[
  {
    "completion_time": 0.03627490997314453,
    "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": 0.058202266693115234,
    "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": 0.6991157943817137,
      "block_0-gripper_Right": 0.2622691542004974,
      "block_1-gripper_Left": 0.26227620894527487,
      "block_1-gripper_Right": 0.6991502090510013,
      "cube 1 lift distance": -0.0005471165222181718,
      "cube 2 lift distance": -0.0005471128792590152
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 8.908421257912413e-06,
    "bimanual_gripper_vertical_difference": 6.51211973234922e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.08028125762939453,
    "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": 0.6985098123766992,
      "block_0-gripper_Right": 0.2606670022049517,
      "block_1-gripper_Left": 0.2606769907121538,
      "block_1-gripper_Right": 0.6985583415789701,
      "cube 1 lift distance": 9.418768429836355e-05,
      "cube 2 lift distance": 9.420466034149033e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.793633573759437e-05,
    "bimanual_gripper_vertical_difference": 4.3596770638032467e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10206961631774902,
    "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": 0.6982672122924725,
      "block_0-gripper_Right": 0.26002645088361165,
      "block_1-gripper_Left": 0.2600381834857443,
      "block_1-gripper_Right": 0.6983240809278553,
      "cube 1 lift distance": 9.868691302794552e-05,
      "cube 2 lift distance": 9.870397172651035e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.1059397076119736e-05,
    "bimanual_gripper_vertical_difference": 4.002738696051722e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.12400674819946289,
    "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": 0.6980833989204535,
      "block_0-gripper_Right": 0.2595391307207446,
      "block_1-gripper_Left": 0.2595520090327767,
      "block_1-gripper_Right": 0.6981457279624952,
      "cube 1 lift distance": 9.871761943525126e-05,
      "cube 2 lift distance": 9.873467679921699e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 4.689138262199133e-05,
    "bimanual_gripper_vertical_difference": 9.308090742621289e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1462111473083496,
    "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": 0.6971081335156979,
      "block_0-gripper_Right": 0.2533702012346327,
      "block_1-gripper_Left": 0.25719507515332507,
      "block_1-gripper_Right": 0.6984772766777595,
      "cube 1 lift distance": 9.871781982384586e-05,
      "cube 2 lift distance": 9.873487527967129e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.03927532874894632,
    "bimanual_gripper_vertical_difference": 0.0005937029113286899,
    "task_success": 0.0
  },
  {
    "completion_time": 0.16794157028198242,
    "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": 0.6958101774344118,
      "block_0-gripper_Right": 0.2415119029196578,
      "block_1-gripper_Left": 0.25164439360545365,
      "block_1-gripper_Right": 0.6989569186381964,
      "cube 1 lift distance": 9.871781194703555e-05,
      "cube 2 lift distance": 9.873486549027977e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.03591809350096253,
    "bimanual_gripper_vertical_difference": 0.0019412753714693437,
    "task_success": 0.0
  },
  {
    "completion_time": 0.19054388999938965,
    "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": 0.6959941431704282,
      "block_0-gripper_Right": 0.22534659468952112,
      "block_1-gripper_Left": 0.24497328378963587,
      "block_1-gripper_Right": 0.6985106354152103,
      "cube 1 lift distance": 9.87178026463642e-05,
      "cube 2 lift distance": 9.873485427658313e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.06497835897180176,
    "bimanual_gripper_vertical_difference": 0.004273473060211419,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21358084678649902,
    "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": 0.6969526365647893,
      "block_0-gripper_Right": 0.21119565581400965,
      "block_1-gripper_Left": 0.23580809645439207,
      "block_1-gripper_Right": 0.6977137892133544,
      "cube 1 lift distance": 9.871779333403552e-05,
      "cube 2 lift distance": 9.87348430510071e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.16017288453751044,
    "bimanual_gripper_vertical_difference": 0.006816433260405412,
    "task_success": 0.0
  },
  {
    "completion_time": 0.23627042770385742,
    "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": 0.6954703069986223,
      "block_0-gripper_Right": 0.20056194821988718,
      "block_1-gripper_Left": 0.2209191769632421,
      "block_1-gripper_Right": 0.6962603502935606,
      "cube 1 lift distance": 9.871778401959741e-05,
      "cube 2 lift distance": 9.873483182287757e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2851605921965562,
    "bimanual_gripper_vertical_difference": 0.008532406446641883,
    "task_success": 0.0
  },
  {
    "completion_time": 0.25939321517944336,
    "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": 0.6922102012146363,
      "block_0-gripper_Right": 0.19306647970918697,
      "block_1-gripper_Left": 0.20291144715002857,
      "block_1-gripper_Right": 0.6942957698251091,
      "cube 1 lift distance": 9.87177747031609e-05,
      "cube 2 lift distance": 9.873482059241656e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39891661577441,
    "bimanual_gripper_vertical_difference": 0.009011208718004598,
    "task_success": 0.0
  },
  {
    "completion_time": 0.28145599365234375,
    "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": 0.6904129438803595,
      "block_0-gripper_Right": 0.18815763455360332,
      "block_1-gripper_Left": 0.18754079244656294,
      "block_1-gripper_Right": 0.6924627420730127,
      "cube 1 lift distance": 9.871776538494803e-05,
      "cube 2 lift distance": 9.873480935973511e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.48241350249264886,
    "bimanual_gripper_vertical_difference": 0.008539902463329826,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3035264015197754,
    "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": 0.6905734693727686,
      "block_0-gripper_Right": 0.18473161194073623,
      "block_1-gripper_Left": 0.17319733588494868,
      "block_1-gripper_Right": 0.6908097563342588,
      "cube 1 lift distance": 9.871775606473676e-05,
      "cube 2 lift distance": 9.873479812461117e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.544993509969328,
    "bimanual_gripper_vertical_difference": 0.00847130934673795,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3258087635040283,
    "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": 0.6923781262591138,
      "block_0-gripper_Right": 0.18204468245227381,
      "block_1-gripper_Left": 0.16089306228913214,
      "block_1-gripper_Right": 0.6894045658074158,
      "cube 1 lift distance": 9.871774674252709e-05,
      "cube 2 lift distance": 9.873478688704473e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.586450266189714,
    "bimanual_gripper_vertical_difference": 0.009123799554376097,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3488035202026367,
    "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": 0.6950380655607888,
      "block_0-gripper_Right": 0.17957100717427132,
      "block_1-gripper_Left": 0.15181399809802318,
      "block_1-gripper_Right": 0.6880567421321188,
      "cube 1 lift distance": 9.871773741843004e-05,
      "cube 2 lift distance": 9.873477564725786e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6071085341478345,
    "bimanual_gripper_vertical_difference": 0.010186039743293988,
    "task_success": 0.0
  },
  {
    "completion_time": 0.37055230140686035,
    "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": 0.6975264441622028,
      "block_0-gripper_Right": 0.1773461342628225,
      "block_1-gripper_Left": 0.14589106583721576,
      "block_1-gripper_Right": 0.6867537835699236,
      "cube 1 lift distance": 9.871772809244561e-05,
      "cube 2 lift distance": 9.873476440480644e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6017663607699397,
    "bimanual_gripper_vertical_difference": 0.011410141736901747,
    "task_success": 0.0
  },
  {
    "completion_time": 0.39244818687438965,
    "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": 0.6982264521126376,
      "block_0-gripper_Right": 0.175481862093528,
      "block_1-gripper_Left": 0.14283504617147744,
      "block_1-gripper_Right": 0.6855981659354886,
      "cube 1 lift distance": 9.871771876412971e-05,
      "cube 2 lift distance": 8.010870352193056e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5711596359066967,
    "bimanual_gripper_vertical_difference": 0.012594286346130213,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4146761894226074,
    "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": 0.6973279839261646,
      "block_0-gripper_Right": 0.17376762139284754,
      "block_1-gripper_Left": 0.14185365108026668,
      "block_1-gripper_Right": 0.6844526861354284,
      "cube 1 lift distance": 9.871770943348235e-05,
      "cube 2 lift distance": 0.0007568336868321035
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.545230294965,
    "bimanual_gripper_vertical_difference": 0.013571470905030315,
    "task_success": 0.0
  },
  {
    "completion_time": 0.43659114837646484,
    "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": 0.6947219123748176,
      "block_0-gripper_Right": 0.17158239125169053,
      "block_1-gripper_Left": 0.13978267113092419,
      "block_1-gripper_Right": 0.6820369417303143,
      "cube 1 lift distance": 9.871770010083658e-05,
      "cube 2 lift distance": 0.0033289280489806616
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5168693108412963,
    "bimanual_gripper_vertical_difference": 0.014325142886642089,
    "task_success": 0.0
  },
  {
    "completion_time": 0.45806026458740234,
    "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": 0.6918868424144923,
      "block_0-gripper_Right": 0.16861371952955378,
      "block_1-gripper_Left": 0.13694096545608142,
      "block_1-gripper_Right": 0.6802243525521776,
      "cube 1 lift distance": 9.871769076619241e-05,
      "cube 2 lift distance": 0.005411732467055397
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.49134507219787754,
    "bimanual_gripper_vertical_difference": 0.01491244694212972,
    "task_success": 0.0
  },
  {
    "completion_time": 0.48136115074157715,
    "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": 0.6893643037768611,
      "block_0-gripper_Right": 0.1652977957446651,
      "block_1-gripper_Left": 0.13311976216809526,
      "block_1-gripper_Right": 0.6789400444206596,
      "cube 1 lift distance": 9.871768142943882e-05,
      "cube 2 lift distance": 0.007042151808823949
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.46883667531522366,
    "bimanual_gripper_vertical_difference": 0.015413122255568826,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5013206005096436,
    "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": 0.6869103039298192,
      "block_0-gripper_Right": 0.16224744814926004,
      "block_1-gripper_Left": 0.12801411524924802,
      "block_1-gripper_Right": 0.67756576310152,
      "cube 1 lift distance": 9.87176720905758e-05,
      "cube 2 lift distance": 0.008191653198912463
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4599100336560322,
    "bimanual_gripper_vertical_difference": 0.015934315795495032,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5212445259094238,
    "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": 0.6847191204892702,
      "block_0-gripper_Right": 0.1595208629698096,
      "block_1-gripper_Left": 0.12184253890858025,
      "block_1-gripper_Right": 0.6759873801974703,
      "cube 1 lift distance": 9.871766274993643e-05,
      "cube 2 lift distance": 0.00812736397650482
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.465121917390725,
    "bimanual_gripper_vertical_difference": 0.01657945621342243,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5419178009033203,
    "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": 0.684159704554416,
      "block_0-gripper_Right": 0.156925229945168,
      "block_1-gripper_Left": 0.11568871054661246,
      "block_1-gripper_Right": 0.6753942555443065,
      "cube 1 lift distance": 9.871765340740968e-05,
      "cube 2 lift distance": 0.006611248643736967
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.475836179542443,
    "bimanual_gripper_vertical_difference": 0.017388786376255332,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5624909400939941,
    "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": 0.6868707779483225,
      "block_0-gripper_Right": 0.1546957429463223,
      "block_1-gripper_Left": 0.11066008362751464,
      "block_1-gripper_Right": 0.6776190887898773,
      "cube 1 lift distance": 9.871764406310657e-05,
      "cube 2 lift distance": 0.004090362427073946
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.48327861580702575,
    "bimanual_gripper_vertical_difference": 0.018339680110115185,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5833914279937744,
    "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": 0.6917304159075844,
      "block_0-gripper_Right": 0.1529467263746127,
      "block_1-gripper_Left": 0.10797367965257498,
      "block_1-gripper_Right": 0.6813408887005393,
      "cube 1 lift distance": 9.871763471713813e-05,
      "cube 2 lift distance": 0.001974042837047496
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4866502683882554,
    "bimanual_gripper_vertical_difference": 0.019319466673568285,
    "task_success": 0.0
  },
  {
    "completion_time": 0.605649471282959,
    "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": 0.6979842352952615,
      "block_0-gripper_Right": 0.1514294523455884,
      "block_1-gripper_Left": 0.10738961467109073,
      "block_1-gripper_Right": 0.6824454160175795,
      "cube 1 lift distance": 9.871762536906026e-05,
      "cube 2 lift distance": 0.001238564735685066
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.49964439643244823,
    "bimanual_gripper_vertical_difference": 0.02018438282009358,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6264803409576416,
    "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": 0.7034545826942742,
      "block_0-gripper_Right": 0.1497331675152474,
      "block_1-gripper_Left": 0.10820025688105833,
      "block_1-gripper_Right": 0.68566010464179,
      "cube 1 lift distance": 9.871761601909501e-05,
      "cube 2 lift distance": 0.0015273013341590147
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5180371748739574,
    "bimanual_gripper_vertical_difference": 0.020835574584754355,
    "task_success": 0.0
  },
  {
    "completion_time": 0.648252010345459,
    "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": 0.7083347117657365,
      "block_0-gripper_Right": 0.147245450607423,
      "block_1-gripper_Left": 0.11116795485694775,
      "block_1-gripper_Right": 0.6911954582953047,
      "cube 1 lift distance": 9.871760666713136e-05,
      "cube 2 lift distance": 0.0024000396610747154
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5263668185066954,
    "bimanual_gripper_vertical_difference": 0.021220335892946876,
    "task_success": 0.0
  },
  {
    "completion_time": 0.670231819152832,
    "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": 0.7119791627286634,
      "block_0-gripper_Right": 0.14285790777800134,
      "block_1-gripper_Left": 0.11128394577077645,
      "block_1-gripper_Right": 0.6967818428164759,
      "cube 1 lift distance": 9.871759731283625e-05,
      "cube 2 lift distance": 0.006544315433114067
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5237712364092489,
    "bimanual_gripper_vertical_difference": 0.0213011578953614,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6918158531188965,
    "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": 0.7140291892421546,
      "block_0-gripper_Right": 0.13726627042161377,
      "block_1-gripper_Left": 0.11132004452880773,
      "block_1-gripper_Right": 0.7005269981603512,
      "cube 1 lift distance": 9.871758795654273e-05,
      "cube 2 lift distance": 0.01190715490126526
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5165042905964708,
    "bimanual_gripper_vertical_difference": 0.02103605501479824,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7157788276672363,
    "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": 0.7134910684841221,
      "block_0-gripper_Right": 0.13269410888900834,
      "block_1-gripper_Left": 0.1113502605092991,
      "block_1-gripper_Right": 0.7021911612006662,
      "cube 1 lift distance": 9.871757859813979e-05,
      "cube 2 lift distance": 0.01762697191021001
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5096542983247218,
    "bimanual_gripper_vertical_difference": 0.020480353168968263,
    "task_success": 0.0
  },
  {
    "completion_time": 0.738311767578125,
    "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": 0.7088203832974579,
      "block_0-gripper_Right": 0.12978537560414558,
      "block_1-gripper_Left": 0.11136774606627056,
      "block_1-gripper_Right": 0.6996418385025139,
      "cube 1 lift distance": 9.871756923784947e-05,
      "cube 2 lift distance": 0.024337340901696036
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.502323435273885,
    "bimanual_gripper_vertical_difference": 0.020040045506837967,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7602376937866211,
    "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": 0.6984354354318947,
      "block_0-gripper_Right": 0.12796173969881788,
      "block_1-gripper_Left": 0.11135670429282893,
      "block_1-gripper_Right": 0.6901945771221187,
      "cube 1 lift distance": 9.871755987567177e-05,
      "cube 2 lift distance": 0.03258474827584079
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4989889154586983,
    "bimanual_gripper_vertical_difference": 0.019915024826902744,
    "task_success": 0.0
  },
  {
    "completion_time": 0.782207727432251,
    "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": 0.6820101533287203,
      "block_0-gripper_Right": 0.12635282950055965,
      "block_1-gripper_Left": 0.1113208726517067,
      "block_1-gripper_Right": 0.6731502091305629,
      "cube 1 lift distance": 9.871755051149567e-05,
      "cube 2 lift distance": 0.04174663520483901
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5011057498356076,
    "bimanual_gripper_vertical_difference": 0.020103990910745675,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8037796020507812,
    "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": 0.6598624909888449,
      "block_0-gripper_Right": 0.12465742740950769,
      "block_1-gripper_Left": 0.11125670601423097,
      "block_1-gripper_Right": 0.6484609131784449,
      "cube 1 lift distance": 9.871754114543219e-05,
      "cube 2 lift distance": 0.0511985960885466
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5090921704689872,
    "bimanual_gripper_vertical_difference": 0.020597196007545258,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8255963325500488,
    "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": 0.6337343628193902,
      "block_0-gripper_Right": 0.12270217472253697,
      "block_1-gripper_Left": 0.11120783552017179,
      "block_1-gripper_Right": 0.618210886368733,
      "cube 1 lift distance": 9.87175317773703e-05,
      "cube 2 lift distance": 0.059760368511874606
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5204132790676812,
    "bimanual_gripper_vertical_difference": 0.021361093558104238,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8470954895019531,
    "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": 0.606406200907138,
      "block_0-gripper_Right": 0.11996229997758869,
      "block_1-gripper_Left": 0.11119528697745874,
      "block_1-gripper_Right": 0.5866064615541351,
      "cube 1 lift distance": 9.8717522407199e-05,
      "cube 2 lift distance": 0.06622499902239487
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5318279426287089,
    "bimanual_gripper_vertical_difference": 0.022348253233432452,
    "task_success": 0.0
  },
  {
    "completion_time": 0.866326093673706,
    "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": 0.5793977412412922,
      "block_0-gripper_Right": 0.1161422606453198,
      "block_1-gripper_Left": 0.11123003349312129,
      "block_1-gripper_Right": 0.556078360255286,
      "cube 1 lift distance": 0.00010114598103350136,
      "cube 2 lift distance": 0.06990935064644499
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5449019111602305,
    "bimanual_gripper_vertical_difference": 0.02350142830893204,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8853559494018555,
    "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": 0.5546405482551957,
      "block_0-gripper_Right": 0.11213138310855927,
      "block_1-gripper_Left": 0.1112811162651118,
      "block_1-gripper_Right": 0.5292533458600975,
      "cube 1 lift distance": 0.00012447644757596077,
      "cube 2 lift distance": 0.07061919101800918
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5548279408082298,
    "bimanual_gripper_vertical_difference": 0.024724018716039808,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9063410758972168,
    "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": 0.5332543460987349,
      "block_0-gripper_Right": 0.10767454150970167,
      "block_1-gripper_Left": 0.11130987660877648,
      "block_1-gripper_Right": 0.5073638559272231,
      "cube 1 lift distance": 0.00010337234094903724,
      "cube 2 lift distance": 0.06902992335450442
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5621685149799796,
    "bimanual_gripper_vertical_difference": 0.02596554798681063,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9256260395050049,
    "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": 0.5150763165191421,
      "block_0-gripper_Right": 0.10291481119095088,
      "block_1-gripper_Left": 0.11131330507385369,
      "block_1-gripper_Right": 0.48994096835178086,
      "cube 1 lift distance": 0.00012780351596608508,
      "cube 2 lift distance": 0.0662099915003298
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.567665076202362,
    "bimanual_gripper_vertical_difference": 0.02720194220259794,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9447393417358398,
    "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": 0.4989561404294044,
      "block_0-gripper_Right": 0.10075974057908703,
      "block_1-gripper_Left": 0.1113646713158005,
      "block_1-gripper_Right": 0.4745793953235213,
      "cube 1 lift distance": 0.00014826668698553203,
      "cube 2 lift distance": 0.06274195762593582
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5728409592862551,
    "bimanual_gripper_vertical_difference": 0.028355538349769595,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9654591083526611,
    "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": 0.4775391996532124,
      "block_0-gripper_Right": 0.0932821163722065,
      "block_1-gripper_Left": 0.11149931059262361,
      "block_1-gripper_Right": 0.4635191002975578,
      "cube 1 lift distance": 0.0038513794742683904,
      "cube 2 lift distance": 0.058388465647842835
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5701001665180463,
    "bimanual_gripper_vertical_difference": 0.029386160262942166,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9851720333099365,
    "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": 0.4584215226082483,
      "block_0-gripper_Right": 0.09028181878085297,
      "block_1-gripper_Left": 0.11161551923932565,
      "block_1-gripper_Right": 0.45010082325354106,
      "cube 1 lift distance": 0.0061548903171676494,
      "cube 2 lift distance": 0.05333000906873586
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5607377243146756,
    "bimanual_gripper_vertical_difference": 0.030274658267344174,
    "task_success": 0.0
  },
  {
    "completion_time": 1.005939245223999,
    "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": 0.4442073518882183,
      "block_0-gripper_Right": 0.09047418142172171,
      "block_1-gripper_Left": 0.11163766698488298,
      "block_1-gripper_Right": 0.43836658446990584,
      "cube 1 lift distance": 0.006074722424772916,
      "cube 2 lift distance": 0.0484269291436501
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5509760378208269,
    "bimanual_gripper_vertical_difference": 0.03102017799166664,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0285537242889404,
    "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": 0.43668517777414095,
      "block_0-gripper_Right": 0.09042409096928263,
      "block_1-gripper_Left": 0.12275140326595205,
      "block_1-gripper_Right": 0.4312787450511393,
      "cube 1 lift distance": 0.006017552024806472,
      "cube 2 lift distance": 0.035502501833187816
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5430746880508095,
    "bimanual_gripper_vertical_difference": 0.03169605393426433,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0528221130371094,
    "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": 0.4361008934293268,
      "block_0-gripper_Right": 0.09041556885641104,
      "block_1-gripper_Left": 0.1533862559383739,
      "block_1-gripper_Right": 0.4273035845496137,
      "cube 1 lift distance": 0.006058004157348362,
      "cube 2 lift distance": 0.006425108674391611
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5404981219715778,
    "bimanual_gripper_vertical_difference": 0.03237364080135797,
    "task_success": 0.0
  },
  {
    "completion_time": 1.075979471206665,
    "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": 0.4417882049797594,
      "block_0-gripper_Right": 0.09042900573233073,
      "block_1-gripper_Left": 0.16045378945123168,
      "block_1-gripper_Right": 0.4320208253717634,
      "cube 1 lift distance": 0.006125732070868195,
      "cube 2 lift distance": 0.004483806665625756
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5406460272377538,
    "bimanual_gripper_vertical_difference": 0.03312012685123974,
    "task_success": 0.0
  },
  {
    "completion_time": 1.098926067352295,
    "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": 0.4494012781738166,
      "block_0-gripper_Right": 0.09045991752622834,
      "block_1-gripper_Left": 0.17246940763444918,
      "block_1-gripper_Right": 0.4335866782057627,
      "cube 1 lift distance": 0.006390245418869789,
      "cube 2 lift distance": 0.0006955451596895035
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5383063448843523,
    "bimanual_gripper_vertical_difference": 0.03398663505080348,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1216356754302979,
    "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": 0.45349472793108575,
      "block_0-gripper_Right": 0.09045987852000692,
      "block_1-gripper_Left": 0.18438684177897005,
      "block_1-gripper_Right": 0.4257176774528692,
      "cube 1 lift distance": 0.009086998896618792,
      "cube 2 lift distance": 9.713494959495694e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5319056056944653,
    "bimanual_gripper_vertical_difference": 0.03498125466532591,
    "task_success": 0.0
  },
  {
    "completion_time": 1.144845724105835,
    "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": 0.4537652974700731,
      "block_0-gripper_Right": 0.09041435611609927,
      "block_1-gripper_Left": 0.19780280794700952,
      "block_1-gripper_Right": 0.413454800927882,
      "cube 1 lift distance": 0.01606833463721291,
      "cube 2 lift distance": 0.00011818082660164375
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5227144722419768,
    "bimanual_gripper_vertical_difference": 0.036040824960442634,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1673011779785156,
    "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": 0.44978349771260356,
      "block_0-gripper_Right": 0.09037136831939913,
      "block_1-gripper_Left": 0.21050621463986857,
      "block_1-gripper_Right": 0.397774204640658,
      "cube 1 lift distance": 0.026954999528212564,
      "cube 2 lift distance": 0.0001183286081469781
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5133633484186892,
    "bimanual_gripper_vertical_difference": 0.03704827713284094,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1898868083953857,
    "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": 0.44043868420604154,
      "block_0-gripper_Right": 0.09031091460743289,
      "block_1-gripper_Left": 0.22059404383866577,
      "block_1-gripper_Right": 0.3779967378752835,
      "cube 1 lift distance": 0.03958112749381115,
      "cube 2 lift distance": 0.000118333733569842
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5089214808173085,
    "bimanual_gripper_vertical_difference": 0.037889263223829316,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2122502326965332,
    "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": 0.4256295228168384,
      "block_0-gripper_Right": 0.09021573919139039,
      "block_1-gripper_Left": 0.22763415531694486,
      "block_1-gripper_Right": 0.3549853156402606,
      "cube 1 lift distance": 0.052314795943358305,
      "cube 2 lift distance": 0.00011833788596093964
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5059475898420636,
    "bimanual_gripper_vertical_difference": 0.03847620882036573,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2356061935424805,
    "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": 0.40595331993670564,
      "block_0-gripper_Right": 0.09010516023524696,
      "block_1-gripper_Left": 0.23245491964089957,
      "block_1-gripper_Right": 0.3296932844403446,
      "cube 1 lift distance": 0.06487921372190208,
      "cube 2 lift distance": 0.00011834203257621301
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.500143516637852,
    "bimanual_gripper_vertical_difference": 0.038745902693771886,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2585270404815674,
    "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": 0.3830846675526296,
      "block_0-gripper_Right": 0.09002862375490009,
      "block_1-gripper_Left": 0.23668700449536856,
      "block_1-gripper_Right": 0.3041374939786654,
      "cube 1 lift distance": 0.07693958125416289,
      "cube 2 lift distance": 0.00011834618001926867
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.49276179520131375,
    "bimanual_gripper_vertical_difference": 0.03868168576133575,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2808647155761719,
    "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": 0.3592949289729545,
      "block_0-gripper_Right": 0.08998765511310315,
      "block_1-gripper_Left": 0.24114781148918987,
      "block_1-gripper_Right": 0.2802918076182996,
      "cube 1 lift distance": 0.08745218311820069,
      "cube 2 lift distance": 0.00011835032833518166
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.48874187913526873,
    "bimanual_gripper_vertical_difference": 0.03831253589534732,
    "task_success": 0.0
  },
  {
    "completion_time": 1.304664134979248,
    "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": 0.33569508721257796,
      "block_0-gripper_Right": 0.08999230132760187,
      "block_1-gripper_Left": 0.2455299191391169,
      "block_1-gripper_Right": 0.2587905737847144,
      "cube 1 lift distance": 0.09495399880304811,
      "cube 2 lift distance": 0.00011835447752472916
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4869487196718046,
    "bimanual_gripper_vertical_difference": 0.0377069649168192,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3286962509155273,
    "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": 0.3133113074810628,
      "block_0-gripper_Right": 0.09007887266498642,
      "block_1-gripper_Left": 0.2489593761159195,
      "block_1-gripper_Right": 0.23939126664742577,
      "cube 1 lift distance": 0.09815210550820375,
      "cube 2 lift distance": 0.00011835862758791116
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.485352807250535,
    "bimanual_gripper_vertical_difference": 0.03720318005690849,
    "task_success": 0.0
  },
  {
    "completion_time": 1.354658603668213,
    "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": 0.2935474135316403,
      "block_0-gripper_Right": 0.09019083740857704,
      "block_1-gripper_Left": 0.2513979190793365,
      "block_1-gripper_Right": 0.22151156516250872,
      "cube 1 lift distance": 0.09688565699039531,
      "cube 2 lift distance": 0.00011836277852483867
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.48304692675376015,
    "bimanual_gripper_vertical_difference": 0.036799866392946065,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3775575160980225,
    "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": 0.27848742457139297,
      "block_0-gripper_Right": 0.0902950009285659,
      "block_1-gripper_Left": 0.25357447358982077,
      "block_1-gripper_Right": 0.205600247971204,
      "cube 1 lift distance": 0.09232831871568115,
      "cube 2 lift distance": 0.00011836693033606682
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4789177098064178,
    "bimanual_gripper_vertical_difference": 0.03642701171374379,
    "task_success": 0.0
  },
  {
    "completion_time": 1.40126633644104,
    "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": 0.2689467472089668,
      "block_0-gripper_Right": 0.09041135348259699,
      "block_1-gripper_Left": 0.25620183283854875,
      "block_1-gripper_Right": 0.1911337201991156,
      "cube 1 lift distance": 0.08514064034830082,
      "cube 2 lift distance": 0.00011837108302137356
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4731808466663823,
    "bimanual_gripper_vertical_difference": 0.03602095845485603,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4242711067199707,
    "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": 0.26289300580919184,
      "block_0-gripper_Right": 0.09045452438286342,
      "block_1-gripper_Left": 0.25953500444873456,
      "block_1-gripper_Right": 0.17770773188674033,
      "cube 1 lift distance": 0.07689886090792464,
      "cube 2 lift distance": 0.00011837523658109195
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4693054434358378,
    "bimanual_gripper_vertical_difference": 0.03553811259920919,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4472389221191406,
    "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": 0.25769481505136466,
      "block_0-gripper_Right": 0.09044333028921724,
      "block_1-gripper_Left": 0.2627421371606269,
      "block_1-gripper_Right": 0.16733011348185003,
      "cube 1 lift distance": 0.07047034482690884,
      "cube 2 lift distance": 0.00011837939101544404
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.46704374008079097,
    "bimanual_gripper_vertical_difference": 0.03499384575071934,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4700291156768799,
    "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": 0.2525949847465297,
      "block_0-gripper_Right": 0.09044979919624446,
      "block_1-gripper_Left": 0.26509412007422584,
      "block_1-gripper_Right": 0.16142871546471463,
      "cube 1 lift distance": 0.0672900710465818,
      "cube 2 lift distance": 0.00011838354632454084
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4648661442413929,
    "bimanual_gripper_vertical_difference": 0.0345012882534107,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4934535026550293,
    "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": 0.24868151439176422,
      "block_0-gripper_Right": 0.09046233462058445,
      "block_1-gripper_Left": 0.2664469306241341,
      "block_1-gripper_Right": 0.15901579053437326,
      "cube 1 lift distance": 0.06646528530589912,
      "cube 2 lift distance": 0.00011838770250871544
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.461706877426304,
    "bimanual_gripper_vertical_difference": 0.03401421049549407,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5171856880187988,
    "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": 0.246819205523245,
      "block_0-gripper_Right": 0.09047585154758364,
      "block_1-gripper_Left": 0.26703786158303233,
      "block_1-gripper_Right": 0.1581896413514868,
      "cube 1 lift distance": 0.06640357647361195,
      "cube 2 lift distance": 0.00011839185956807885
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45848074079836604,
    "bimanual_gripper_vertical_difference": 0.03351882636448741,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5399868488311768,
    "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": 0.24704755986794635,
      "block_0-gripper_Right": 0.09050131736990853,
      "block_1-gripper_Left": 0.2673634871920379,
      "block_1-gripper_Right": 0.15770687380206783,
      "cube 1 lift distance": 0.06615093307431041,
      "cube 2 lift distance": 0.00011839601750263107
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4549799179865759,
    "bimanual_gripper_vertical_difference": 0.03304241698029191,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5632579326629639,
    "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": 0.24851907814441332,
      "block_0-gripper_Right": 0.09053308828665686,
      "block_1-gripper_Left": 0.2676337776997543,
      "block_1-gripper_Right": 0.15719728911764957,
      "cube 1 lift distance": 0.06556493932785168,
      "cube 2 lift distance": 0.00011840017631281619
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4508380843449327,
    "bimanual_gripper_vertical_difference": 0.03257909823070441,
    "task_success": 0.0
  },
  {
    "completion_time": 1.586477279663086,
    "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": 0.2501084481345294,
      "block_0-gripper_Right": 0.09058793442262414,
      "block_1-gripper_Left": 0.2676711390273768,
      "block_1-gripper_Right": 0.15617775853835422,
      "cube 1 lift distance": 0.06432520179343615,
      "cube 2 lift distance": 0.0001184043359986342
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44505544065024993,
    "bimanual_gripper_vertical_difference": 0.032129627891736616,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6097571849822998,
    "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": 0.2507493983264602,
      "block_0-gripper_Right": 0.09065539184359717,
      "block_1-gripper_Left": 0.26739921348560214,
      "block_1-gripper_Right": 0.1541361585814092,
      "cube 1 lift distance": 0.0621597289955822,
      "cube 2 lift distance": 0.00011840849656041819
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43905591857294113,
    "bimanual_gripper_vertical_difference": 0.031728337155904916,
    "task_success": 0.0
  },
  {
    "completion_time": 1.632552146911621,
    "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": 0.25015859063051565,
      "block_0-gripper_Right": 0.09069134645970488,
      "block_1-gripper_Left": 0.2670401938887251,
      "block_1-gripper_Right": 0.15154671182502388,
      "cube 1 lift distance": 0.059702493549285585,
      "cube 2 lift distance": 0.00011841265799827916
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43381586031738034,
    "bimanual_gripper_vertical_difference": 0.03137919078180042,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6557092666625977,
    "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": 0.2485286194982871,
      "block_0-gripper_Right": 0.09068383371360644,
      "block_1-gripper_Left": 0.2666046800937093,
      "block_1-gripper_Right": 0.14943881288788294,
      "cube 1 lift distance": 0.05791610689979709,
      "cube 2 lift distance": 0.00011841682031243916
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4282010957555533,
    "bimanual_gripper_vertical_difference": 0.031070193832412208,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6785080432891846,
    "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": 0.24624508936352688,
      "block_0-gripper_Right": 0.0906663292913049,
      "block_1-gripper_Left": 0.26604203112618907,
      "block_1-gripper_Right": 0.1481554687003783,
      "cube 1 lift distance": 0.05700069923570905,
      "cube 2 lift distance": 0.00011842098350300923
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42294128263628616,
    "bimanual_gripper_vertical_difference": 0.030785144840808888,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7014920711517334,
    "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": 0.2439821240320301,
      "block_0-gripper_Right": 0.09066149814913584,
      "block_1-gripper_Left": 0.2655212445923672,
      "block_1-gripper_Right": 0.14738903314016524,
      "cube 1 lift distance": 0.05654856481502235,
      "cube 2 lift distance": 0.00011842514757021139
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4179327401966181,
    "bimanual_gripper_vertical_difference": 0.03051401224349509,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7248904705047607,
    "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": 0.24582092641289366,
      "block_0-gripper_Right": 0.10016447482392597,
      "block_1-gripper_Left": 0.2653882167420017,
      "block_1-gripper_Right": 0.14817336925435645,
      "cube 1 lift distance": 0.04797607716993424,
      "cube 2 lift distance": 0.00011842931251226929
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4150085747123014,
    "bimanual_gripper_vertical_difference": 0.030236526394259406,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7476425170898438,
    "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": 0.2509117850790925,
      "block_0-gripper_Right": 0.10872730723410895,
      "block_1-gripper_Left": 0.26527521763633516,
      "block_1-gripper_Right": 0.14839214553767804,
      "cube 1 lift distance": 0.04033207535961569,
      "cube 2 lift distance": 0.0006742947971229984
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 0.41140612182048286,
    "bimanual_gripper_vertical_difference": 0.02995561484687447,
    "task_success": 1.0
  }
]