[
  {
    "completion_time": 0.037719011306762695,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6919088956932207,
      "block_0-gripper_Right": 0.24237531722240596,
      "block_1-gripper_Left": 0.24237802459904836,
      "block_1-gripper_Right": 0.6919212247559593,
      "cube 1 lift distance": 0.02185960000000009,
      "cube 2 lift distance": 0.02185960000000009
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3877787807814457e-17,
    "bimanual_gripper_vertical_difference": 0.0,
    "task_success": 0.0
  },
  {
    "completion_time": 0.06059718132019043,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.699115798189472,
      "block_0-gripper_Right": 0.26226915013258917,
      "block_1-gripper_Left": 0.26227620826114084,
      "block_1-gripper_Right": 0.6991502055745493,
      "cube 1 lift distance": -0.00054711210377556,
      "cube 2 lift distance": -0.0005471143612078011
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.599556007708322e-05,
    "bimanual_gripper_vertical_difference": 4.616005355728703e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.08390593528747559,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6985098412663666,
      "block_0-gripper_Right": 0.26066698672537975,
      "block_1-gripper_Left": 0.26067699013978907,
      "block_1-gripper_Right": 0.6985583186638296,
      "cube 1 lift distance": 9.42082740662542e-05,
      "cube 2 lift distance": 9.419775451524615e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0700707509108074e-05,
    "bimanual_gripper_vertical_difference": 7.728386819394473e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10691666603088379,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6982671964420867,
      "block_0-gripper_Right": 0.260026438174592,
      "block_1-gripper_Left": 0.26003819202476763,
      "block_1-gripper_Right": 0.698324040807802,
      "cube 1 lift distance": 9.870760304542259e-05,
      "cube 2 lift distance": 9.869703227427529e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 8.04479976821218e-06,
    "bimanual_gripper_vertical_difference": 1.162062890358584e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.13053393363952637,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6981123441881413,
      "block_0-gripper_Right": 0.2596164153925978,
      "block_1-gripper_Left": 0.2596292031698983,
      "block_1-gripper_Right": 0.6981741070548919,
      "cube 1 lift distance": 9.8738307833246e-05,
      "cube 2 lift distance": 9.87277378879936e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.446041518325118e-06,
    "bimanual_gripper_vertical_difference": 1.5210260606579596e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.15468811988830566,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6980127648967417,
      "block_0-gripper_Right": 0.2593520828420965,
      "block_1-gripper_Left": 0.25936547569205737,
      "block_1-gripper_Right": 0.698077394436059,
      "cube 1 lift distance": 9.873850590658151e-05,
      "cube 2 lift distance": 9.872793714260641e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 5.377245420291425e-06,
    "bimanual_gripper_vertical_difference": 1.8279594134658812e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.17817926406860352,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6979369222842217,
      "block_0-gripper_Right": 0.25654676553653216,
      "block_1-gripper_Left": 0.25873916263658875,
      "block_1-gripper_Right": 0.6970435513165325,
      "cube 1 lift distance": 9.8738495709072e-05,
      "cube 2 lift distance": 9.872792812937181e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.02035479395139755,
    "bimanual_gripper_vertical_difference": 0.00031759366502722867,
    "task_success": 0.0
  },
  {
    "completion_time": 0.20162606239318848,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6985590162852153,
      "block_0-gripper_Right": 0.25001867427122376,
      "block_1-gripper_Left": 0.25882996289036025,
      "block_1-gripper_Right": 0.6937452438998573,
      "cube 1 lift distance": 9.87384840873684e-05,
      "cube 2 lift distance": 9.872791769194311e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.05171102295153206,
    "bimanual_gripper_vertical_difference": 0.0014937918401736194,
    "task_success": 0.0
  },
  {
    "completion_time": 0.22521638870239258,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6990300288838656,
      "block_0-gripper_Right": 0.24376013224166346,
      "block_1-gripper_Left": 0.2556171075404893,
      "block_1-gripper_Right": 0.6902845298599863,
      "cube 1 lift distance": 9.873847245345235e-05,
      "cube 2 lift distance": 9.872790724263503e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.09650455828085436,
    "bimanual_gripper_vertical_difference": 0.0029950367133328003,
    "task_success": 0.0
  },
  {
    "completion_time": 0.249037504196167,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7007784667120459,
      "block_0-gripper_Right": 0.23969602121489936,
      "block_1-gripper_Left": 0.2517519354566774,
      "block_1-gripper_Right": 0.6879295012701273,
      "cube 1 lift distance": 9.873846081709381e-05,
      "cube 2 lift distance": 9.87278967911065e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.22610649305299896,
    "bimanual_gripper_vertical_difference": 0.004541944612831727,
    "task_success": 0.0
  },
  {
    "completion_time": 0.27245235443115234,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7029158838236534,
      "block_0-gripper_Right": 0.23791885521335374,
      "block_1-gripper_Left": 0.24719156204998,
      "block_1-gripper_Right": 0.6856662905210419,
      "cube 1 lift distance": 9.873844917829278e-05,
      "cube 2 lift distance": 9.87278863372465e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3672193149882688,
    "bimanual_gripper_vertical_difference": 0.005863284166899438,
    "task_success": 0.0
  },
  {
    "completion_time": 0.29532480239868164,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7030859124275495,
      "block_0-gripper_Right": 0.2384748571548216,
      "block_1-gripper_Left": 0.23940067148716537,
      "block_1-gripper_Right": 0.6827000283385968,
      "cube 1 lift distance": 9.873843753716027e-05,
      "cube 2 lift distance": 9.87278758813881e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4952179939871994,
    "bimanual_gripper_vertical_difference": 0.0065035433622084304,
    "task_success": 0.0
  },
  {
    "completion_time": 0.31789565086364746,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7001525896270481,
      "block_0-gripper_Right": 0.24060811442088798,
      "block_1-gripper_Left": 0.22620085946228657,
      "block_1-gripper_Right": 0.679371731986469,
      "cube 1 lift distance": 9.873842589347426e-05,
      "cube 2 lift distance": 9.872786542319822e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6081690012516583,
    "bimanual_gripper_vertical_difference": 0.006008827589440786,
    "task_success": 0.0
  },
  {
    "completion_time": 0.34033989906311035,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6953275742591147,
      "block_0-gripper_Right": 0.24336115719598533,
      "block_1-gripper_Left": 0.20486096162592304,
      "block_1-gripper_Right": 0.6757122980126689,
      "cube 1 lift distance": 9.873841424734575e-05,
      "cube 2 lift distance": 9.872785496278791e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7115105012329186,
    "bimanual_gripper_vertical_difference": 0.007202891619068873,
    "task_success": 0.0
  },
  {
    "completion_time": 0.36275148391723633,
    "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
    },
    "target_distance": {
      "block_0-gripper_Left": 0.690618382489141,
      "block_0-gripper_Right": 0.24606023982774658,
      "block_1-gripper_Left": 0.1766790188524114,
      "block_1-gripper_Right": 0.6720346750342711,
      "cube 1 lift distance": 9.873840259866373e-05,
      "cube 2 lift distance": 9.872784450026817e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8055228904929818,
    "bimanual_gripper_vertical_difference": 0.010265932014823169,
    "task_success": 0.0
  },
  {
    "completion_time": 0.38355088233947754,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6874747067032232,
      "block_0-gripper_Right": 0.24841304666266303,
      "block_1-gripper_Left": 0.144127463139012,
      "block_1-gripper_Right": 0.6686869143037177,
      "cube 1 lift distance": 9.873839094753922e-05,
      "cube 2 lift distance": 9.872783403552798e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8878089197667356,
    "bimanual_gripper_vertical_difference": 0.015232224122651142,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4054856300354004,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6877833049802528,
      "block_0-gripper_Right": 0.2502586511697604,
      "block_1-gripper_Left": 0.14462225725339517,
      "block_1-gripper_Right": 0.6661177949824626,
      "cube 1 lift distance": 9.873837929419427e-05,
      "cube 2 lift distance": -0.00024249176273749562
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9582934338908541,
    "bimanual_gripper_vertical_difference": 0.019729865082507774,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4279778003692627,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6898062848830945,
      "block_0-gripper_Right": 0.25130351987655347,
      "block_1-gripper_Left": 0.143752340049153,
      "block_1-gripper_Right": 0.663644225266086,
      "cube 1 lift distance": 9.873836763840682e-05,
      "cube 2 lift distance": 0.0007192560778465085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9604773198216114,
    "bimanual_gripper_vertical_difference": 0.023746089013631917,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4529259204864502,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6937810686155699,
      "block_0-gripper_Right": 0.25165675808695187,
      "block_1-gripper_Left": 0.1426185724440446,
      "block_1-gripper_Right": 0.6627201887743864,
      "cube 1 lift distance": 9.873835598006586e-05,
      "cube 2 lift distance": 0.0026480654859138975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9657867718088264,
    "bimanual_gripper_vertical_difference": 0.027233645648895827,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4744892120361328,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6999784722161343,
      "block_0-gripper_Right": 0.25121708885437266,
      "block_1-gripper_Left": 0.1424134740767493,
      "block_1-gripper_Right": 0.6635008043847321,
      "cube 1 lift distance": 9.873834431939343e-05,
      "cube 2 lift distance": 0.00661097824447765
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9666334978295783,
    "bimanual_gripper_vertical_difference": 0.03011289246267117,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4986848831176758,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7037649331456896,
      "block_0-gripper_Right": 0.25059290089959346,
      "block_1-gripper_Left": 0.14030735986167323,
      "block_1-gripper_Right": 0.6660573231134042,
      "cube 1 lift distance": 9.873833265627852e-05,
      "cube 2 lift distance": 0.008184935384071168
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9508446774589367,
    "bimanual_gripper_vertical_difference": 0.032717889129012155,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5203328132629395,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7074593958983142,
      "block_0-gripper_Right": 0.25001551937601835,
      "block_1-gripper_Left": 0.13639271854025975,
      "block_1-gripper_Right": 0.6704194663583705,
      "cube 1 lift distance": 9.873832099072111e-05,
      "cube 2 lift distance": 0.008056008461538533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9514445704945746,
    "bimanual_gripper_vertical_difference": 0.03526498119559198,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5418851375579834,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7119899897874081,
      "block_0-gripper_Right": 0.2494932868739664,
      "block_1-gripper_Left": 0.129616063194132,
      "block_1-gripper_Right": 0.6755505555832548,
      "cube 1 lift distance": 9.873830932272121e-05,
      "cube 2 lift distance": 0.006245594561949841
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9439920851193718,
    "bimanual_gripper_vertical_difference": 0.037948928889821036,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5629918575286865,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7151856594745865,
      "block_0-gripper_Right": 0.2493303530210447,
      "block_1-gripper_Left": 0.1220264335393695,
      "block_1-gripper_Right": 0.6790082498297133,
      "cube 1 lift distance": 9.873829765227882e-05,
      "cube 2 lift distance": 0.004540394869179787
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9297483891634845,
    "bimanual_gripper_vertical_difference": 0.04079351627209118,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5852928161621094,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.717602942459163,
      "block_0-gripper_Right": 0.24946715395361804,
      "block_1-gripper_Left": 0.11521201489049172,
      "block_1-gripper_Right": 0.6806450709681623,
      "cube 1 lift distance": 9.873828597917189e-05,
      "cube 2 lift distance": 0.003416266235415244
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9140070224040344,
    "bimanual_gripper_vertical_difference": 0.04372120126022747,
    "task_success": 0.0
  },
  {
    "completion_time": 0.606285572052002,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7217471045709485,
      "block_0-gripper_Right": 0.24970607653031038,
      "block_1-gripper_Left": 0.11265030416404889,
      "block_1-gripper_Right": 0.6804655356164195,
      "cube 1 lift distance": 9.873827430384452e-05,
      "cube 2 lift distance": 0.0034108179010743367
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9127982312948416,
    "bimanual_gripper_vertical_difference": 0.04649797485315107,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6283304691314697,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7204980119187706,
      "block_0-gripper_Right": 0.249744324865188,
      "block_1-gripper_Left": 0.11280102857076879,
      "block_1-gripper_Right": 0.6797353152386372,
      "cube 1 lift distance": 9.873826262596364e-05,
      "cube 2 lift distance": 0.003531985547200467
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8877799857056674,
    "bimanual_gripper_vertical_difference": 0.04905684869385145,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6497414112091064,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7195478297950813,
      "block_0-gripper_Right": 0.2478311864924892,
      "block_1-gripper_Left": 0.11279907290253298,
      "block_1-gripper_Right": 0.6799259377240219,
      "cube 1 lift distance": 9.873825094552924e-05,
      "cube 2 lift distance": 0.0036918184490160044
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8633559358145592,
    "bimanual_gripper_vertical_difference": 0.051378516147111676,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6709885597229004,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7189216439739625,
      "block_0-gripper_Right": 0.24212675446513357,
      "block_1-gripper_Left": 0.11279819246612696,
      "block_1-gripper_Right": 0.6827951038464618,
      "cube 1 lift distance": 9.873823926276337e-05,
      "cube 2 lift distance": 0.0037374271704780915
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8556894912365195,
    "bimanual_gripper_vertical_difference": 0.05341332375676075,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6930465698242188,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7161816695809743,
      "block_0-gripper_Right": 0.23365374736900332,
      "block_1-gripper_Left": 0.11287963653257066,
      "block_1-gripper_Right": 0.6852853482997284,
      "cube 1 lift distance": 9.873822757755502e-05,
      "cube 2 lift distance": 0.005213706840224042
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8573132736380693,
    "bimanual_gripper_vertical_difference": 0.05508825894943112,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7151963710784912,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.7105644683633234,
      "block_0-gripper_Right": 0.22366191904580926,
      "block_1-gripper_Left": 0.11282069369243335,
      "block_1-gripper_Right": 0.6837640189758671,
      "cube 1 lift distance": 9.873821588979315e-05,
      "cube 2 lift distance": 0.010606408379621568
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8610169877635423,
    "bimanual_gripper_vertical_difference": 0.056272186174218954,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7377045154571533,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.702420405963887,
      "block_0-gripper_Right": 0.21306450831765672,
      "block_1-gripper_Left": 0.1127733980659264,
      "block_1-gripper_Right": 0.6773100009295786,
      "cube 1 lift distance": 9.873820419981083e-05,
      "cube 2 lift distance": 0.021426116903477843
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8593178167350176,
    "bimanual_gripper_vertical_difference": 0.05680500935164475,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7597019672393799,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6923862080868487,
      "block_0-gripper_Right": 0.2024577484314668,
      "block_1-gripper_Left": 0.11277217515659783,
      "block_1-gripper_Right": 0.6671384462140723,
      "cube 1 lift distance": 9.8738192507275e-05,
      "cube 2 lift distance": 0.036327049141338996
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8533223019743147,
    "bimanual_gripper_vertical_difference": 0.05660090027815724,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7811815738677979,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6807763233765652,
      "block_0-gripper_Right": 0.19173951582834897,
      "block_1-gripper_Left": 0.11280029768983431,
      "block_1-gripper_Right": 0.6543929417500566,
      "cube 1 lift distance": 9.873818081218566e-05,
      "cube 2 lift distance": 0.05312069777148398
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8464335284164933,
    "bimanual_gripper_vertical_difference": 0.055647526544432314,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8025941848754883,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6670011347599971,
      "block_0-gripper_Right": 0.18050758029111277,
      "block_1-gripper_Left": 0.11278118497854722,
      "block_1-gripper_Right": 0.6387691674460356,
      "cube 1 lift distance": 9.873816911465383e-05,
      "cube 2 lift distance": 0.07021879258163466
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8311140474434948,
    "bimanual_gripper_vertical_difference": 0.05414324493911319,
    "task_success": 0.0
  },
  {
    "completion_time": 0.824751615524292,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6511416782526781,
      "block_0-gripper_Right": 0.16902070241391945,
      "block_1-gripper_Left": 0.1127723748580181,
      "block_1-gripper_Right": 0.6203479257907553,
      "cube 1 lift distance": 9.873815741456848e-05,
      "cube 2 lift distance": 0.08678418016205325
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8311244760571888,
    "bimanual_gripper_vertical_difference": 0.05348253079791864,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8473339080810547,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6327768236651004,
      "block_0-gripper_Right": 0.15785437344503747,
      "block_1-gripper_Left": 0.11278753134660517,
      "block_1-gripper_Right": 0.5998491631703874,
      "cube 1 lift distance": 9.873814571215167e-05,
      "cube 2 lift distance": 0.1014560790417105
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8325453193369166,
    "bimanual_gripper_vertical_difference": 0.053545325330929885,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8691272735595703,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.6138610161351907,
      "block_0-gripper_Right": 0.1481279132902989,
      "block_1-gripper_Left": 0.11287641333865552,
      "block_1-gripper_Right": 0.5797857452553528,
      "cube 1 lift distance": 9.873813400729237e-05,
      "cube 2 lift distance": 0.1132410592445523
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8338058839855801,
    "bimanual_gripper_vertical_difference": 0.05416890071050112,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8903076648712158,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.5956177125969494,
      "block_0-gripper_Right": 0.14002641056320464,
      "block_1-gripper_Left": 0.11293762723211576,
      "block_1-gripper_Right": 0.5609110669279898,
      "cube 1 lift distance": 9.873812229976853e-05,
      "cube 2 lift distance": 0.12260950540557514
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8366222085021664,
    "bimanual_gripper_vertical_difference": 0.055212137294032695,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9111225605010986,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.5793054815962648,
      "block_0-gripper_Right": 0.13298088302060146,
      "block_1-gripper_Left": 0.11306275893632402,
      "block_1-gripper_Right": 0.5434516243895277,
      "cube 1 lift distance": 9.873811059002424e-05,
      "cube 2 lift distance": 0.13008593400306068
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8379308262560812,
    "bimanual_gripper_vertical_difference": 0.056574379884963014,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9345340728759766,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.5646390833688935,
      "block_0-gripper_Right": 0.1261456637882824,
      "block_1-gripper_Left": 0.11321910574176133,
      "block_1-gripper_Right": 0.5270629710952388,
      "cube 1 lift distance": 9.873809887783747e-05,
      "cube 2 lift distance": 0.1354958666745283
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8368143956366849,
    "bimanual_gripper_vertical_difference": 0.058172068477355864,
    "task_success": 0.0
  },
  {
    "completion_time": 0.955244779586792,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.5509889380347553,
      "block_0-gripper_Right": 0.11982735357533932,
      "block_1-gripper_Left": 0.11338003675464121,
      "block_1-gripper_Right": 0.5117014897047613,
      "cube 1 lift distance": 9.87380871632082e-05,
      "cube 2 lift distance": 0.1380729078748355
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8317006146933207,
    "bimanual_gripper_vertical_difference": 0.059902920174800395,
    "task_success": 0.0
  },
  {
    "completion_time": 0.975714921951294,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.5370992797576836,
      "block_0-gripper_Right": 0.11452870630726776,
      "block_1-gripper_Left": 0.11348257850070172,
      "block_1-gripper_Right": 0.4967885841236224,
      "cube 1 lift distance": 9.87380754459144e-05,
      "cube 2 lift distance": 0.13693596638640315
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8263537371715007,
    "bimanual_gripper_vertical_difference": 0.06164436418683637,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9963796138763428,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.5223911561254113,
      "block_0-gripper_Right": 0.11085838050840995,
      "block_1-gripper_Left": 0.11357951875798787,
      "block_1-gripper_Right": 0.482515598540326,
      "cube 1 lift distance": 9.873806372628913e-05,
      "cube 2 lift distance": 0.13156399456108447
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8225152923281172,
    "bimanual_gripper_vertical_difference": 0.06326336743849302,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0168766975402832,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.5070555779647152,
      "block_0-gripper_Right": 0.10935233128380836,
      "block_1-gripper_Left": 0.11374109958595816,
      "block_1-gripper_Right": 0.46921378616679493,
      "cube 1 lift distance": 9.873805200399932e-05,
      "cube 2 lift distance": 0.12257899344018663
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8161659174957232,
    "bimanual_gripper_vertical_difference": 0.06464338256802339,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0353515148162842,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.4910631783928194,
      "block_0-gripper_Right": 0.10979111737931985,
      "block_1-gripper_Left": 0.11388301679101245,
      "block_1-gripper_Right": 0.45604645359255247,
      "cube 1 lift distance": 9.873804027937805e-05,
      "cube 2 lift distance": 0.11196631505658394
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8059982406537528,
    "bimanual_gripper_vertical_difference": 0.06572372122490731,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0548577308654785,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.47590894916534765,
      "block_0-gripper_Right": 0.11028420848084268,
      "block_1-gripper_Left": 0.11400622778215845,
      "block_1-gripper_Right": 0.44238859160050004,
      "cube 1 lift distance": 0.0002364569191671828,
      "cube 2 lift distance": 0.10135427956301823
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7964907695707149,
    "bimanual_gripper_vertical_difference": 0.06652188803586878,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0744330883026123,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.45799894071928476,
      "block_0-gripper_Right": 0.11024443648003432,
      "block_1-gripper_Left": 0.11417478492196796,
      "block_1-gripper_Right": 0.42860593181369633,
      "cube 1 lift distance": 0.0011266857524228069,
      "cube 2 lift distance": 0.09104339700534525
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7870477394089123,
    "bimanual_gripper_vertical_difference": 0.06705716245021358,
    "task_success": 0.0
  },
  {
    "completion_time": 1.094773292541504,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.4413658540574754,
      "block_0-gripper_Right": 0.1102721667572248,
      "block_1-gripper_Left": 0.1143169278476777,
      "block_1-gripper_Right": 0.4164248819102568,
      "cube 1 lift distance": 0.0023288193907413657,
      "cube 2 lift distance": 0.08122411731987755
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7816775281003046,
    "bimanual_gripper_vertical_difference": 0.06734757503014376,
    "task_success": 0.0
  },
  {
    "completion_time": 1.114699125289917,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.4276493797697224,
      "block_0-gripper_Right": 0.11028324857233202,
      "block_1-gripper_Left": 0.11438307922104286,
      "block_1-gripper_Right": 0.4072392769597521,
      "cube 1 lift distance": 0.0033757170990719176,
      "cube 2 lift distance": 0.07206026527168041
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7784611878101666,
    "bimanual_gripper_vertical_difference": 0.06742308538662387,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1348497867584229,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.41745079318136424,
      "block_0-gripper_Right": 0.11029006495111766,
      "block_1-gripper_Left": 0.11436291090004583,
      "block_1-gripper_Right": 0.401404752831305,
      "cube 1 lift distance": 0.003707334590769107,
      "cube 2 lift distance": 0.06324185067196009
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7742685597348344,
    "bimanual_gripper_vertical_difference": 0.06731564844809032,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1552796363830566,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.4107529946570156,
      "block_0-gripper_Right": 0.11029151018995509,
      "block_1-gripper_Left": 0.11434534631409575,
      "block_1-gripper_Right": 0.39919971907613594,
      "cube 1 lift distance": 0.003483184052288757,
      "cube 2 lift distance": 0.05431042820267784
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7688004023554604,
    "bimanual_gripper_vertical_difference": 0.06704451280269605,
    "task_success": 0.0
  },
  {
    "completion_time": 1.17592453956604,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.40642833322348354,
      "block_0-gripper_Right": 0.11027343603433656,
      "block_1-gripper_Left": 0.1143894745980656,
      "block_1-gripper_Right": 0.400172589640122,
      "cube 1 lift distance": 0.003253811356236036,
      "cube 2 lift distance": 0.0444971397018592
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7636443029470256,
    "bimanual_gripper_vertical_difference": 0.06660374956857727,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1961238384246826,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.40318118056928437,
      "block_0-gripper_Right": 0.11026759474894701,
      "block_1-gripper_Left": 0.11442165236087692,
      "block_1-gripper_Right": 0.4024675783387555,
      "cube 1 lift distance": 0.0030270773507116155,
      "cube 2 lift distance": 0.03450796840955772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7587842776518008,
    "bimanual_gripper_vertical_difference": 0.06599890110371148,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2180156707763672,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.4003490072024887,
      "block_0-gripper_Right": 0.11026652737540138,
      "block_1-gripper_Left": 0.12579296336413087,
      "block_1-gripper_Right": 0.4119387774142403,
      "cube 1 lift distance": 0.002811289912815984,
      "cube 2 lift distance": 0.01745088784420623
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.751305382823127,
    "bimanual_gripper_vertical_difference": 0.06529797007671653,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2396271228790283,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3991197418764991,
      "block_0-gripper_Right": 0.11024817434247905,
      "block_1-gripper_Left": 0.14055411401681045,
      "block_1-gripper_Right": 0.42413418606587916,
      "cube 1 lift distance": 0.003575013670290339,
      "cube 2 lift distance": 0.0020284215186652244
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7383770920008016,
    "bimanual_gripper_vertical_difference": 0.06456725358896206,
    "task_success": 0.0
  },
  {
    "completion_time": 1.260835886001587,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3983375734208837,
      "block_0-gripper_Right": 0.11017791415379084,
      "block_1-gripper_Left": 0.14224086891701834,
      "block_1-gripper_Right": 0.4244713378651282,
      "cube 1 lift distance": 0.007406306098546311,
      "cube 2 lift distance": 0.004383228638099146
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7358186109999053,
    "bimanual_gripper_vertical_difference": 0.06386157622212178,
    "task_success": 0.0
  },
  {
    "completion_time": 1.283038854598999,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3968819973731982,
      "block_0-gripper_Right": 0.11006505759642964,
      "block_1-gripper_Left": 0.15142709458602943,
      "block_1-gripper_Right": 0.41828594290377863,
      "cube 1 lift distance": 0.01599388265431101,
      "cube 2 lift distance": 0.0033063593002715663
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7355836013594866,
    "bimanual_gripper_vertical_difference": 0.06320010368267477,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3052499294281006,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.39340421412431925,
      "block_0-gripper_Right": 0.10995262640574008,
      "block_1-gripper_Left": 0.16914727857119105,
      "block_1-gripper_Right": 0.405789662724933,
      "cube 1 lift distance": 0.029433585204710178,
      "cube 2 lift distance": 0.0003557278034744815
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7322482411709138,
    "bimanual_gripper_vertical_difference": 0.06260624230833378,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3278772830963135,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3875508134656656,
      "block_0-gripper_Right": 0.10982564568405097,
      "block_1-gripper_Left": 0.1916823447587353,
      "block_1-gripper_Right": 0.3915063587670849,
      "cube 1 lift distance": 0.046064717756306495,
      "cube 2 lift distance": 0.00011860859047241323
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7283234584741544,
    "bimanual_gripper_vertical_difference": 0.06210895697565067,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3536300659179688,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.37934972610018014,
      "block_0-gripper_Right": 0.10970863954168776,
      "block_1-gripper_Left": 0.21907934119242095,
      "block_1-gripper_Right": 0.3721873303355808,
      "cube 1 lift distance": 0.06381573867277113,
      "cube 2 lift distance": 0.00012562623979350818
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7256561119686461,
    "bimanual_gripper_vertical_difference": 0.0617353822903394,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3758375644683838,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3689938199022502,
      "block_0-gripper_Right": 0.10962530277486009,
      "block_1-gripper_Left": 0.24909722614841265,
      "block_1-gripper_Right": 0.3497199686947177,
      "cube 1 lift distance": 0.08035106571720685,
      "cube 2 lift distance": 0.00012567971435739622
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7257108529924102,
    "bimanual_gripper_vertical_difference": 0.061510809056505765,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3991844654083252,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.35684476776837976,
      "block_0-gripper_Right": 0.10955556528759591,
      "block_1-gripper_Left": 0.2788933020355014,
      "block_1-gripper_Right": 0.32358035144582853,
      "cube 1 lift distance": 0.09251510187742751,
      "cube 2 lift distance": 0.000125685647629048
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7306929020669459,
    "bimanual_gripper_vertical_difference": 0.06147448668419292,
    "task_success": 0.0
  },
  {
    "completion_time": 1.422536849975586,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3450935905726618,
      "block_0-gripper_Right": 0.10949666376418346,
      "block_1-gripper_Left": 0.3070940474112798,
      "block_1-gripper_Right": 0.2947502146960513,
      "cube 1 lift distance": 0.09889654823196792,
      "cube 2 lift distance": 0.00012569125751493715
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.740018163143618,
    "bimanual_gripper_vertical_difference": 0.06167575973985734,
    "task_success": 0.0
  },
  {
    "completion_time": 1.448094367980957,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3350816534179159,
      "block_0-gripper_Right": 0.10942905092658207,
      "block_1-gripper_Left": 0.33138391400522593,
      "block_1-gripper_Right": 0.2680379431339767,
      "cube 1 lift distance": 0.10197048525309138,
      "cube 2 lift distance": 0.00012569686636598743
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7521159990857348,
    "bimanual_gripper_vertical_difference": 0.06209407259045088,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4706077575683594,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3265305449452383,
      "block_0-gripper_Right": 0.10934736292648158,
      "block_1-gripper_Left": 0.3503676150348523,
      "block_1-gripper_Right": 0.2493830474326695,
      "cube 1 lift distance": 0.10608430588441253,
      "cube 2 lift distance": 0.00012570247638299392
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7568358226148408,
    "bimanual_gripper_vertical_difference": 0.06259631729335027,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4929416179656982,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3211349355620313,
      "block_0-gripper_Right": 0.1092675157032217,
      "block_1-gripper_Left": 0.3654760862427061,
      "block_1-gripper_Right": 0.2427716076836596,
      "cube 1 lift distance": 0.11445071541783625,
      "cube 2 lift distance": 0.00012570808758127772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7548989792624355,
    "bimanual_gripper_vertical_difference": 0.06302458360029738,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5149621963500977,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.31454883992995025,
      "block_0-gripper_Right": 0.10970579190040805,
      "block_1-gripper_Left": 0.36816071490472935,
      "block_1-gripper_Right": 0.23976112930908589,
      "cube 1 lift distance": 0.1188732633578129,
      "cube 2 lift distance": 0.0001257136999612829
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7445358543618322,
    "bimanual_gripper_vertical_difference": 0.06326363739086176,
    "task_success": 0.0
  },
  {
    "completion_time": 1.537224531173706,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3170233015986327,
      "block_0-gripper_Right": 0.11010770643798808,
      "block_1-gripper_Left": 0.3712391771271804,
      "block_1-gripper_Right": 0.2318384163567378,
      "cube 1 lift distance": 0.11436638606656713,
      "cube 2 lift distance": 0.0001257193135231205
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7375474389813967,
    "bimanual_gripper_vertical_difference": 0.06349218073469574,
    "task_success": 0.0
  },
  {
    "completion_time": 1.559617042541504,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.32311502192592034,
      "block_0-gripper_Right": 0.1102927152683721,
      "block_1-gripper_Left": 0.37311258711643225,
      "block_1-gripper_Right": 0.22254741464144048,
      "cube 1 lift distance": 0.10678092373391124,
      "cube 2 lift distance": 0.0001257249282673456
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7341460509865235,
    "bimanual_gripper_vertical_difference": 0.06375360430259497,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5827200412750244,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.32905474337248236,
      "block_0-gripper_Right": 0.11043636662251108,
      "block_1-gripper_Left": 0.3740175709166127,
      "block_1-gripper_Right": 0.21337695400071227,
      "cube 1 lift distance": 0.0986507884849479,
      "cube 2 lift distance": 0.00012573054419384722
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7300839365711975,
    "bimanual_gripper_vertical_difference": 0.06405271072782746,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6058568954467773,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3332741333122014,
      "block_0-gripper_Right": 0.11052267374745145,
      "block_1-gripper_Left": 0.37474902661493015,
      "block_1-gripper_Right": 0.2043967170785874,
      "cube 1 lift distance": 0.09065426498000062,
      "cube 2 lift distance": 0.00012573616130306942
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7210351979024925,
    "bimanual_gripper_vertical_difference": 0.06440615071435983,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6290764808654785,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.33518123866699023,
      "block_0-gripper_Right": 0.11056081563747384,
      "block_1-gripper_Left": 0.3757087895855196,
      "block_1-gripper_Right": 0.1963149396772323,
      "cube 1 lift distance": 0.08362584474633938,
      "cube 2 lift distance": 0.00012574177959523425
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7131376002028249,
    "bimanual_gripper_vertical_difference": 0.06482486136665111,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6523659229278564,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3355381465030319,
      "block_0-gripper_Right": 0.11054617400890232,
      "block_1-gripper_Left": 0.3768395504250012,
      "block_1-gripper_Right": 0.1901935681328523,
      "cube 1 lift distance": 0.0784096443489335,
      "cube 2 lift distance": 0.00012574739907067478
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7048423522264085,
    "bimanual_gripper_vertical_difference": 0.06529702073617118,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6753575801849365,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3356804104426302,
      "block_0-gripper_Right": 0.11051797550587372,
      "block_1-gripper_Left": 0.37778106656556754,
      "block_1-gripper_Right": 0.18584036489009598,
      "cube 1 lift distance": 0.07462315353943616,
      "cube 2 lift distance": 0.000125753019729391
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6955897427157353,
    "bimanual_gripper_vertical_difference": 0.06580900035947039,
    "task_success": 0.0
  },
  {
    "completion_time": 1.698479413986206,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.33677863076341,
      "block_0-gripper_Right": 0.11051613070061397,
      "block_1-gripper_Left": 0.3785320858134313,
      "block_1-gripper_Right": 0.18242599494257186,
      "cube 1 lift distance": 0.07143571405010962,
      "cube 2 lift distance": 0.00012575864157182703
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6864913877821164,
    "bimanual_gripper_vertical_difference": 0.06635909360278769,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7215585708618164,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3389440109540446,
      "block_0-gripper_Right": 0.11053203226240799,
      "block_1-gripper_Left": 0.3792196601369624,
      "block_1-gripper_Right": 0.17917408332256893,
      "cube 1 lift distance": 0.06822120994020997,
      "cube 2 lift distance": 0.0001257642645982049
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6775969710263438,
    "bimanual_gripper_vertical_difference": 0.06695634830502036,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7447571754455566,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.341296185646928,
      "block_0-gripper_Right": 0.11052465143986895,
      "block_1-gripper_Left": 0.3796521916186025,
      "block_1-gripper_Right": 0.1757425590677115,
      "cube 1 lift distance": 0.06480875813152376,
      "cube 2 lift distance": 0.00012576988880874662
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6696730620374669,
    "bimanual_gripper_vertical_difference": 0.06760823770463277,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7673943042755127,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3433672551029073,
      "block_0-gripper_Right": 0.11050924848202168,
      "block_1-gripper_Left": 0.3798833108345961,
      "block_1-gripper_Right": 0.17239197811399265,
      "cube 1 lift distance": 0.06148698712275724,
      "cube 2 lift distance": 0.00012577551420367428
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6629061630917943,
    "bimanual_gripper_vertical_difference": 0.06831430531140585,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7904152870178223,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.3453988611869884,
      "block_0-gripper_Right": 0.11048513598043422,
      "block_1-gripper_Left": 0.38020283642431635,
      "block_1-gripper_Right": 0.16955096574264367,
      "cube 1 lift distance": 0.05867394524367575,
      "cube 2 lift distance": 0.00012578114078332092
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.656178547498966,
    "bimanual_gripper_vertical_difference": 0.0690626806631715,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8159761428833008,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.34688484759205,
      "block_0-gripper_Right": 0.11045422399060445,
      "block_1-gripper_Left": 0.38034150855938476,
      "block_1-gripper_Right": 0.1674847271973236,
      "cube 1 lift distance": 0.056629968661525254,
      "cube 2 lift distance": 0.0001257867685479086
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6508543272680274,
    "bimanual_gripper_vertical_difference": 0.06984110712717108,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8390617370605469,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.34770560496194064,
      "block_0-gripper_Right": 0.11044510187428437,
      "block_1-gripper_Left": 0.3802341869717422,
      "block_1-gripper_Right": 0.1658994977983857,
      "cube 1 lift distance": 0.05505008919225762,
      "cube 2 lift distance": 0.00012579239749743731
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6464254031658405,
    "bimanual_gripper_vertical_difference": 0.0706425679232279,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8621883392333984,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false
    },
    "target_distance": {
      "block_0-gripper_Left": 0.35331087478229345,
      "block_0-gripper_Right": 0.11869436245264255,
      "block_1-gripper_Left": 0.38019707923994417,
      "block_1-gripper_Right": 0.16592425730290253,
      "cube 1 lift distance": 0.04683313022299562,
      "cube 2 lift distance": 0.00012579802763246217
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6415530391320451,
    "bimanual_gripper_vertical_difference": 0.0714471721779311,
    "task_success": 0.0
  },
  {
    "completion_time": 1.885035514831543,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "target_distance": {
      "block_0-gripper_Left": 0.35786494865899593,
      "block_0-gripper_Right": 0.12557743376861463,
      "block_1-gripper_Left": 0.3800889037459105,
      "block_1-gripper_Right": 0.16608750187500354,
      "cube 1 lift distance": 0.040848053836498144,
      "cube 2 lift distance": 0.0005999143465333923
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 0.6370693644956814,
    "bimanual_gripper_vertical_difference": 0.07224497314369759,
    "task_success": 1.0
  }
]