[
  {
    "completion_time": 0.032196044921875,
    "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": 0.15212982237619485,
      "valve_0-left gripper distance": 0.6797258569480964,
      "valve_1-right gripper distance": 0.5337967917298096,
      "valve_1-left gripper distance": 0.16254298349114374
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0,
    "bimanual_gripper_vertical_difference": 0.0,
    "task_success": 0.0
  },
  {
    "completion_time": 0.05335807800292969,
    "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": 0.15169814860762623,
      "valve_0-left gripper distance": 0.679624051895163,
      "valve_1-right gripper distance": 0.5336762745006837,
      "valve_1-left gripper distance": 0.162124455792071
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0,
    "bimanual_gripper_vertical_difference": 0.0,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07506752014160156,
    "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": 0.15082841826289442,
      "valve_0-left gripper distance": 0.6794245522222166,
      "valve_1-right gripper distance": 0.5334331517208696,
      "valve_1-left gripper distance": 0.16129750574453378
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.3129646346357427e-18,
    "bimanual_gripper_vertical_difference": 0.0,
    "task_success": 0.0
  },
  {
    "completion_time": 0.09646463394165039,
    "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": 0.15013143986025812,
      "valve_0-left gripper distance": 0.6792652113483638,
      "valve_1-right gripper distance": 0.5332394859954518,
      "valve_1-left gripper distance": 0.1606349129110831
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 5.204170427930421e-18,
    "bimanual_gripper_vertical_difference": 0.0,
    "task_success": 0.0
  },
  {
    "completion_time": 0.12054109573364258,
    "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": 0.1495725979321119,
      "valve_0-left gripper distance": 0.6791380000590342,
      "valve_1-right gripper distance": 0.5330847526254776,
      "valve_1-left gripper distance": 0.1601039106700109
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.938893903907228e-18,
    "bimanual_gripper_vertical_difference": 0.0,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1422574520111084,
    "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": 0.1487076894501491,
      "valve_0-left gripper distance": 0.6789248951855908,
      "valve_1-right gripper distance": 0.5328713340299845,
      "valve_1-left gripper distance": 0.15936619329189303
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0005382641451226201,
    "bimanual_gripper_vertical_difference": 1.571145341283664e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.16376948356628418,
    "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": 0.14641224964206598,
      "valve_0-left gripper distance": 0.6781406672562528,
      "valve_1-right gripper distance": 0.5327534436577551,
      "valve_1-left gripper distance": 0.1581047491773353
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.008706930262386283,
    "bimanual_gripper_vertical_difference": 0.00017907517027250717,
    "task_success": 0.0
  },
  {
    "completion_time": 0.18525314331054688,
    "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": 0.14304939898544647,
      "valve_0-left gripper distance": 0.6771393550255875,
      "valve_1-right gripper distance": 0.5328559321134649,
      "valve_1-left gripper distance": 0.15739813422401328
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.008176216829973056,
    "bimanual_gripper_vertical_difference": 0.0006689202716387566,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2069699764251709,
    "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": 0.1393195388638847,
      "valve_0-left gripper distance": 0.6764889067853047,
      "valve_1-right gripper distance": 0.5331095465629643,
      "valve_1-left gripper distance": 0.15758094191667685
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.018424860337348872,
    "bimanual_gripper_vertical_difference": 0.0015348749223051713,
    "task_success": 0.0
  },
  {
    "completion_time": 0.22856974601745605,
    "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": 0.13599349153466295,
      "valve_0-left gripper distance": 0.6762085092488839,
      "valve_1-right gripper distance": 0.5334032984696213,
      "valve_1-left gripper distance": 0.1583523335477078
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.02764188048260699,
    "bimanual_gripper_vertical_difference": 0.0026986878439834603,
    "task_success": 0.0
  },
  {
    "completion_time": 0.25017619132995605,
    "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": 0.13340613458394848,
      "valve_0-left gripper distance": 0.6760352570441726,
      "valve_1-right gripper distance": 0.5336643053898957,
      "valve_1-left gripper distance": 0.1593066881613885
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.040189334249464664,
    "bimanual_gripper_vertical_difference": 0.004054623960471757,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2718541622161865,
    "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": 0.13165256548365825,
      "valve_0-left gripper distance": 0.6756865695950564,
      "valve_1-right gripper distance": 0.5338233225078715,
      "valve_1-left gripper distance": 0.1602064630712414
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0521557465194973,
    "bimanual_gripper_vertical_difference": 0.005520483514971475,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2938845157623291,
    "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": 0.13076402769120604,
      "valve_0-left gripper distance": 0.6748708272850785,
      "valve_1-right gripper distance": 0.5338182676236671,
      "valve_1-left gripper distance": 0.16088312591077772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.057370996592915634,
    "bimanual_gripper_vertical_difference": 0.007036662938064196,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3169393539428711,
    "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": 0.13064551016881934,
      "valve_0-left gripper distance": 0.6734378389724978,
      "valve_1-right gripper distance": 0.5336438804042106,
      "valve_1-left gripper distance": 0.16125033825815407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.05560245471757569,
    "bimanual_gripper_vertical_difference": 0.008558058827886437,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3391225337982178,
    "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": 0.13113461688610423,
      "valve_0-left gripper distance": 0.6713388048420402,
      "valve_1-right gripper distance": 0.5333475423814206,
      "valve_1-left gripper distance": 0.1612802000406297
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.055618128796637974,
    "bimanual_gripper_vertical_difference": 0.010054705702250732,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3610990047454834,
    "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": 0.13214077726069537,
      "valve_0-left gripper distance": 0.668489135141827,
      "valve_1-right gripper distance": 0.5329644737129389,
      "valve_1-left gripper distance": 0.16095989998404747
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.060087261178261804,
    "bimanual_gripper_vertical_difference": 0.01150581980739862,
    "task_success": 0.0
  },
  {
    "completion_time": 0.38349413871765137,
    "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": 0.1335393166959844,
      "valve_0-left gripper distance": 0.6649386887914406,
      "valve_1-right gripper distance": 0.532513430194063,
      "valve_1-left gripper distance": 0.16037396090821826
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.06652408008897825,
    "bimanual_gripper_vertical_difference": 0.012898316163172725,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4056119918823242,
    "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": 0.13517271305274722,
      "valve_0-left gripper distance": 0.6608517541977177,
      "valve_1-right gripper distance": 0.5320795934514206,
      "valve_1-left gripper distance": 0.15967927598251727
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.07264940511127019,
    "bimanual_gripper_vertical_difference": 0.014228583594411493,
    "task_success": 0.0
  },
  {
    "completion_time": 0.42792630195617676,
    "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": 0.13685502502191876,
      "valve_0-left gripper distance": 0.6565916875484875,
      "valve_1-right gripper distance": 0.5317359996086466,
      "valve_1-left gripper distance": 0.15898805319114326
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.07642520005046788,
    "bimanual_gripper_vertical_difference": 0.015492659908483265,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4506807327270508,
    "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": 0.13852693310940242,
      "valve_0-left gripper distance": 0.6518490278869179,
      "valve_1-right gripper distance": 0.5315237721136065,
      "valve_1-left gripper distance": 0.15803293591367026
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.07684417788904577,
    "bimanual_gripper_vertical_difference": 0.016687221978067344,
    "task_success": 0.0
  },
  {
    "completion_time": 0.47594332695007324,
    "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": 0.1399253971748266,
      "valve_0-left gripper distance": 0.6462642141780531,
      "valve_1-right gripper distance": 0.5313229716220571,
      "valve_1-left gripper distance": 0.1563333121748282
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.08134158239649751,
    "bimanual_gripper_vertical_difference": 0.017784912368902513,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4980454444885254,
    "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": 0.14090814493438983,
      "valve_0-left gripper distance": 0.6395470531851921,
      "valve_1-right gripper distance": 0.5310462063643098,
      "valve_1-left gripper distance": 0.15351598163555927
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.08573500686162064,
    "bimanual_gripper_vertical_difference": 0.018760527583589037,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5200603008270264,
    "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": 0.14160875968558584,
      "valve_0-left gripper distance": 0.6319621489335188,
      "valve_1-right gripper distance": 0.5306899258145087,
      "valve_1-left gripper distance": 0.14988465823687747
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.08986258473816698,
    "bimanual_gripper_vertical_difference": 0.01959759270940403,
    "task_success": 0.0
  },
  {
    "completion_time": 0.541954517364502,
    "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": 0.1421451245378036,
      "valve_0-left gripper distance": 0.6244679164194187,
      "valve_1-right gripper distance": 0.5303042804357044,
      "valve_1-left gripper distance": 0.14634695332093753
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.09291456917030438,
    "bimanual_gripper_vertical_difference": 0.020305043895976888,
    "task_success": 0.0
  },
  {
    "completion_time": 0.56380295753479,
    "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": 0.14258048515209087,
      "valve_0-left gripper distance": 0.6172985834371828,
      "valve_1-right gripper distance": 0.5298982068534475,
      "valve_1-left gripper distance": 0.14328310409495443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.09522041325958285,
    "bimanual_gripper_vertical_difference": 0.020904769526115984,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5869617462158203,
    "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": 0.14297304891152499,
      "valve_0-left gripper distance": 0.610697145360547,
      "valve_1-right gripper distance": 0.5295092066054767,
      "valve_1-left gripper distance": 0.1408621465153127
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.09630974789239531,
    "bimanual_gripper_vertical_difference": 0.02141920503794599,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6092135906219482,
    "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": 0.14335692104714423,
      "valve_0-left gripper distance": 0.6046341015103864,
      "valve_1-right gripper distance": 0.5291533059250448,
      "valve_1-left gripper distance": 0.13906172804317088
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.09623563520833095,
    "bimanual_gripper_vertical_difference": 0.021870142083017702,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6311430931091309,
    "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": 0.14374388790485915,
      "valve_0-left gripper distance": 0.5991738996638676,
      "valve_1-right gripper distance": 0.5288648817419328,
      "valve_1-left gripper distance": 0.13777276150654594
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.09476916538484938,
    "bimanual_gripper_vertical_difference": 0.02227280793993532,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6532313823699951,
    "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": 0.14412423867699478,
      "valve_0-left gripper distance": 0.5944453237060113,
      "valve_1-right gripper distance": 0.5287290613675591,
      "valve_1-left gripper distance": 0.13678510244764927
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.09212689586826385,
    "bimanual_gripper_vertical_difference": 0.02263353583688596,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6751129627227783,
    "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": 0.14446239185895654,
      "valve_0-left gripper distance": 0.5906001178988973,
      "valve_1-right gripper distance": 0.5288330962278006,
      "valve_1-left gripper distance": 0.13580758730739087
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.08926339879487827,
    "bimanual_gripper_vertical_difference": 0.02295092077448445,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6967287063598633,
    "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": 0.14472100424922354,
      "valve_0-left gripper distance": 0.587670877842801,
      "valve_1-right gripper distance": 0.5291724919038743,
      "valve_1-left gripper distance": 0.1346135647526372
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.08762785599000525,
    "bimanual_gripper_vertical_difference": 0.023218749717917136,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7184083461761475,
    "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": 0.14488903428178693,
      "valve_0-left gripper distance": 0.5856039786955761,
      "valve_1-right gripper distance": 0.5296840185704526,
      "valve_1-left gripper distance": 0.13302045755351077
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.08837909656786762,
    "bimanual_gripper_vertical_difference": 0.023428992884800208,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7401385307312012,
    "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": 0.14499725085467027,
      "valve_0-left gripper distance": 0.5842314654838422,
      "valve_1-right gripper distance": 0.5302562603462113,
      "valve_1-left gripper distance": 0.1307006225014113
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.09180000532248184,
    "bimanual_gripper_vertical_difference": 0.023566978915367572,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7618863582611084,
    "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": 0.14509516746874665,
      "valve_0-left gripper distance": 0.583338455169258,
      "valve_1-right gripper distance": 0.5307823347305447,
      "valve_1-left gripper distance": 0.1271698790053984
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.09971430891010186,
    "bimanual_gripper_vertical_difference": 0.02360761213957312,
    "task_success": 0.0
  },
  {
    "completion_time": 0.78369140625,
    "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": 0.14530862448470383,
      "valve_0-left gripper distance": 0.5827935777213606,
      "valve_1-right gripper distance": 0.5311346327569173,
      "valve_1-left gripper distance": 0.1227020865488985
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.10947282135751615,
    "bimanual_gripper_vertical_difference": 0.023534176672695434,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8055820465087891,
    "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": 0.14572211111052225,
      "valve_0-left gripper distance": 0.5829291822942372,
      "valve_1-right gripper distance": 0.531406718945828,
      "valve_1-left gripper distance": 0.11802661381960822
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.11779676029673519,
    "bimanual_gripper_vertical_difference": 0.023349714054681572,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8273861408233643,
    "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": 0.14631330867311956,
      "valve_0-left gripper distance": 0.5840342832315489,
      "valve_1-right gripper distance": 0.5316763618091285,
      "valve_1-left gripper distance": 0.11379998101636488
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12136698274592268,
    "bimanual_gripper_vertical_difference": 0.02307481304332621,
    "task_success": 0.0
  },
  {
    "completion_time": 0.849184513092041,
    "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": 0.14698964074309204,
      "valve_0-left gripper distance": 0.5858289273006565,
      "valve_1-right gripper distance": 0.5319420003469508,
      "valve_1-left gripper distance": 0.11021254879222031
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12148574104083308,
    "bimanual_gripper_vertical_difference": 0.022731393283191598,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8711161613464355,
    "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": 0.1476422174720153,
      "valve_0-left gripper distance": 0.5878172578571432,
      "valve_1-right gripper distance": 0.5322449742719202,
      "valve_1-left gripper distance": 0.10709247296732022
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12092545087297858,
    "bimanual_gripper_vertical_difference": 0.022333202293141976,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8931403160095215,
    "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": 0.14827559977061622,
      "valve_0-left gripper distance": 0.5896825835592684,
      "valve_1-right gripper distance": 0.5327157103264952,
      "valve_1-left gripper distance": 0.10414908061141137
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12082796852151849,
    "bimanual_gripper_vertical_difference": 0.02188429672549465,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9192111492156982,
    "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": 0.1489226644689945,
      "valve_0-left gripper distance": 0.5912684384089582,
      "valve_1-right gripper distance": 0.5333621837399284,
      "valve_1-left gripper distance": 0.10125879751576584
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12140213002573999,
    "bimanual_gripper_vertical_difference": 0.021383637220441412,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9423613548278809,
    "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": 0.14952523193590295,
      "valve_0-left gripper distance": 0.5925228311649218,
      "valve_1-right gripper distance": 0.5340266225199828,
      "valve_1-left gripper distance": 0.09859072460836447
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12197192029986323,
    "bimanual_gripper_vertical_difference": 0.020912359951206296,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9646854400634766,
    "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": 0.15005680666169088,
      "valve_0-left gripper distance": 0.5934731061343637,
      "valve_1-right gripper distance": 0.5346392396093413,
      "valve_1-left gripper distance": 0.09628735347010986
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12234391092140721,
    "bimanual_gripper_vertical_difference": 0.02052466372978684,
    "task_success": 0.0
  },
  {
    "completion_time": 0.987044095993042,
    "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": 0.15050711350507867,
      "valve_0-left gripper distance": 0.5941788480015096,
      "valve_1-right gripper distance": 0.5351589381040506,
      "valve_1-left gripper distance": 0.09440498296418719
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12237388361743182,
    "bimanual_gripper_vertical_difference": 0.020205664520767278,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0092298984527588,
    "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": 0.1508650721903147,
      "valve_0-left gripper distance": 0.5947146414251755,
      "valve_1-right gripper distance": 0.5355288911820666,
      "valve_1-left gripper distance": 0.09298727393760176
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12182565032886085,
    "bimanual_gripper_vertical_difference": 0.019939336961189044,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0313777923583984,
    "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": 0.15111696744233769,
      "valve_0-left gripper distance": 0.595155787700497,
      "valve_1-right gripper distance": 0.535660831401532,
      "valve_1-left gripper distance": 0.0921320554851197
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12018408142386407,
    "bimanual_gripper_vertical_difference": 0.019707397333926017,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0533688068389893,
    "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": 0.1512539141377195,
      "valve_0-left gripper distance": 0.5955446549953137,
      "valve_1-right gripper distance": 0.5355751542508834,
      "valve_1-left gripper distance": 0.09181781007766315
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.11803846319951249,
    "bimanual_gripper_vertical_difference": 0.019492968853749428,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0754525661468506,
    "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": 0.15128379537716824,
      "valve_0-left gripper distance": 0.5959024142736702,
      "valve_1-right gripper distance": 0.5353477036851323,
      "valve_1-left gripper distance": 0.09194672656775882
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.11586383657839355,
    "bimanual_gripper_vertical_difference": 0.01928301980173586,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0973131656646729,
    "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": 0.15124208982332296,
      "valve_0-left gripper distance": 0.5962747185263344,
      "valve_1-right gripper distance": 0.5350475123870132,
      "valve_1-left gripper distance": 0.09249055531176807
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.11388888561825108,
    "bimanual_gripper_vertical_difference": 0.01906672801322025,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1193699836730957,
    "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": 0.15117736707777574,
      "valve_0-left gripper distance": 0.5967512276593733,
      "valve_1-right gripper distance": 0.5347432955645417,
      "valve_1-left gripper distance": 0.09378513940249282
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.11426615362713788,
    "bimanual_gripper_vertical_difference": 0.018828948022875946,
    "task_success": 0.0
  },
  {
    "completion_time": 1.141263484954834,
    "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": 0.15113768715120515,
      "valve_0-left gripper distance": 0.5973267526024886,
      "valve_1-right gripper distance": 0.5344670908639266,
      "valve_1-left gripper distance": 0.09616620121066816
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.11822348919793893,
    "bimanual_gripper_vertical_difference": 0.01855070167373723,
    "task_success": 0.0
  },
  {
    "completion_time": 1.165729284286499,
    "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": 0.15121282416396797,
      "valve_0-left gripper distance": 0.5978595895927215,
      "valve_1-right gripper distance": 0.5342003323842442,
      "valve_1-left gripper distance": 0.09920594572268465
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12364220083646224,
    "bimanual_gripper_vertical_difference": 0.018223258763412062,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1867303848266602,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15141504630621988,
      "valve_0-left gripper distance": 0.5982095904064755,
      "valve_1-right gripper distance": 0.5340165322477528,
      "valve_1-left gripper distance": 0.10203550381523908
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1264446951944997,
    "bimanual_gripper_vertical_difference": 0.01790377028621355,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2094206809997559,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15167511410434376,
      "valve_0-left gripper distance": 0.5966155468135473,
      "valve_1-right gripper distance": 0.53399740164403,
      "valve_1-left gripper distance": 0.10159247555127131
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.14479270352695875,
    "bimanual_gripper_vertical_difference": 0.017586028990225544,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2337627410888672,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1518910854366119,
      "valve_0-left gripper distance": 0.5965986316950843,
      "valve_1-right gripper distance": 0.5341723285866095,
      "valve_1-left gripper distance": 0.10159580211474738
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.14409643568037528,
    "bimanual_gripper_vertical_difference": 0.017276695112680922,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2586565017700195,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15203821944416496,
      "valve_0-left gripper distance": 0.5964659873072644,
      "valve_1-right gripper distance": 0.5344197601129079,
      "valve_1-left gripper distance": 0.10160638248154233
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.14241984009989092,
    "bimanual_gripper_vertical_difference": 0.016975834966220692,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2839839458465576,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15213230661205315,
      "valve_0-left gripper distance": 0.5964777912289373,
      "valve_1-right gripper distance": 0.534699431710707,
      "valve_1-left gripper distance": 0.1016315205261279
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.14085826874612642,
    "bimanual_gripper_vertical_difference": 0.016684359345799905,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3093738555908203,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15215549987918595,
      "valve_0-left gripper distance": 0.5965443437736313,
      "valve_1-right gripper distance": 0.53499180497183,
      "valve_1-left gripper distance": 0.10163427063873971
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1412036973378795,
    "bimanual_gripper_vertical_difference": 0.016402761027682945,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3342370986938477,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15208250901969947,
      "valve_0-left gripper distance": 0.5965775915310301,
      "valve_1-right gripper distance": 0.5353261112866939,
      "valve_1-left gripper distance": 0.10164579103927271
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.14348256330745224,
    "bimanual_gripper_vertical_difference": 0.01613183365425742,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3594024181365967,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15190930688910603,
      "valve_0-left gripper distance": 0.5966147450225578,
      "valve_1-right gripper distance": 0.5356948048154317,
      "valve_1-left gripper distance": 0.10165985187851624
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.14576023909914712,
    "bimanual_gripper_vertical_difference": 0.015872376871931746,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3867366313934326,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1516426815484834,
      "valve_0-left gripper distance": 0.5966859277231489,
      "valve_1-right gripper distance": 0.5361615786101183,
      "valve_1-left gripper distance": 0.10165552583245073
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1490730584754553,
    "bimanual_gripper_vertical_difference": 0.015621711060866596,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4102885723114014,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15134829371390862,
      "valve_0-left gripper distance": 0.5967455133829614,
      "valve_1-right gripper distance": 0.536559054608762,
      "valve_1-left gripper distance": 0.10168707361618294
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.15229361298292693,
    "bimanual_gripper_vertical_difference": 0.015381724316930856,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4330952167510986,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15107361915161177,
      "valve_0-left gripper distance": 0.5967961511796922,
      "valve_1-right gripper distance": 0.5369754621647241,
      "valve_1-left gripper distance": 0.10170148655037706
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1550673776737679,
    "bimanual_gripper_vertical_difference": 0.015150817777154449,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4559085369110107,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15083493695027844,
      "valve_0-left gripper distance": 0.5968132248141683,
      "valve_1-right gripper distance": 0.5374028103069842,
      "valve_1-left gripper distance": 0.10172266438697813
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.15691531582217028,
    "bimanual_gripper_vertical_difference": 0.01492858634937418,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4797468185424805,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15061447205603207,
      "valve_0-left gripper distance": 0.5968060292865769,
      "valve_1-right gripper distance": 0.5378906136493197,
      "valve_1-left gripper distance": 0.10171625733775047
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1573743487203519,
    "bimanual_gripper_vertical_difference": 0.014715678522266547,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5051000118255615,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15033258851328482,
      "valve_0-left gripper distance": 0.5968171501716124,
      "valve_1-right gripper distance": 0.5385096762408456,
      "valve_1-left gripper distance": 0.10172213801791169
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.15618747927960638,
    "bimanual_gripper_vertical_difference": 0.014513656235035375,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5304207801818848,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14981898595441684,
      "valve_0-left gripper distance": 0.5968152883341045,
      "valve_1-right gripper distance": 0.5393192173315117,
      "valve_1-left gripper distance": 0.10172752965703212
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.15438224932963487,
    "bimanual_gripper_vertical_difference": 0.014323824201330061,
    "task_success": 0.0
  },
  {
    "completion_time": 1.554767370223999,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14900247922201346,
      "valve_0-left gripper distance": 0.5968550945097215,
      "valve_1-right gripper distance": 0.5406603436176146,
      "valve_1-left gripper distance": 0.1017427128982791
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.15249677123019312,
    "bimanual_gripper_vertical_difference": 0.014145440753791996,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5794997215270996,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14801641003225427,
      "valve_0-left gripper distance": 0.5968483698843781,
      "valve_1-right gripper distance": 0.5426853437343239,
      "valve_1-left gripper distance": 0.10174350704124405
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.15176516090895564,
    "bimanual_gripper_vertical_difference": 0.013974284265386527,
    "task_success": 0.0
  },
  {
    "completion_time": 1.603830099105835,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1471301813303915,
      "valve_0-left gripper distance": 0.5968254915045619,
      "valve_1-right gripper distance": 0.5454081475186521,
      "valve_1-left gripper distance": 0.10174578903978872
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1525531771847057,
    "bimanual_gripper_vertical_difference": 0.013801607373720255,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6275882720947266,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14670628772374772,
      "valve_0-left gripper distance": 0.5968066449922986,
      "valve_1-right gripper distance": 0.5486067998842299,
      "valve_1-left gripper distance": 0.10175500970451748
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1544106469426378,
    "bimanual_gripper_vertical_difference": 0.01361775832815524,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6526873111724854,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14737883369459387,
      "valve_0-left gripper distance": 0.5967741622511318,
      "valve_1-right gripper distance": 0.5522856164854217,
      "valve_1-left gripper distance": 0.10176733143263345
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.15717960174445245,
    "bimanual_gripper_vertical_difference": 0.013445784181951045,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6796774864196777,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14877560402434453,
      "valve_0-left gripper distance": 0.5967665593862753,
      "valve_1-right gripper distance": 0.5556063717397057,
      "valve_1-left gripper distance": 0.10175879931748796
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.16186919185714665,
    "bimanual_gripper_vertical_difference": 0.01332061770500668,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7043893337249756,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15045418344085953,
      "valve_0-left gripper distance": 0.5967475771853352,
      "valve_1-right gripper distance": 0.5582337995551632,
      "valve_1-left gripper distance": 0.10177600970145864
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.16792685381070493,
    "bimanual_gripper_vertical_difference": 0.013246475237688722,
    "task_success": 0.0
  },
  {
    "completion_time": 1.727891445159912,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1522651125089107,
      "valve_0-left gripper distance": 0.5967115983687441,
      "valve_1-right gripper distance": 0.5601878640385364,
      "valve_1-left gripper distance": 0.10178365543926374
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.17606063352863122,
    "bimanual_gripper_vertical_difference": 0.013226154375394181,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7517130374908447,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1541926235857325,
      "valve_0-left gripper distance": 0.5966778325104588,
      "valve_1-right gripper distance": 0.5616136829170293,
      "valve_1-left gripper distance": 0.10178293406070012
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.18485677132057346,
    "bimanual_gripper_vertical_difference": 0.01325876710117143,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7764191627502441,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15621679172247138,
      "valve_0-left gripper distance": 0.5966521547942126,
      "valve_1-right gripper distance": 0.5627417661542892,
      "valve_1-left gripper distance": 0.10178512725548985
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.19416222335352157,
    "bimanual_gripper_vertical_difference": 0.013343442039316327,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7997829914093018,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15820339669445282,
      "valve_0-left gripper distance": 0.596635350036396,
      "valve_1-right gripper distance": 0.5636577842794014,
      "valve_1-left gripper distance": 0.10179934085041388
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.20340795600733502,
    "bimanual_gripper_vertical_difference": 0.01347696064932907,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8230152130126953,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1599630086959611,
      "valve_0-left gripper distance": 0.5966233032640873,
      "valve_1-right gripper distance": 0.5644118741244204,
      "valve_1-left gripper distance": 0.10180564855867595
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.21207619025632032,
    "bimanual_gripper_vertical_difference": 0.013653562285145067,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8463935852050781,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1613178742325722,
      "valve_0-left gripper distance": 0.5966096542576012,
      "valve_1-right gripper distance": 0.5650001263208182,
      "valve_1-left gripper distance": 0.10181012050178906
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.22044922982847068,
    "bimanual_gripper_vertical_difference": 0.013865808286904726,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8727433681488037,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1617961166012122,
      "valve_0-left gripper distance": 0.5965716535963456,
      "valve_1-right gripper distance": 0.5654966442078553,
      "valve_1-left gripper distance": 0.1018216746527008
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.22830267374208646,
    "bimanual_gripper_vertical_difference": 0.014102899744458471,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8970801830291748,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1609145418955099,
      "valve_0-left gripper distance": 0.5965583030659342,
      "valve_1-right gripper distance": 0.5660536558097837,
      "valve_1-left gripper distance": 0.10183234372494387
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.23446875144187437,
    "bimanual_gripper_vertical_difference": 0.014347726566054271,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9202933311462402,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15889926439674346,
      "valve_0-left gripper distance": 0.5965480786500279,
      "valve_1-right gripper distance": 0.5666799519653076,
      "valve_1-left gripper distance": 0.10183672749788884
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.24015971594019528,
    "bimanual_gripper_vertical_difference": 0.014586604949279438,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9438271522521973,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15621172447443507,
      "valve_0-left gripper distance": 0.5965223605159933,
      "valve_1-right gripper distance": 0.5672815048874393,
      "valve_1-left gripper distance": 0.10184237310198443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2451544375412133,
    "bimanual_gripper_vertical_difference": 0.014810562158401522,
    "task_success": 0.0
  },
  {
    "completion_time": 1.967015266418457,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15289296079773557,
      "valve_0-left gripper distance": 0.5964874695614992,
      "valve_1-right gripper distance": 0.5679292607036652,
      "valve_1-left gripper distance": 0.1018475454741553
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2514521781148348,
    "bimanual_gripper_vertical_difference": 0.01501580920484967,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9901947975158691,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14918185888509894,
      "valve_0-left gripper distance": 0.5964502929203159,
      "valve_1-right gripper distance": 0.5685543362979776,
      "valve_1-left gripper distance": 0.10185633753949762
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.25790040724608204,
    "bimanual_gripper_vertical_difference": 0.015198480808170649,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0134453773498535,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14528105106469005,
      "valve_0-left gripper distance": 0.5964329763125101,
      "valve_1-right gripper distance": 0.5692021661150609,
      "valve_1-left gripper distance": 0.10186088353363205
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2645709056817923,
    "bimanual_gripper_vertical_difference": 0.015356530573759282,
    "task_success": 0.0
  },
  {
    "completion_time": 2.036959171295166,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14143421440196982,
      "valve_0-left gripper distance": 0.596418526971675,
      "valve_1-right gripper distance": 0.569862592439811,
      "valve_1-left gripper distance": 0.10187432560251702
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2697523609570026,
    "bimanual_gripper_vertical_difference": 0.015488221915278171,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0597782135009766,
    "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": false,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13784665910577792,
      "valve_0-left gripper distance": 0.5963778112188493,
      "valve_1-right gripper distance": 0.5703353359512989,
      "valve_1-left gripper distance": 0.10188552722145552
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2737449010020111,
    "bimanual_gripper_vertical_difference": 0.015594737235008925,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0826056003570557,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13465066196818867,
      "valve_0-left gripper distance": 0.5963793167620424,
      "valve_1-right gripper distance": 0.5706655291665701,
      "valve_1-left gripper distance": 0.10188721658805446
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27664963065304216,
    "bimanual_gripper_vertical_difference": 0.015677217308697367,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1070613861083984,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13395155510872547,
      "valve_0-left gripper distance": 0.5963671243351327,
      "valve_1-right gripper distance": 0.5704990702105487,
      "valve_1-left gripper distance": 0.10189717822776698
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27725809673541835,
    "bimanual_gripper_vertical_difference": 0.015756930413267374,
    "task_success": 0.0
  },
  {
    "completion_time": 2.132138729095459,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13355546629223325,
      "valve_0-left gripper distance": 0.5963496912352744,
      "valve_1-right gripper distance": 0.5704827698936186,
      "valve_1-left gripper distance": 0.10190093254791789
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27670593111113057,
    "bimanual_gripper_vertical_difference": 0.015834654239325095,
    "task_success": 0.0
  },
  {
    "completion_time": 2.157106637954712,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13317159423062977,
      "valve_0-left gripper distance": 0.5963245562123142,
      "valve_1-right gripper distance": 0.570467587204677,
      "valve_1-left gripper distance": 0.1019006652045448
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2755652451239215,
    "bimanual_gripper_vertical_difference": 0.01591009113155633,
    "task_success": 0.0
  },
  {
    "completion_time": 2.182126760482788,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13283448094966915,
      "valve_0-left gripper distance": 0.5962825577124095,
      "valve_1-right gripper distance": 0.5704269411636128,
      "valve_1-left gripper distance": 0.10190486742023869
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27403309600319786,
    "bimanual_gripper_vertical_difference": 0.015982993371931247,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2073047161102295,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1325948118429439,
      "valve_0-left gripper distance": 0.5962863823701895,
      "valve_1-right gripper distance": 0.570438297637026,
      "valve_1-left gripper distance": 0.1019083490553028
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2715422871898424,
    "bimanual_gripper_vertical_difference": 0.016053743732721105,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2325196266174316,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1324255120644133,
      "valve_0-left gripper distance": 0.5962762777537503,
      "valve_1-right gripper distance": 0.5704610066383639,
      "valve_1-left gripper distance": 0.10190817539091113
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.26948223376280095,
    "bimanual_gripper_vertical_difference": 0.016123228678573433,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2603330612182617,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13237308969832404,
      "valve_0-left gripper distance": 0.596255107953173,
      "valve_1-right gripper distance": 0.5705040851827009,
      "valve_1-left gripper distance": 0.10191113924825779
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2667847412055461,
    "bimanual_gripper_vertical_difference": 0.016192167216659576,
    "task_success": 0.0
  },
  {
    "completion_time": 2.290403366088867,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13229276869872827,
      "valve_0-left gripper distance": 0.5962477895830265,
      "valve_1-right gripper distance": 0.5705650326075267,
      "valve_1-left gripper distance": 0.10191171676788839
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.264778399137506,
    "bimanual_gripper_vertical_difference": 0.016259449851696098,
    "task_success": 0.0
  },
  {
    "completion_time": 2.317525863647461,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13225324236667516,
      "valve_0-left gripper distance": 0.5962383128596364,
      "valve_1-right gripper distance": 0.5708544526819497,
      "valve_1-left gripper distance": 0.10191933266959179
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.26332385808512426,
    "bimanual_gripper_vertical_difference": 0.01632571471496781,
    "task_success": 0.0
  },
  {
    "completion_time": 2.343874931335449,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1321229913791711,
      "valve_0-left gripper distance": 0.5962208575791388,
      "valve_1-right gripper distance": 0.5714381740519313,
      "valve_1-left gripper distance": 0.10192680809974718
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2630970560866397,
    "bimanual_gripper_vertical_difference": 0.016390561302176414,
    "task_success": 0.0
  },
  {
    "completion_time": 2.372598648071289,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1318079804345343,
      "valve_0-left gripper distance": 0.5962126852961941,
      "valve_1-right gripper distance": 0.572387952475096,
      "valve_1-left gripper distance": 0.10194518576514158
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2649754972200352,
    "bimanual_gripper_vertical_difference": 0.016452615359173906,
    "task_success": 0.0
  },
  {
    "completion_time": 2.400634288787842,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13168391151603717,
      "valve_0-left gripper distance": 0.596179207979937,
      "valve_1-right gripper distance": 0.5737409262820755,
      "valve_1-left gripper distance": 0.1019501729203193
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2680230503219226,
    "bimanual_gripper_vertical_difference": 0.016514275420921723,
    "task_success": 0.0
  },
  {
    "completion_time": 2.428898572921753,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.131676722690552,
      "valve_0-left gripper distance": 0.5961784659545563,
      "valve_1-right gripper distance": 0.5741183665249285,
      "valve_1-left gripper distance": 0.1019539179628493
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2667230092255457,
    "bimanual_gripper_vertical_difference": 0.016574944666414394,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4575259685516357,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13180523845274472,
      "valve_0-left gripper distance": 0.5961329670872679,
      "valve_1-right gripper distance": 0.5740542288665286,
      "valve_1-left gripper distance": 0.10195883773604926
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2644373381015904,
    "bimanual_gripper_vertical_difference": 0.01663479042275939,
    "task_success": 0.0
  },
  {
    "completion_time": 2.486345052719116,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1318584833528393,
      "valve_0-left gripper distance": 0.5961180769094678,
      "valve_1-right gripper distance": 0.5739976800092358,
      "valve_1-left gripper distance": 0.10196888490884207
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2621859419375713,
    "bimanual_gripper_vertical_difference": 0.016693389717149704,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5149123668670654,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.131894784526164,
      "valve_0-left gripper distance": 0.596102776595488,
      "valve_1-right gripper distance": 0.5739411164320529,
      "valve_1-left gripper distance": 0.10197644989323011
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.25993120120823454,
    "bimanual_gripper_vertical_difference": 0.01675079429110256,
    "task_success": 0.0
  },
  {
    "completion_time": 2.543994903564453,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13193671709034696,
      "valve_0-left gripper distance": 0.5960950094354931,
      "valve_1-right gripper distance": 0.5738324559035056,
      "valve_1-left gripper distance": 0.10198046385469223
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.25842045931870095,
    "bimanual_gripper_vertical_difference": 0.016807365659112162,
    "task_success": 0.0
  },
  {
    "completion_time": 2.572202205657959,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13200903998411298,
      "valve_0-left gripper distance": 0.5961314307748891,
      "valve_1-right gripper distance": 0.5737089807852885,
      "valve_1-left gripper distance": 0.10199005770250015
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.25665413579319246,
    "bimanual_gripper_vertical_difference": 0.01686333699554894,
    "task_success": 0.0
  },
  {
    "completion_time": 2.600473165512085,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.132029679950333,
      "valve_0-left gripper distance": 0.5961643337532951,
      "valve_1-right gripper distance": 0.5736813361810397,
      "valve_1-left gripper distance": 0.10199480770257609
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2543054234783807,
    "bimanual_gripper_vertical_difference": 0.016918112165653407,
    "task_success": 0.0
  },
  {
    "completion_time": 2.627673387527466,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13197368839407222,
      "valve_0-left gripper distance": 0.5961719809967609,
      "valve_1-right gripper distance": 0.5737061879426003,
      "valve_1-left gripper distance": 0.10199980837009558
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2520810532397158,
    "bimanual_gripper_vertical_difference": 0.016971110910737535,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6559484004974365,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13200915118883808,
      "valve_0-left gripper distance": 0.5961634656947721,
      "valve_1-right gripper distance": 0.573784087361109,
      "valve_1-left gripper distance": 0.10201387370575227
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2504738801553372,
    "bimanual_gripper_vertical_difference": 0.017023160898263456,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6844241619110107,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13190440692001704,
      "valve_0-left gripper distance": 0.5961935295338536,
      "valve_1-right gripper distance": 0.5739086910158083,
      "valve_1-left gripper distance": 0.10202042475026593
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2492659421158856,
    "bimanual_gripper_vertical_difference": 0.01707338332772095,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7126011848449707,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13171230203894752,
      "valve_0-left gripper distance": 0.5962081097717564,
      "valve_1-right gripper distance": 0.5741225960417196,
      "valve_1-left gripper distance": 0.10203153614341173
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.24846509408287418,
    "bimanual_gripper_vertical_difference": 0.017121377756678463,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7394328117370605,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13137493832802077,
      "valve_0-left gripper distance": 0.596196652048793,
      "valve_1-right gripper distance": 0.5745645336003987,
      "valve_1-left gripper distance": 0.10204706844720612
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.24843739941902318,
    "bimanual_gripper_vertical_difference": 0.01716656416643773,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7660746574401855,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13118750562949452,
      "valve_0-left gripper distance": 0.5962235139948301,
      "valve_1-right gripper distance": 0.5750820128250471,
      "valve_1-left gripper distance": 0.10205472278524137
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.24866088356889532,
    "bimanual_gripper_vertical_difference": 0.017210231452215764,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7923226356506348,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13107996539713557,
      "valve_0-left gripper distance": 0.5962226085501314,
      "valve_1-right gripper distance": 0.5758119106983158,
      "valve_1-left gripper distance": 0.1020627005364924
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.24976160774903683,
    "bimanual_gripper_vertical_difference": 0.017252652308744183,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8186159133911133,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1309196555473298,
      "valve_0-left gripper distance": 0.5962239277582596,
      "valve_1-right gripper distance": 0.5766118356366409,
      "valve_1-left gripper distance": 0.10207044646127922
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2512783359189481,
    "bimanual_gripper_vertical_difference": 0.017293515361608416,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8452467918395996,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13074263974920486,
      "valve_0-left gripper distance": 0.5962327817580864,
      "valve_1-right gripper distance": 0.5774646356365922,
      "valve_1-left gripper distance": 0.10207554588738324
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2530198948654958,
    "bimanual_gripper_vertical_difference": 0.017332844919606363,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8725504875183105,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13057842847192672,
      "valve_0-left gripper distance": 0.5962440691131562,
      "valve_1-right gripper distance": 0.5783952369405174,
      "valve_1-left gripper distance": 0.10208256678419839
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2548465706202124,
    "bimanual_gripper_vertical_difference": 0.017370678771185272,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8988890647888184,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13041215311442717,
      "valve_0-left gripper distance": 0.5962468085733278,
      "valve_1-right gripper distance": 0.5793511620678081,
      "valve_1-left gripper distance": 0.10208782154208895
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2566385313162267,
    "bimanual_gripper_vertical_difference": 0.017407270070722448,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9289844036102295,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1302296898278202,
      "valve_0-left gripper distance": 0.5962529988966895,
      "valve_1-right gripper distance": 0.5803474563610772,
      "valve_1-left gripper distance": 0.10209361838058832
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2585968319899352,
    "bimanual_gripper_vertical_difference": 0.017442807755326768,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9552526473999023,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13004856115932542,
      "valve_0-left gripper distance": 0.5962659178640468,
      "valve_1-right gripper distance": 0.5813555610183079,
      "valve_1-left gripper distance": 0.10209766059387919
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2605605224127868,
    "bimanual_gripper_vertical_difference": 0.017477300297830754,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9818973541259766,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12988958138641463,
      "valve_0-left gripper distance": 0.5962656988394239,
      "valve_1-right gripper distance": 0.5823657921488364,
      "valve_1-left gripper distance": 0.10210217612575384
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.262529981998313,
    "bimanual_gripper_vertical_difference": 0.017510709368668706,
    "task_success": 0.0
  },
  {
    "completion_time": 3.010258436203003,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12973065971430867,
      "valve_0-left gripper distance": 0.5962636221793203,
      "valve_1-right gripper distance": 0.5833330991622939,
      "valve_1-left gripper distance": 0.10210507466017407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.26427523475873926,
    "bimanual_gripper_vertical_difference": 0.017542925112430066,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0376689434051514,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12957202403460416,
      "valve_0-left gripper distance": 0.596283085319864,
      "valve_1-right gripper distance": 0.5842511058745467,
      "valve_1-left gripper distance": 0.10210822568890739
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2657395715913927,
    "bimanual_gripper_vertical_difference": 0.0175737529783302,
    "task_success": 0.0
  },
  {
    "completion_time": 3.064476251602173,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12942672739501893,
      "valve_0-left gripper distance": 0.5962867240806715,
      "valve_1-right gripper distance": 0.5851195888046822,
      "valve_1-left gripper distance": 0.10211145814438176
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2672219215475638,
    "bimanual_gripper_vertical_difference": 0.017603088827543602,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0920281410217285,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12927923446690492,
      "valve_0-left gripper distance": 0.5962860432490175,
      "valve_1-right gripper distance": 0.5859414625961182,
      "valve_1-left gripper distance": 0.10211289148664629
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.26856630447508106,
    "bimanual_gripper_vertical_difference": 0.017630819706279614,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1198856830596924,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12914705254185302,
      "valve_0-left gripper distance": 0.5962976823622622,
      "valve_1-right gripper distance": 0.5867758665648258,
      "valve_1-left gripper distance": 0.1021132989907063
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2699797449970561,
    "bimanual_gripper_vertical_difference": 0.017656958109056903,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1476340293884277,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12900472278156738,
      "valve_0-left gripper distance": 0.596303940951161,
      "valve_1-right gripper distance": 0.5875907901729348,
      "valve_1-left gripper distance": 0.10211422458709715
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27141127188530445,
    "bimanual_gripper_vertical_difference": 0.017681437807984837,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1750645637512207,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12886194676670443,
      "valve_0-left gripper distance": 0.5963218835119534,
      "valve_1-right gripper distance": 0.588353377948265,
      "valve_1-left gripper distance": 0.10211332867410516
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27275557048539284,
    "bimanual_gripper_vertical_difference": 0.017704128836063995,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2025439739227295,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12873704258845048,
      "valve_0-left gripper distance": 0.5963406923890011,
      "valve_1-right gripper distance": 0.5889998495491453,
      "valve_1-left gripper distance": 0.10211107494762571
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2739864601482757,
    "bimanual_gripper_vertical_difference": 0.017724871968594656,
    "task_success": 0.0
  },
  {
    "completion_time": 3.229614496231079,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12862917191170015,
      "valve_0-left gripper distance": 0.5963662134160455,
      "valve_1-right gripper distance": 0.5894353703636349,
      "valve_1-left gripper distance": 0.10210890719336546
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2752086639900091,
    "bimanual_gripper_vertical_difference": 0.017743577178625874,
    "task_success": 0.0
  },
  {
    "completion_time": 3.256485939025879,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12858954371684506,
      "valve_0-left gripper distance": 0.5963894364143922,
      "valve_1-right gripper distance": 0.5896115429104682,
      "valve_1-left gripper distance": 0.10210672689256915
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.276218030277624,
    "bimanual_gripper_vertical_difference": 0.017760293303997643,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2833447456359863,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1288069422118545,
      "valve_0-left gripper distance": 0.5964017296065818,
      "valve_1-right gripper distance": 0.5897074675422525,
      "valve_1-left gripper distance": 0.10210425052177032
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2762693595563274,
    "bimanual_gripper_vertical_difference": 0.017776012494191386,
    "task_success": 0.0
  },
  {
    "completion_time": 3.310396671295166,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12986331077821905,
      "valve_0-left gripper distance": 0.5964117020956364,
      "valve_1-right gripper distance": 0.5899301435803093,
      "valve_1-left gripper distance": 0.10210481833881999
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27874572912986095,
    "bimanual_gripper_vertical_difference": 0.017794530372083155,
    "task_success": 0.0
  },
  {
    "completion_time": 3.335963726043701,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.13202510548885926,
      "valve_0-left gripper distance": 0.5964253568144697,
      "valve_1-right gripper distance": 0.5906356120197376,
      "valve_1-left gripper distance": 0.10210672047975573
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2860896661064946,
    "bimanual_gripper_vertical_difference": 0.01781913342363195,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3611862659454346,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1357246903618774,
      "valve_0-left gripper distance": 0.5964374423300823,
      "valve_1-right gripper distance": 0.5920417320569142,
      "valve_1-left gripper distance": 0.10210578486868317
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.29464655989351357,
    "bimanual_gripper_vertical_difference": 0.017857944703307687,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3862836360931396,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1411312622962608,
      "valve_0-left gripper distance": 0.5964409722828394,
      "valve_1-right gripper distance": 0.5929850116278099,
      "valve_1-left gripper distance": 0.10210286162802769
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3022014349482983,
    "bimanual_gripper_vertical_difference": 0.017923110363079354,
    "task_success": 0.0
  },
  {
    "completion_time": 3.411572217941284,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14784564357842575,
      "valve_0-left gripper distance": 0.5964433008981588,
      "valve_1-right gripper distance": 0.5933538464303474,
      "valve_1-left gripper distance": 0.10210165100514539
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3091651215005751,
    "bimanual_gripper_vertical_difference": 0.01802406678066994,
    "task_success": 0.0
  },
  {
    "completion_time": 3.436373233795166,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15553272313468142,
      "valve_0-left gripper distance": 0.5964438018552595,
      "valve_1-right gripper distance": 0.5931120303851104,
      "valve_1-left gripper distance": 0.10210090167342455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.31608709391932194,
    "bimanual_gripper_vertical_difference": 0.01816804259442209,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4643847942352295,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16325584282748382,
      "valve_0-left gripper distance": 0.5964486004015978,
      "valve_1-right gripper distance": 0.5924575735367662,
      "valve_1-left gripper distance": 0.10210076070893452
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3226202495763127,
    "bimanual_gripper_vertical_difference": 0.018356860322271403,
    "task_success": 0.0
  },
  {
    "completion_time": 3.488856792449951,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16914095158741474,
      "valve_0-left gripper distance": 0.5964636469824761,
      "valve_1-right gripper distance": 0.5913870751249993,
      "valve_1-left gripper distance": 0.10209984168305357
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.32768096675981595,
    "bimanual_gripper_vertical_difference": 0.018582505780770264,
    "task_success": 0.0
  },
  {
    "completion_time": 3.514069080352783,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17161508061584296,
      "valve_0-left gripper distance": 0.5964954871022958,
      "valve_1-right gripper distance": 0.5906994583110063,
      "valve_1-left gripper distance": 0.102101443018443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.334046145946073,
    "bimanual_gripper_vertical_difference": 0.018831423693849464,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5397603511810303,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.17005961488384677,
      "valve_0-left gripper distance": 0.5965108894173816,
      "valve_1-right gripper distance": 0.5898131499128886,
      "valve_1-left gripper distance": 0.10210355966858045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3415333867801338,
    "bimanual_gripper_vertical_difference": 0.019081813665872888,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5680902004241943,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16731598789299887,
      "valve_0-left gripper distance": 0.5965245313448949,
      "valve_1-right gripper distance": 0.5888378377237133,
      "valve_1-left gripper distance": 0.10210888567977985
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3475762691359818,
    "bimanual_gripper_vertical_difference": 0.019323409485711967,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5919508934020996,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.16432899504648307,
      "valve_0-left gripper distance": 0.5964652774837749,
      "valve_1-right gripper distance": 0.5879673962929681,
      "valve_1-left gripper distance": 0.10211531878571073
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3521270098468082,
    "bimanual_gripper_vertical_difference": 0.019552604766748968,
    "task_success": 0.0
  },
  {
    "completion_time": 3.61570405960083,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1611901919650852,
      "valve_0-left gripper distance": 0.5964113897190176,
      "valve_1-right gripper distance": 0.5873085105122845,
      "valve_1-left gripper distance": 0.10211880346060259
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3554300584397838,
    "bimanual_gripper_vertical_difference": 0.019766964338529737,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6394546031951904,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15810257951916049,
      "valve_0-left gripper distance": 0.5964029570962811,
      "valve_1-right gripper distance": 0.5868661200345825,
      "valve_1-left gripper distance": 0.10212761680801453
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35761359966396555,
    "bimanual_gripper_vertical_difference": 0.019964903011068277,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6641433238983154,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15467539847657952,
      "valve_0-left gripper distance": 0.5963952704002565,
      "valve_1-right gripper distance": 0.5867084059505937,
      "valve_1-left gripper distance": 0.10213505344207971
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35902544526692537,
    "bimanual_gripper_vertical_difference": 0.020143598630907693,
    "task_success": 0.0
  },
  {
    "completion_time": 3.68951678276062,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.15062372090751433,
      "valve_0-left gripper distance": 0.5963948532537323,
      "valve_1-right gripper distance": 0.5867716543979793,
      "valve_1-left gripper distance": 0.10213847655413914
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3599664285924991,
    "bimanual_gripper_vertical_difference": 0.020298251831672602,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7143213748931885,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14611031236432115,
      "valve_0-left gripper distance": 0.5963969114673685,
      "valve_1-right gripper distance": 0.5869533054845576,
      "valve_1-left gripper distance": 0.10214323979836891
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36093655347933307,
    "bimanual_gripper_vertical_difference": 0.02042556136108495,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7388315200805664,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.14143921199183604,
      "valve_0-left gripper distance": 0.5963992533260137,
      "valve_1-right gripper distance": 0.5871181318297237,
      "valve_1-left gripper distance": 0.10214941513888391
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3620267704771754,
    "bimanual_gripper_vertical_difference": 0.02052441502629582,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7637970447540283,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1370481021969166,
      "valve_0-left gripper distance": 0.5963915750081331,
      "valve_1-right gripper distance": 0.5871948656201577,
      "valve_1-left gripper distance": 0.10215556980322539
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3626951845932298,
    "bimanual_gripper_vertical_difference": 0.02059648669779613,
    "task_success": 0.0
  },
  {
    "completion_time": 3.789088010787964,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1329628298306254,
      "valve_0-left gripper distance": 0.5963972568030004,
      "valve_1-right gripper distance": 0.5871407436822105,
      "valve_1-left gripper distance": 0.10215951042355832
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36331292016015615,
    "bimanual_gripper_vertical_difference": 0.020643830399997554,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8138275146484375,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12916590932285746,
      "valve_0-left gripper distance": 0.5964065830876734,
      "valve_1-right gripper distance": 0.5869329113845639,
      "valve_1-left gripper distance": 0.10216684728311722
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36366049355796454,
    "bimanual_gripper_vertical_difference": 0.020668299290577882,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8394622802734375,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12764927648964247,
      "valve_0-left gripper distance": 0.596407463930415,
      "valve_1-right gripper distance": 0.5867014366267045,
      "valve_1-left gripper distance": 0.10217451523941014
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36309561355316117,
    "bimanual_gripper_vertical_difference": 0.020684099853284666,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8645052909851074,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12734770572625073,
      "valve_0-left gripper distance": 0.5964042045202614,
      "valve_1-right gripper distance": 0.5865899362941553,
      "valve_1-left gripper distance": 0.10218642343858407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3617927713096378,
    "bimanual_gripper_vertical_difference": 0.02069855478058508,
    "task_success": 0.0
  },
  {
    "completion_time": 3.889638662338257,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12710558572778116,
      "valve_0-left gripper distance": 0.596396079459612,
      "valve_1-right gripper distance": 0.5865203671829518,
      "valve_1-left gripper distance": 0.10219795241500045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3600521052994806,
    "bimanual_gripper_vertical_difference": 0.020711738917131753,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9157469272613525,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12689027027523087,
      "valve_0-left gripper distance": 0.5964058088385419,
      "valve_1-right gripper distance": 0.5864441557430775,
      "valve_1-left gripper distance": 0.10220570069791776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3585430336545902,
    "bimanual_gripper_vertical_difference": 0.020723815488489304,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9411540031433105,
    "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": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12667434198198393,
      "valve_0-left gripper distance": 0.596397856510587,
      "valve_1-right gripper distance": 0.5863361158357208,
      "valve_1-left gripper distance": 0.10222144128218102
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.357025410331164,
    "bimanual_gripper_vertical_difference": 0.020734825440993452,
    "task_success": 0.0
  },
  {
    "completion_time": 3.969804048538208,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12646471492560696,
      "valve_0-left gripper distance": 0.5963948919610651,
      "valve_1-right gripper distance": 0.5862545147463234,
      "valve_1-left gripper distance": 0.10223648352612545
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3553377138666133,
    "bimanual_gripper_vertical_difference": 0.020744758161041817,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9950191974639893,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12628212576494818,
      "valve_0-left gripper distance": 0.5964139886069493,
      "valve_1-right gripper distance": 0.5862111182453982,
      "valve_1-left gripper distance": 0.10225129186708318
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35367476300545453,
    "bimanual_gripper_vertical_difference": 0.02075371960200464,
    "task_success": 0.0
  },
  {
    "completion_time": 4.019250154495239,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12605518804892127,
      "valve_0-left gripper distance": 0.5964238125133717,
      "valve_1-right gripper distance": 0.5861413862123438,
      "valve_1-left gripper distance": 0.10226457853252169
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35223968575574616,
    "bimanual_gripper_vertical_difference": 0.020761501284311572,
    "task_success": 0.0
  },
  {
    "completion_time": 4.0444276332855225,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1258466037874705,
      "valve_0-left gripper distance": 0.5964247295340642,
      "valve_1-right gripper distance": 0.5860958550260804,
      "valve_1-left gripper distance": 0.10227928378525976
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3508688630273731,
    "bimanual_gripper_vertical_difference": 0.020768231965836766,
    "task_success": 0.0
  },
  {
    "completion_time": 4.068940877914429,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1256185436349192,
      "valve_0-left gripper distance": 0.5964363161497335,
      "valve_1-right gripper distance": 0.58605022517425,
      "valve_1-left gripper distance": 0.1022917783756368
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34952522524849394,
    "bimanual_gripper_vertical_difference": 0.02077366973807138,
    "task_success": 0.0
  },
  {
    "completion_time": 4.094394207000732,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12538466830692407,
      "valve_0-left gripper distance": 0.5964332128998053,
      "valve_1-right gripper distance": 0.5860049275986324,
      "valve_1-left gripper distance": 0.10230273296322463
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34825199912372606,
    "bimanual_gripper_vertical_difference": 0.020778004838735254,
    "task_success": 0.0
  },
  {
    "completion_time": 4.119803428649902,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12514609741161367,
      "valve_0-left gripper distance": 0.5964319813673095,
      "valve_1-right gripper distance": 0.5859776687764412,
      "valve_1-left gripper distance": 0.10231367001932315
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34710910966464104,
    "bimanual_gripper_vertical_difference": 0.020781143127921346,
    "task_success": 0.0
  },
  {
    "completion_time": 4.14508318901062,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12492065430835166,
      "valve_0-left gripper distance": 0.5964377983812977,
      "valve_1-right gripper distance": 0.5859745598720875,
      "valve_1-left gripper distance": 0.10232417430916121
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3463511118902254,
    "bimanual_gripper_vertical_difference": 0.02078322560811333,
    "task_success": 0.0
  },
  {
    "completion_time": 4.170675992965698,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12462789659447902,
      "valve_0-left gripper distance": 0.596437215709025,
      "valve_1-right gripper distance": 0.5860601346103782,
      "valve_1-left gripper distance": 0.10233333762141109
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3465500218892308,
    "bimanual_gripper_vertical_difference": 0.020783944993313947,
    "task_success": 0.0
  },
  {
    "completion_time": 4.195274591445923,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12247990358509005,
      "valve_0-left gripper distance": 0.5964353316119366,
      "valve_1-right gripper distance": 0.5861686746290724,
      "valve_1-left gripper distance": 0.10234617002995995
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34674916302627123,
    "bimanual_gripper_vertical_difference": 0.02077330410454824,
    "task_success": 0.0
  },
  {
    "completion_time": 4.220290184020996,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12113581526247165,
      "valve_0-left gripper distance": 0.5964302749663916,
      "valve_1-right gripper distance": 0.5862786503728422,
      "valve_1-left gripper distance": 0.10235824523585976
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3470561669984249,
    "bimanual_gripper_vertical_difference": 0.020755503392242546,
    "task_success": 0.0
  },
  {
    "completion_time": 4.245637893676758,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.12021063837324558,
      "valve_0-left gripper distance": 0.5964295980972543,
      "valve_1-right gripper distance": 0.5864656048740718,
      "valve_1-left gripper distance": 0.10236781579484613
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.34833142209059914,
    "bimanual_gripper_vertical_difference": 0.020732619970564234,
    "task_success": 0.0
  },
  {
    "completion_time": 4.270736455917358,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11946420100966638,
      "valve_0-left gripper distance": 0.5964329620022709,
      "valve_1-right gripper distance": 0.5868256597476347,
      "valve_1-left gripper distance": 0.10237863744100373
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35136005091781913,
    "bimanual_gripper_vertical_difference": 0.020705472411835592,
    "task_success": 0.0
  },
  {
    "completion_time": 4.295807123184204,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11881715737507292,
      "valve_0-left gripper distance": 0.5964318050189603,
      "valve_1-right gripper distance": 0.5873727108156271,
      "valve_1-left gripper distance": 0.10239258611294473
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35604922351118,
    "bimanual_gripper_vertical_difference": 0.020674557824825995,
    "task_success": 0.0
  },
  {
    "completion_time": 4.321099758148193,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11814790897590886,
      "valve_0-left gripper distance": 0.5964342321458516,
      "valve_1-right gripper distance": 0.5881306518437577,
      "valve_1-left gripper distance": 0.10240429124667932
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3645522361422817,
    "bimanual_gripper_vertical_difference": 0.0206395300238918,
    "task_success": 0.0
  },
  {
    "completion_time": 4.345704793930054,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11739969054415389,
      "valve_0-left gripper distance": 0.5964488544558583,
      "valve_1-right gripper distance": 0.5891200181240365,
      "valve_1-left gripper distance": 0.10242031533172137
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3758101530647957,
    "bimanual_gripper_vertical_difference": 0.02060022147509707,
    "task_success": 0.0
  },
  {
    "completion_time": 4.370952367782593,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11660501092691848,
      "valve_0-left gripper distance": 0.596457580107821,
      "valve_1-right gripper distance": 0.5902999450534328,
      "valve_1-left gripper distance": 0.10243258285884259
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3894496405297942,
    "bimanual_gripper_vertical_difference": 0.0205563692376782,
    "task_success": 0.0
  },
  {
    "completion_time": 4.3963587284088135,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11579638924286215,
      "valve_0-left gripper distance": 0.5964513003506319,
      "valve_1-right gripper distance": 0.5915827383659721,
      "valve_1-left gripper distance": 0.10243950670879085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4029752526631449,
    "bimanual_gripper_vertical_difference": 0.02050804817935884,
    "task_success": 0.0
  },
  {
    "completion_time": 4.421525478363037,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11503596954817555,
      "valve_0-left gripper distance": 0.5964293672219957,
      "valve_1-right gripper distance": 0.5928402475651422,
      "valve_1-left gripper distance": 0.10244984108528195
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4162017049895418,
    "bimanual_gripper_vertical_difference": 0.020455689007878197,
    "task_success": 0.0
  },
  {
    "completion_time": 4.446763038635254,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11439023961689103,
      "valve_0-left gripper distance": 0.5964295235209293,
      "valve_1-right gripper distance": 0.5939864780522702,
      "valve_1-left gripper distance": 0.1024594515037729
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42807837326480175,
    "bimanual_gripper_vertical_difference": 0.02039996209946316,
    "task_success": 0.0
  },
  {
    "completion_time": 4.474094867706299,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11258706047918998,
      "valve_0-left gripper distance": 0.59641563799224,
      "valve_1-right gripper distance": 0.5949005287883272,
      "valve_1-left gripper distance": 0.10246314326480577
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43768194777149744,
    "bimanual_gripper_vertical_difference": 0.020334963970017866,
    "task_success": 0.0
  },
  {
    "completion_time": 4.498358964920044,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.11064068285124166,
      "valve_0-left gripper distance": 0.596402748501598,
      "valve_1-right gripper distance": 0.595580953849515,
      "valve_1-left gripper distance": 0.1024688787623163
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4447792271416873,
    "bimanual_gripper_vertical_difference": 0.02026024601295285,
    "task_success": 0.0
  },
  {
    "completion_time": 4.52228045463562,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10877084889071284,
      "valve_0-left gripper distance": 0.5963867828803636,
      "valve_1-right gripper distance": 0.5959441001846071,
      "valve_1-left gripper distance": 0.10247429852060605
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4495450303427333,
    "bimanual_gripper_vertical_difference": 0.02017664958271709,
    "task_success": 0.0
  },
  {
    "completion_time": 4.546650648117065,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.1068369041608477,
      "valve_0-left gripper distance": 0.5963778865542474,
      "valve_1-right gripper distance": 0.5959939305681203,
      "valve_1-left gripper distance": 0.10248837212063608
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45250996133904353,
    "bimanual_gripper_vertical_difference": 0.020084016350750383,
    "task_success": 0.0
  },
  {
    "completion_time": 4.5705955028533936,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10456935889860405,
      "valve_0-left gripper distance": 0.5963909846960795,
      "valve_1-right gripper distance": 0.5958976247966721,
      "valve_1-left gripper distance": 0.10250198303104334
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45371652823164693,
    "bimanual_gripper_vertical_difference": 0.01998070068635012,
    "task_success": 0.0
  },
  {
    "completion_time": 4.59478235244751,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10206805820662189,
      "valve_0-left gripper distance": 0.596395046935959,
      "valve_1-right gripper distance": 0.5956752531463497,
      "valve_1-left gripper distance": 0.10251519095928645
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45401986635497465,
    "bimanual_gripper_vertical_difference": 0.019880872466339808,
    "task_success": 0.0
  },
  {
    "completion_time": 4.619336128234863,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09935078369415497,
      "valve_0-left gripper distance": 0.5964040325997795,
      "valve_1-right gripper distance": 0.5952482115407295,
      "valve_1-left gripper distance": 0.10252408723814667
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45315668679872034,
    "bimanual_gripper_vertical_difference": 0.01979606868052593,
    "task_success": 0.0
  },
  {
    "completion_time": 4.6442084312438965,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.0965645996378122,
      "valve_0-left gripper distance": 0.5964025647634478,
      "valve_1-right gripper distance": 0.59426803101705,
      "valve_1-left gripper distance": 0.1025287809279714
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45226712635095767,
    "bimanual_gripper_vertical_difference": 0.01972639964028786,
    "task_success": 0.0
  },
  {
    "completion_time": 4.668111801147461,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09320343076110216,
      "valve_0-left gripper distance": 0.5963749123650786,
      "valve_1-right gripper distance": 0.5920336078329691,
      "valve_1-left gripper distance": 0.10253664897289079
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45202666969176425,
    "bimanual_gripper_vertical_difference": 0.019674668415197025,
    "task_success": 0.0
  },
  {
    "completion_time": 4.693260908126831,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09141959260364484,
      "valve_0-left gripper distance": 0.5963884636219626,
      "valve_1-right gripper distance": 0.589326053469402,
      "valve_1-left gripper distance": 0.10254765795865
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4511267424545521,
    "bimanual_gripper_vertical_difference": 0.019632620429634495,
    "task_success": 0.0
  },
  {
    "completion_time": 4.721560478210449,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09174691992487763,
      "valve_0-left gripper distance": 0.5964079973389577,
      "valve_1-right gripper distance": 0.587319782562942,
      "valve_1-left gripper distance": 0.1025671081909158
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4507618266016893,
    "bimanual_gripper_vertical_difference": 0.019589372065285108,
    "task_success": 0.0
  },
  {
    "completion_time": 4.746901273727417,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09239107642053641,
      "valve_0-left gripper distance": 0.5964090762588097,
      "valve_1-right gripper distance": 0.5848118701060261,
      "valve_1-left gripper distance": 0.10258018347167562
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45072615927829046,
    "bimanual_gripper_vertical_difference": 0.019543659420173387,
    "task_success": 0.0
  },
  {
    "completion_time": 4.772099256515503,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09329860966264827,
      "valve_0-left gripper distance": 0.5964240581315657,
      "valve_1-right gripper distance": 0.5821408876757582,
      "valve_1-left gripper distance": 0.10259895584556813
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45086483677407324,
    "bimanual_gripper_vertical_difference": 0.019494723405324498,
    "task_success": 0.0
  },
  {
    "completion_time": 4.797174692153931,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09443540085290017,
      "valve_0-left gripper distance": 0.596432876100495,
      "valve_1-right gripper distance": 0.5792990141781441,
      "valve_1-left gripper distance": 0.10261722609926256
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45105302329980457,
    "bimanual_gripper_vertical_difference": 0.019442183806607574,
    "task_success": 0.0
  },
  {
    "completion_time": 4.821705102920532,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09568258870567818,
      "valve_0-left gripper distance": 0.5964472018647277,
      "valve_1-right gripper distance": 0.5763160530245854,
      "valve_1-left gripper distance": 0.10263549597334617
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4510445801500018,
    "bimanual_gripper_vertical_difference": 0.01938618077077753,
    "task_success": 0.0
  },
  {
    "completion_time": 4.846553325653076,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09691411225709624,
      "valve_0-left gripper distance": 0.5964605158954706,
      "valve_1-right gripper distance": 0.5732756850789557,
      "valve_1-left gripper distance": 0.1026558103055777
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.450858432829145,
    "bimanual_gripper_vertical_difference": 0.019327428299009512,
    "task_success": 0.0
  },
  {
    "completion_time": 4.871841192245483,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09806447197116362,
      "valve_0-left gripper distance": 0.5964788410990076,
      "valve_1-right gripper distance": 0.5703190253043058,
      "valve_1-left gripper distance": 0.10267732845370366
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4503867372650786,
    "bimanual_gripper_vertical_difference": 0.01926689213924225,
    "task_success": 0.0
  },
  {
    "completion_time": 4.899477005004883,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09909915648768852,
      "valve_0-left gripper distance": 0.5964947240952799,
      "valve_1-right gripper distance": 0.5676199799567333,
      "valve_1-left gripper distance": 0.10269537972311173
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44958182064060503,
    "bimanual_gripper_vertical_difference": 0.019205414213157166,
    "task_success": 0.0
  },
  {
    "completion_time": 4.9258036613464355,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.09995041719285765,
      "valve_0-left gripper distance": 0.5965004911020035,
      "valve_1-right gripper distance": 0.565385848910988,
      "valve_1-left gripper distance": 0.10271576343069742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44850726536959246,
    "bimanual_gripper_vertical_difference": 0.019143481825911288,
    "task_success": 0.0
  },
  {
    "completion_time": 4.951528549194336,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 6,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": true,
      "4": false
    },
    "target_distance": {
      "valve_0-right gripper distance": 0.10062336222114045,
      "valve_0-left gripper distance": 0.5965068819332316,
      "valve_1-right gripper distance": 0.5637110521161273,
      "valve_1-left gripper distance": 0.102734824222067
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4470673580579156,
    "bimanual_gripper_vertical_difference": 0.019081596664691603,
    "task_success": 0.0
  }
]