,
      "valve_0-left gripper distance": 0.5380743928568749,
      "valve_1-right gripper distance": 0.431710869133482,
      "valve_1-left gripper distance": 0.15700119001403542
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33823506052851604,
    "bimanual_gripper_vertical_difference": 0.008924179308640525,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6013729572296143,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10229963544634703,
      "valve_0-left gripper distance": 0.5380673626960571,
      "valve_1-right gripper distance": 0.43207371271935135,
      "valve_1-left gripper distance": 0.15700667351194839
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.336745867504049,
    "bimanual_gripper_vertical_difference": 0.008933650941105637,
    "task_success": 0.0
  },
  {
    "completion_time": 3.625640630722046,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10121309355800319,
      "valve_0-left gripper distance": 0.5379426117205666,
      "valve_1-right gripper distance": 0.4328532459001573,
      "valve_1-left gripper distance": 0.15692901556396235
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.335144408711744,
    "bimanual_gripper_vertical_difference": 0.008950114594487062,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6495747566223145,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10040474604987229,
      "valve_0-left gripper distance": 0.537761695620061,
      "valve_1-right gripper distance": 0.43371751145896537,
      "valve_1-left gripper distance": 0.15680675198732597
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.333718911168503,
    "bimanual_gripper_vertical_difference": 0.0089716261666995,
    "task_success": 0.0
  },
  {
    "completion_time": 3.675647258758545,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10010240395136952,
      "valve_0-left gripper distance": 0.5375597758969806,
      "valve_1-right gripper distance": 0.4339020303712467,
      "valve_1-left gripper distance": 0.1566606265014644
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33210476127046357,
    "bimanual_gripper_vertical_difference": 0.008994891231314651,
    "task_success": 0.0
  },
  {
    "completion_time": 3.703608512878418,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1000911921913844,
      "valve_0-left gripper distance": 0.5373262826085836,
      "valve_1-right gripper distance": 0.4339647258080418,
      "valve_1-left gripper distance": 0.1564906099443629
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.33015424615907984,
    "bimanual_gripper_vertical_difference": 0.009017966241642634,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7318198680877686,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10009558460818387,
      "valve_0-left gripper distance": 0.5370652966106504,
      "valve_1-right gripper distance": 0.4339951664517082,
      "valve_1-left gripper distance": 0.15631001165681482
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3283753388012506,
    "bimanual_gripper_vertical_difference": 0.009040612865010579,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7591989040374756,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10010982806895757,
      "valve_0-left gripper distance": 0.5368248535940089,
      "valve_1-right gripper distance": 0.4340068334302354,
      "valve_1-left gripper distance": 0.156152572836022
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3265832497645521,
    "bimanual_gripper_vertical_difference": 0.009062869610195127,
    "task_success": 0.0
  },
  {
    "completion_time": 3.785619020462036,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10009706147367249,
      "valve_0-left gripper distance": 0.5365638379282294,
      "valve_1-right gripper distance": 0.4338468791028684,
      "valve_1-left gripper distance": 0.15603334513235995
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.32520027925497386,
    "bimanual_gripper_vertical_difference": 0.009085721398705905,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8113839626312256,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10013332903485142,
      "valve_0-left gripper distance": 0.5364444044536255,
      "valve_1-right gripper distance": 0.4339065263770983,
      "valve_1-left gripper distance": 0.155946863113679
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3246080549700819,
    "bimanual_gripper_vertical_difference": 0.009108496594755657,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8380613327026367,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10012498756643474,
      "valve_0-left gripper distance": 0.5362190766978997,
      "valve_1-right gripper distance": 0.43389929679154704,
      "valve_1-left gripper distance": 0.15535515743647468
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3227524352228123,
    "bimanual_gripper_vertical_difference": 0.0091262823539102,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8648836612701416,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10012753089794853,
      "valve_0-left gripper distance": 0.5359545778140753,
      "valve_1-right gripper distance": 0.43387622293433936,
      "valve_1-left gripper distance": 0.15450954548777085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.32098749977821134,
    "bimanual_gripper_vertical_difference": 0.009136912493172897,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8920347690582275,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10013647357136063,
      "valve_0-left gripper distance": 0.5357277277222933,
      "valve_1-right gripper distance": 0.4338796364956989,
      "valve_1-left gripper distance": 0.1537489973678861
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3192617026986612,
    "bimanual_gripper_vertical_difference": 0.00914106865239929,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9199655055999756,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10014083711256842,
      "valve_0-left gripper distance": 0.5355452272625436,
      "valve_1-right gripper distance": 0.43388341871713787,
      "valve_1-left gripper distance": 0.1531302013609546
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3175355044147933,
    "bimanual_gripper_vertical_difference": 0.009140061494217177,
    "task_success": 0.0
  },
  {
    "completion_time": 3.951505661010742,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10014369070129003,
      "valve_0-left gripper distance": 0.5354018562741548,
      "valve_1-right gripper distance": 0.43388899376290757,
      "valve_1-left gripper distance": 0.1526336609828953
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.31578257710884006,
    "bimanual_gripper_vertical_difference": 0.009135025170699952,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9796156883239746,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10014656459461038,
      "valve_0-left gripper distance": 0.5352888873837093,
      "valve_1-right gripper distance": 0.433894057564701,
      "valve_1-left gripper distance": 0.15223594784659472
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.31399084581707476,
    "bimanual_gripper_vertical_difference": 0.009126843573948619,
    "task_success": 0.0
  },
  {
    "completion_time": 4.007587194442749,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.100147971358778,
      "valve_0-left gripper distance": 0.5351925434956989,
      "valve_1-right gripper distance": 0.43388861097447734,
      "valve_1-left gripper distance": 0.15191744922005423
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3122040725480934,
    "bimanual_gripper_vertical_difference": 0.009116176199418832,
    "task_success": 0.0
  },
  {
    "completion_time": 4.035234451293945,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10014964902269803,
      "valve_0-left gripper distance": 0.5351156189310126,
      "valve_1-right gripper distance": 0.43388649377903127,
      "valve_1-left gripper distance": 0.15166229440207044
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.31041431970584676,
    "bimanual_gripper_vertical_difference": 0.009103575698102703,
    "task_success": 0.0
  },
  {
    "completion_time": 4.063300132751465,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10015105564448365,
      "valve_0-left gripper distance": 0.5350634889515502,
      "valve_1-right gripper distance": 0.4339007878202116,
      "valve_1-left gripper distance": 0.15145776104102326
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.30861985414813253,
    "bimanual_gripper_vertical_difference": 0.009089486194392954,
    "task_success": 0.0
  },
  {
    "completion_time": 4.091120719909668,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1001518624539896,
      "valve_0-left gripper distance": 0.5350133717402235,
      "valve_1-right gripper distance": 0.43389605943404125,
      "valve_1-left gripper distance": 0.15129382874928354
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3068295922699703,
    "bimanual_gripper_vertical_difference": 0.009074265734881177,
    "task_success": 0.0
  },
  {
    "completion_time": 4.11877965927124,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10015369267943472,
      "valve_0-left gripper distance": 0.5349738916700031,
      "valve_1-right gripper distance": 0.4338942020552314,
      "valve_1-left gripper distance": 0.1511625863994941
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3049957981342952,
    "bimanual_gripper_vertical_difference": 0.009058192927999741,
    "task_success": 0.0
  },
  {
    "completion_time": 4.14632248878479,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10015365584389758,
      "valve_0-left gripper distance": 0.5349425800686637,
      "valve_1-right gripper distance": 0.433898403043629,
      "valve_1-left gripper distance": 0.15105700339690536
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3032184435091348,
    "bimanual_gripper_vertical_difference": 0.00904144153907287,
    "task_success": 0.0
  },
  {
    "completion_time": 4.174059152603149,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10015458218923377,
      "valve_0-left gripper distance": 0.5349249477221977,
      "valve_1-right gripper distance": 0.43391143073918875,
      "valve_1-left gripper distance": 0.1509724475843987
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3014539117778824,
    "bimanual_gripper_vertical_difference": 0.009024218986192298,
    "task_success": 0.0
  },
  {
    "completion_time": 4.202106952667236,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10015431863333302,
      "valve_0-left gripper distance": 0.5348036128118895,
      "valve_1-right gripper distance": 0.4339021457794003,
      "valve_1-left gripper distance": 0.15046236233568247
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.300019940881176,
    "bimanual_gripper_vertical_difference": 0.009003175301281885,
    "task_success": 0.0
  },
  {
    "completion_time": 4.229942798614502,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10016028877537157,
      "valve_0-left gripper distance": 0.5349581533207693,
      "valve_1-right gripper distance": 0.4339152685257293,
      "valve_1-left gripper distance": 0.14995627640893286
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2989300347127031,
    "bimanual_gripper_vertical_difference": 0.008977209092421197,
    "task_success": 0.0
  },
  {
    "completion_time": 4.25796365737915,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10016058034455765,
      "valve_0-left gripper distance": 0.5354271705719995,
      "valve_1-right gripper distance": 0.43392071700133444,
      "valve_1-left gripper distance": 0.14954849925723782
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.29794229058916316,
    "bimanual_gripper_vertical_difference": 0.008944181033776954,
    "task_success": 0.0
  },
  {
    "completion_time": 4.285696029663086,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1001572422282921,
      "valve_0-left gripper distance": 0.535551869830505,
      "valve_1-right gripper distance": 0.4339102700713251,
      "valve_1-left gripper distance": 0.14888713938917641
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.29681965416542766,
    "bimanual_gripper_vertical_difference": 0.00890396973568881,
    "task_success": 0.0
  },
  {
    "completion_time": 4.313711643218994,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10015880445623877,
      "valve_0-left gripper distance": 0.5353562803278059,
      "valve_1-right gripper distance": 0.43391487640211923,
      "valve_1-left gripper distance": 0.1480805450835138
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2954713190385313,
    "bimanual_gripper_vertical_difference": 0.008857756171444069,
    "task_success": 0.0
  },
  {
    "completion_time": 4.341297149658203,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10016193425577699,
      "valve_0-left gripper distance": 0.5351055503999469,
      "valve_1-right gripper distance": 0.4339054995179106,
      "valve_1-left gripper distance": 0.14735316611889987
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2940839135232998,
    "bimanual_gripper_vertical_difference": 0.008807599629558193,
    "task_success": 0.0
  },
  {
    "completion_time": 4.369483709335327,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10016358875751291,
      "valve_0-left gripper distance": 0.5348866035914976,
      "valve_1-right gripper distance": 0.4339130402016821,
      "valve_1-left gripper distance": 0.1466093918409745
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.29277825633183374,
    "bimanual_gripper_vertical_difference": 0.008763739862934746,
    "task_success": 0.0
  },
  {
    "completion_time": 4.397726535797119,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10016783677281678,
      "valve_0-left gripper distance": 0.5348013153428601,
      "valve_1-right gripper distance": 0.43391215635213015,
      "valve_1-left gripper distance": 0.14574794161877982
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2915481361621513,
    "bimanual_gripper_vertical_difference": 0.00872867280840801,
    "task_success": 0.0
  },
  {
    "completion_time": 4.425904273986816,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10017049554091706,
      "valve_0-left gripper distance": 0.5349886229926389,
      "valve_1-right gripper distance": 0.4339094393526477,
      "valve_1-left gripper distance": 0.14528633689276382
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2902031071551723,
    "bimanual_gripper_vertical_difference": 0.008699771817505668,
    "task_success": 0.0
  },
  {
    "completion_time": 4.453364372253418,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10017624315992195,
      "valve_0-left gripper distance": 0.5352933771494816,
      "valve_1-right gripper distance": 0.4339047285852298,
      "valve_1-left gripper distance": 0.1455638006452117
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2917003112155003,
    "bimanual_gripper_vertical_difference": 0.008667664405548442,
    "task_success": 0.0
  },
  {
    "completion_time": 4.480631351470947,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1001795700551034,
      "valve_0-left gripper distance": 0.5355111041133336,
      "valve_1-right gripper distance": 0.43391057916508063,
      "valve_1-left gripper distance": 0.1467440417403465
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2971927028144781,
    "bimanual_gripper_vertical_difference": 0.008620273556622308,
    "task_success": 0.0
  },
  {
    "completion_time": 4.511459112167358,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10018443386601178,
      "valve_0-left gripper distance": 0.5357403299465177,
      "valve_1-right gripper distance": 0.4339144746117703,
      "valve_1-left gripper distance": 0.14900989072596832
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3059662334419837,
    "bimanual_gripper_vertical_difference": 0.008599094637861491,
    "task_success": 0.0
  },
  {
    "completion_time": 4.538380861282349,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1001896137358333,
      "valve_0-left gripper distance": 0.5361358275490055,
      "valve_1-right gripper distance": 0.4339163231368934,
      "valve_1-left gripper distance": 0.15221011333409426
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3158918510035929,
    "bimanual_gripper_vertical_difference": 0.008611947342118063,
    "task_success": 0.0
  },
  {
    "completion_time": 4.564942121505737,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10019717750667964,
      "valve_0-left gripper distance": 0.5367417193776538,
      "valve_1-right gripper distance": 0.43392514366820206,
      "valve_1-left gripper distance": 0.15591776628271634
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.32638687493113944,
    "bimanual_gripper_vertical_difference": 0.008659900301926168,
    "task_success": 0.0
  },
  {
    "completion_time": 4.592260837554932,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10020350183144879,
      "valve_0-left gripper distance": 0.5375340170719795,
      "valve_1-right gripper distance": 0.43393329557206883,
      "valve_1-left gripper distance": 0.15999702734476093
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3381021228581328,
    "bimanual_gripper_vertical_difference": 0.008743216500524953,
    "task_success": 0.0
  },
  {
    "completion_time": 4.61959981918335,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10020966139333436,
      "valve_0-left gripper distance": 0.5383594068507165,
      "valve_1-right gripper distance": 0.4339257020050119,
      "valve_1-left gripper distance": 0.16417898655376365
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3498910770881132,
    "bimanual_gripper_vertical_difference": 0.008860254393269937,
    "task_success": 0.0
  },
  {
    "completion_time": 4.646743535995483,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10022098910693587,
      "valve_0-left gripper distance": 0.5389478276819184,
      "valve_1-right gripper distance": 0.43393305408813493,
      "valve_1-left gripper distance": 0.16818258677945394
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3622114239998309,
    "bimanual_gripper_vertical_difference": 0.009008889536716538,
    "task_success": 0.0
  },
  {
    "completion_time": 4.673357963562012,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10023124170862434,
      "valve_0-left gripper distance": 0.5390565577747168,
      "valve_1-right gripper distance": 0.43392681702456054,
      "valve_1-left gripper distance": 0.17162736643159082
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.37313106480812525,
    "bimanual_gripper_vertical_difference": 0.00918471326194296,
    "task_success": 0.0
  },
  {
    "completion_time": 4.699150562286377,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10024013490975775,
      "valve_0-left gripper distance": 0.5381905480945557,
      "valve_1-right gripper distance": 0.43393768758805257,
      "valve_1-left gripper distance": 0.17397524538650325
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.38227667234769036,
    "bimanual_gripper_vertical_difference": 0.009381925983219094,
    "task_success": 0.0
  },
  {
    "completion_time": 4.72622537612915,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10024162876280454,
      "valve_0-left gripper distance": 0.5353487730210296,
      "valve_1-right gripper distance": 0.4339513281317106,
      "valve_1-left gripper distance": 0.1742884768064919
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3879721532494159,
    "bimanual_gripper_vertical_difference": 0.009591573719905567,
    "task_success": 0.0
  },
  {
    "completion_time": 4.7528722286224365,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10024635180981002,
      "valve_0-left gripper distance": 0.5309946931967482,
      "valve_1-right gripper distance": 0.43394639852830535,
      "valve_1-left gripper distance": 0.17302479700349874
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39064150037043827,
    "bimanual_gripper_vertical_difference": 0.009806670174500277,
    "task_success": 0.0
  },
  {
    "completion_time": 4.778897285461426,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10025396251993199,
      "valve_0-left gripper distance": 0.5256632589102286,
      "valve_1-right gripper distance": 0.43394972973709717,
      "valve_1-left gripper distance": 0.17076809609856516
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.391267285689277,
    "bimanual_gripper_vertical_difference": 0.01002237375754518,
    "task_success": 0.0
  },
  {
    "completion_time": 4.805150032043457,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10025963784580062,
      "valve_0-left gripper distance": 0.5196054798858537,
      "valve_1-right gripper distance": 0.43395537766757286,
      "valve_1-left gripper distance": 0.16793294421692118
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39130707025792955,
    "bimanual_gripper_vertical_difference": 0.010235966981236976,
    "task_success": 0.0
  },
  {
    "completion_time": 4.832021951675415,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10026360776943766,
      "valve_0-left gripper distance": 0.5131218865601992,
      "valve_1-right gripper distance": 0.4339454603438442,
      "valve_1-left gripper distance": 0.16476545005544047
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39127649827550065,
    "bimanual_gripper_vertical_difference": 0.010445148790768405,
    "task_success": 0.0
  },
  {
    "completion_time": 4.861179351806641,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1002628167654223,
      "valve_0-left gripper distance": 0.506417843589146,
      "valve_1-right gripper distance": 0.4339301175893079,
      "valve_1-left gripper distance": 0.161307946469455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3915004188770857,
    "bimanual_gripper_vertical_difference": 0.010647304163866868,
    "task_success": 0.0
  },
  {
    "completion_time": 4.888017892837524,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10026670556368512,
      "valve_0-left gripper distance": 0.5000449352636219,
      "valve_1-right gripper distance": 0.4339296013182403,
      "valve_1-left gripper distance": 0.15802424857548075
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3918310637476308,
    "bimanual_gripper_vertical_difference": 0.010841546650769045,
    "task_success": 0.0
  },
  {
    "completion_time": 4.914463758468628,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1002732657831948,
      "valve_0-left gripper distance": 0.49408944715159314,
      "valve_1-right gripper distance": 0.43392519168881555,
      "valve_1-left gripper distance": 0.15497647787205124
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39229632687219845,
    "bimanual_gripper_vertical_difference": 0.011027358988874601,
    "task_success": 0.0
  },
  {
    "completion_time": 4.940810441970825,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1002768568889326,
      "valve_0-left gripper distance": 0.48864743749547424,
      "valve_1-right gripper distance": 0.43392018972696167,
      "valve_1-left gripper distance": 0.15222973007816784
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3928085871473313,
    "bimanual_gripper_vertical_difference": 0.011204795792257631,
    "task_success": 0.0
  },
  {
    "completion_time": 4.967223644256592,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10028173516652213,
      "valve_0-left gripper distance": 0.4836577402781041,
      "valve_1-right gripper distance": 0.4339126612702972,
      "valve_1-left gripper distance": 0.14967191201616786
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3936417028048468,
    "bimanual_gripper_vertical_difference": 0.011373512874334045,
    "task_success": 0.0
  },
  {
    "completion_time": 4.9935736656188965,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10028451291043623,
      "valve_0-left gripper distance": 0.479115191021362,
      "valve_1-right gripper distance": 0.43391304706730865,
      "valve_1-left gripper distance": 0.1472258976088845
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39461125720214724,
    "bimanual_gripper_vertical_difference": 0.011532972929930113,
    "task_success": 0.0
  },
  {
    "completion_time": 5.019270181655884,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 4,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10028531496242565,
      "valve_0-left gripper distance": 0.47521617738690186,
      "valve_1-right gripper distance": 0.43390209538927943,
      "valve_1-left gripper distance": 0.14483812996576653
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3954956784079789,
    "bimanual_gripper_vertical_difference": 0.011682380493083231,
    "task_success": 0.0
  }
]