[
  {
    "completion_time": 0.03401494026184082,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5119711498449263,
      "block_0-gripper_Right": 0.2865699508612667,
      "block_1-gripper_Left": 0.3796295465774098,
      "block_1-gripper_Right": 0.37963992050587075,
      "cube 1 lift distance": 0.02185960000000009,
      "cube 2 lift distance": 0.02185960000000009
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 9.662721000558427e-07,
    "bimanual_gripper_vertical_difference": 5.348295140095161e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.053939104080200195,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5211050103459103,
      "block_0-gripper_Right": 0.3026102416097797,
      "block_1-gripper_Left": 0.3916240932529146,
      "block_1-gripper_Right": 0.39165279583224605,
      "cube 1 lift distance": 0.00120259825497826,
      "cube 2 lift distance": 0.0011745888009712102
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 4.946741142229649e-07,
    "bimanual_gripper_vertical_difference": 6.785736417214139e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07523894309997559,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5211853951240728,
      "block_0-gripper_Right": 0.30276424105229166,
      "block_1-gripper_Left": 0.39141102450751336,
      "block_1-gripper_Right": 0.3914517333937682,
      "cube 1 lift distance": 0.000694013111926961,
      "cube 2 lift distance": 0.0007109089779454569
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1279432600369335e-05,
    "bimanual_gripper_vertical_difference": 1.3898679984691853e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.09575772285461426,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5210449407056146,
      "block_0-gripper_Right": 0.302531453257053,
      "block_1-gripper_Left": 0.39128785290566936,
      "block_1-gripper_Right": 0.3913355682045765,
      "cube 1 lift distance": 0.0001172367566173449,
      "cube 2 lift distance": 0.0001296916947653992
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 8.492808887084619e-06,
    "bimanual_gripper_vertical_difference": 2.0137958522958854e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.11599516868591309,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5208430517303017,
      "block_0-gripper_Right": 0.30218886380874566,
      "block_1-gripper_Left": 0.39100792552987307,
      "block_1-gripper_Right": 0.39105972851156445,
      "cube 1 lift distance": 0.00011879397516434409,
      "cube 2 lift distance": 0.00013016362618401
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 4.739018752260536e-05,
    "bimanual_gripper_vertical_difference": 2.251138653264206e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.13629579544067383,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5207134606417001,
      "block_0-gripper_Right": 0.30196864818371144,
      "block_1-gripper_Left": 0.39082794983532415,
      "block_1-gripper_Right": 0.3908822714583151,
      "cube 1 lift distance": 0.00011880881868930881,
      "cube 2 lift distance": 0.00013017339824195062
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00019262078831340222,
    "bimanual_gripper_vertical_difference": 2.7428943560892094e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.15643906593322754,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5206298734198574,
      "block_0-gripper_Right": 0.30182649101938036,
      "block_1-gripper_Left": 0.3907120304149668,
      "block_1-gripper_Right": 0.39076786147234677,
      "cube 1 lift distance": 0.00011881313351236322,
      "cube 2 lift distance": 0.00013018001658626766
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0009813409338970877,
    "bimanual_gripper_vertical_difference": 4.35960867406493e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.17760181427001953,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5205760128491568,
      "block_0-gripper_Right": 0.3017345808328613,
      "block_1-gripper_Left": 0.39063740706839795,
      "block_1-gripper_Right": 0.39069393391461,
      "cube 1 lift distance": 0.00011881737734420472,
      "cube 2 lift distance": 0.00013018661478081395
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0011107649181683237,
    "bimanual_gripper_vertical_difference": 5.691248028405482e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.19821596145629883,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5205412798763845,
      "block_0-gripper_Right": 0.3016752945038041,
      "block_1-gripper_Left": 0.3905893422477504,
      "block_1-gripper_Right": 0.3906463777531955,
      "cube 1 lift distance": 0.00011882162157861309,
      "cube 2 lift distance": 0.00013019321421825492
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0010165615353995648,
    "bimanual_gripper_vertical_difference": 7.680666596559465e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21855664253234863,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.520518860533154,
      "block_0-gripper_Right": 0.30163693742806197,
      "block_1-gripper_Left": 0.390558361104686,
      "block_1-gripper_Right": 0.39061563420794565,
      "cube 1 lift distance": 0.00011882586670297623,
      "cube 2 lift distance": 0.0001301998150446959
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0009359119830797881,
    "bimanual_gripper_vertical_difference": 9.621301733098164e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.23891901969909668,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5201870910167721,
      "block_0-gripper_Right": 0.3010267196525197,
      "block_1-gripper_Left": 0.3900927053597291,
      "block_1-gripper_Right": 0.39012387575886204,
      "cube 1 lift distance": 0.00011883011272117994,
      "cube 2 lift distance": 0.00013020641726158022
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.005783897418812236,
    "bimanual_gripper_vertical_difference": 7.655221224074763e-06,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2591087818145752,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5192430771135808,
      "block_0-gripper_Right": 0.2985106066130922,
      "block_1-gripper_Left": 0.38873481196580795,
      "block_1-gripper_Right": 0.38812991388740176,
      "cube 1 lift distance": 0.00011883435963311317,
      "cube 2 lift distance": 0.0001302130208691299
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.054816170220846554,
    "bimanual_gripper_vertical_difference": 8.714524927427858e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.28066015243530273,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5188841026132127,
      "block_0-gripper_Right": 0.29604717397720176,
      "block_1-gripper_Left": 0.3882589698618261,
      "block_1-gripper_Right": 0.3863164407584855,
      "cube 1 lift distance": 0.00011883860743933106,
      "cube 2 lift distance": 0.00013021962586790004
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12994828147968712,
    "bimanual_gripper_vertical_difference": 0.0002471455174141926,
    "task_success": 0.0
  },
  {
    "completion_time": 0.30138373374938965,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5193040274634818,
      "block_0-gripper_Right": 0.2952825553521897,
      "block_1-gripper_Left": 0.38882912936424346,
      "block_1-gripper_Right": 0.38558106534618763,
      "cube 1 lift distance": 0.00011884285613972256,
      "cube 2 lift distance": 0.00013022623225777963
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.23843937412239682,
    "bimanual_gripper_vertical_difference": 0.0005825872490212555,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3222024440765381,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5195398889001223,
      "block_0-gripper_Right": 0.2940503998531387,
      "block_1-gripper_Left": 0.3892571134874844,
      "block_1-gripper_Right": 0.3834537832715189,
      "cube 1 lift distance": 0.00011884710573450974,
      "cube 2 lift distance": 0.00013023284003932378
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3410303528475876,
    "bimanual_gripper_vertical_difference": 0.0011020234100166022,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3424952030181885,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5191930441085594,
      "block_0-gripper_Right": 0.2910022960179223,
      "block_1-gripper_Left": 0.3890529400565771,
      "block_1-gripper_Right": 0.37885322905621094,
      "cube 1 lift distance": 0.00011885135622391463,
      "cube 2 lift distance": 0.00013023944921264352
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4410499043003826,
    "bimanual_gripper_vertical_difference": 0.0017204068056384386,
    "task_success": 0.0
  },
  {
    "completion_time": 0.36281323432922363,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5185292504732113,
      "block_0-gripper_Right": 0.2863921083860116,
      "block_1-gripper_Left": 0.3884685401793651,
      "block_1-gripper_Right": 0.3730124615540268,
      "cube 1 lift distance": 0.00011885560760838132,
      "cube 2 lift distance": 0.00013024605977829395
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5312183519013101,
    "bimanual_gripper_vertical_difference": 0.0022969860956343086,
    "task_success": 0.0
  },
  {
    "completion_time": 0.383148193359375,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5176002238549466,
      "block_0-gripper_Right": 0.281246552934247,
      "block_1-gripper_Left": 0.3875931812103154,
      "block_1-gripper_Right": 0.36728769372248676,
      "cube 1 lift distance": 0.00011885985988768777,
      "cube 2 lift distance": 0.00013025267173627508
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6135716840294929,
    "bimanual_gripper_vertical_difference": 0.0027359317643358663,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4033243656158447,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5166223797817597,
      "block_0-gripper_Right": 0.27778336771439843,
      "block_1-gripper_Left": 0.3864653011980417,
      "block_1-gripper_Right": 0.3638250689981868,
      "cube 1 lift distance": 0.00011886411306216704,
      "cube 2 lift distance": 0.000130259285087031
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6924934608996869,
    "bimanual_gripper_vertical_difference": 0.0030719689929028867,
    "task_success": 0.0
  },
  {
    "completion_time": 0.42481231689453125,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5158419726080582,
      "block_0-gripper_Right": 0.2763398570679805,
      "block_1-gripper_Left": 0.385382312588836,
      "block_1-gripper_Right": 0.36262094150053226,
      "cube 1 lift distance": 0.00011886836713204119,
      "cube 2 lift distance": 0.00013026589983100578
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.767253501442333,
    "bimanual_gripper_vertical_difference": 0.003382547924706869,
    "task_success": 0.0
  },
  {
    "completion_time": 0.44863414764404297,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5152700448410287,
      "block_0-gripper_Right": 0.27542446283955396,
      "block_1-gripper_Left": 0.3845728215437547,
      "block_1-gripper_Right": 0.3619466295294325,
      "cube 1 lift distance": 0.00011887262209753224,
      "cube 2 lift distance": 0.00013027251596819944
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8366303806260282,
    "bimanual_gripper_vertical_difference": 0.0036741065097345214,
    "task_success": 0.0
  },
  {
    "completion_time": 0.46925997734069824,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5149011021333791,
      "block_0-gripper_Right": 0.27483827830660174,
      "block_1-gripper_Left": 0.38405055087588175,
      "block_1-gripper_Right": 0.36151609624380265,
      "cube 1 lift distance": 0.00011887687795886226,
      "cube 2 lift distance": 0.0001302791334991671
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.900808671277965,
    "bimanual_gripper_vertical_difference": 0.0039457923542581515,
    "task_success": 0.0
  },
  {
    "completion_time": 0.48956894874572754,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.514663789088731,
      "block_0-gripper_Right": 0.27446094075235444,
      "block_1-gripper_Left": 0.3837147281859064,
      "block_1-gripper_Right": 0.3612406228924636,
      "cube 1 lift distance": 0.00011888113471603123,
      "cube 2 lift distance": 0.00013028575242390872
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9600850055826923,
    "bimanual_gripper_vertical_difference": 0.00419786991708503,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5097026824951172,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5145109411351975,
      "block_0-gripper_Right": 0.2742145593600741,
      "block_1-gripper_Left": 0.3834985971927799,
      "block_1-gripper_Right": 0.3610628280721439,
      "cube 1 lift distance": 0.00011888539236937223,
      "cube 2 lift distance": 0.00013029237274309047
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0146879599299465,
    "bimanual_gripper_vertical_difference": 0.004431327899126536,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5310263633728027,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.514483355417679,
      "block_0-gripper_Right": 0.2703758510302005,
      "block_1-gripper_Left": 0.3832090584912262,
      "block_1-gripper_Right": 0.35723351197624154,
      "cube 1 lift distance": 0.00011888965091921833,
      "cube 2 lift distance": 0.00013029899445660131
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0573356775753213,
    "bimanual_gripper_vertical_difference": 0.004548698127189894,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5518150329589844,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5163590513005841,
      "block_0-gripper_Right": 0.26041502688297924,
      "block_1-gripper_Left": 0.38506484635161664,
      "block_1-gripper_Right": 0.3468601555261128,
      "cube 1 lift distance": 0.00011889391036545849,
      "cube 2 lift distance": 0.0001303056175651074
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0697820500151707,
    "bimanual_gripper_vertical_difference": 0.004467333445233099,
    "task_success": 0.0
  },
  {
    "completion_time": 0.572258710861206,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5193672628294567,
      "block_0-gripper_Right": 0.2475093690326072,
      "block_1-gripper_Left": 0.38850091019662797,
      "block_1-gripper_Right": 0.33309848540882087,
      "cube 1 lift distance": 0.00011889817070842579,
      "cube 2 lift distance": 0.0001303122420686087
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0655759483586134,
    "bimanual_gripper_vertical_difference": 0.004936823291667558,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5929462909698486,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.521907323308701,
      "block_0-gripper_Right": 0.23481779000089809,
      "block_1-gripper_Left": 0.3917152768901202,
      "block_1-gripper_Right": 0.3191737217174895,
      "cube 1 lift distance": 0.00011890243194834227,
      "cube 2 lift distance": 0.00013031886796754932
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0621382094559295,
    "bimanual_gripper_vertical_difference": 0.005914678232394229,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6132783889770508,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5229094156512358,
      "block_0-gripper_Right": 0.2238204139486283,
      "block_1-gripper_Left": 0.3932888274182249,
      "block_1-gripper_Right": 0.3060608177584554,
      "cube 1 lift distance": 0.00011890669408520793,
      "cube 2 lift distance": 0.00013032549526237336
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0386945328679753,
    "bimanual_gripper_vertical_difference": 0.007233846807334957,
    "task_success": 0.0
  },
  {
    "completion_time": 0.634375810623169,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5222725961488219,
      "block_0-gripper_Right": 0.21393124639887817,
      "block_1-gripper_Left": 0.3928612930587345,
      "block_1-gripper_Right": 0.29299949528611247,
      "cube 1 lift distance": 0.00011891095711946686,
      "cube 2 lift distance": 0.0001303321239530808
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.01203835186961,
    "bimanual_gripper_vertical_difference": 0.008728714957148458,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6552169322967529,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5206815415172501,
      "block_0-gripper_Right": 0.20491848191858808,
      "block_1-gripper_Left": 0.39111700097683705,
      "block_1-gripper_Right": 0.28026717218486824,
      "cube 1 lift distance": 0.00011891522105134111,
      "cube 2 lift distance": 0.0001303387540398937
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9999867446400053,
    "bimanual_gripper_vertical_difference": 0.010282881025077812,
    "task_success": 0.0
  },
  {
    "completion_time": 0.675715446472168,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5187210326241184,
      "block_0-gripper_Right": 0.19584691566342202,
      "block_1-gripper_Left": 0.3887756849569961,
      "block_1-gripper_Right": 0.26801617164023384,
      "cube 1 lift distance": 0.00011891948588060863,
      "cube 2 lift distance": 0.00013034538552314512
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0016407433020562,
    "bimanual_gripper_vertical_difference": 0.01186122134418962,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6960752010345459,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.516746106800758,
      "block_0-gripper_Right": 0.18682003802861508,
      "block_1-gripper_Left": 0.38635461424196027,
      "block_1-gripper_Right": 0.25674536817516386,
      "cube 1 lift distance": 0.00011892375160793556,
      "cube 2 lift distance": 0.0001303520184035012
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0248698468011423,
    "bimanual_gripper_vertical_difference": 0.01346640381428,
    "task_success": 0.0
  },
  {
    "completion_time": 0.71769118309021,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5152423324274252,
      "block_0-gripper_Right": 0.17878047174644343,
      "block_1-gripper_Left": 0.38446907168917416,
      "block_1-gripper_Right": 0.2473275000051655,
      "cube 1 lift distance": 0.00011892801823321086,
      "cube 2 lift distance": 0.0001303586526808509
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0530043162187261,
    "bimanual_gripper_vertical_difference": 0.015105349591540987,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7387282848358154,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5146716789205172,
      "block_0-gripper_Right": 0.17065471585262582,
      "block_1-gripper_Left": 0.38365230220596314,
      "block_1-gripper_Right": 0.23946436705840313,
      "cube 1 lift distance": 0.00011893228575676762,
      "cube 2 lift distance": 0.00013036528835574934
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0860872358744353,
    "bimanual_gripper_vertical_difference": 0.016821789115867063,
    "task_success": 0.0
  },
  {
    "completion_time": 0.759514331817627,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5147678774529173,
      "block_0-gripper_Right": 0.1625932511827998,
      "block_1-gripper_Left": 0.38364810088993556,
      "block_1-gripper_Right": 0.2326004164565944,
      "cube 1 lift distance": 0.00011893655417860582,
      "cube 2 lift distance": 0.0001303719254285296
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0921301371098018,
    "bimanual_gripper_vertical_difference": 0.018640603932440172,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7802352905273438,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5148693888971116,
      "block_0-gripper_Right": 0.15549292988784055,
      "block_1-gripper_Left": 0.38382267092926786,
      "block_1-gripper_Right": 0.22630750070392006,
      "cube 1 lift distance": 0.00011894082349928059,
      "cube 2 lift distance": 0.00013037856389919167
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0752870022707162,
    "bimanual_gripper_vertical_difference": 0.020549134520443123,
    "task_success": 0.0
  },
  {
    "completion_time": 0.80271315574646,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5146384578092544,
      "block_0-gripper_Right": 0.1500158654129168,
      "block_1-gripper_Left": 0.38370834092165246,
      "block_1-gripper_Right": 0.2202867690341501,
      "cube 1 lift distance": 0.00011894509371856987,
      "cube 2 lift distance": 0.00013038520376829066
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0649618058743986,
    "bimanual_gripper_vertical_difference": 0.022493931110240204,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8240816593170166,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5143993606908304,
      "block_0-gripper_Right": 0.14641745334452624,
      "block_1-gripper_Left": 0.38356736426544136,
      "block_1-gripper_Right": 0.2144806038709935,
      "cube 1 lift distance": 0.00011894936483691776,
      "cube 2 lift distance": 0.00013039184503604861
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0761695955488728,
    "bimanual_gripper_vertical_difference": 0.0244170064155458,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8449723720550537,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5146092906894271,
      "block_0-gripper_Right": 0.14410116604888232,
      "block_1-gripper_Left": 0.38380522175191584,
      "block_1-gripper_Right": 0.20965710627055234,
      "cube 1 lift distance": 0.00011895363685443527,
      "cube 2 lift distance": 0.0001303984877027986
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1057236183594568,
    "bimanual_gripper_vertical_difference": 0.02628731879139933,
    "task_success": 0.0
  },
  {
    "completion_time": 0.868924617767334,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5150723695775702,
      "block_0-gripper_Right": 0.14195309383731095,
      "block_1-gripper_Left": 0.3842104996510314,
      "block_1-gripper_Right": 0.20599740199843022,
      "cube 1 lift distance": 0.00011895790977134446,
      "cube 2 lift distance": 0.0001304051317688737
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1317342547970302,
    "bimanual_gripper_vertical_difference": 0.02810591193034672,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8896124362945557,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.51549638171345,
      "block_0-gripper_Right": 0.1395196061578585,
      "block_1-gripper_Left": 0.38451173676392003,
      "block_1-gripper_Right": 0.2036605296765724,
      "cube 1 lift distance": 0.00011896218358775634,
      "cube 2 lift distance": 0.0001304117772343849
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1555443948702757,
    "bimanual_gripper_vertical_difference": 0.029882320641084408,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9099900722503662,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5159379085754648,
      "block_0-gripper_Right": 0.13717272621626447,
      "block_1-gripper_Left": 0.38481615861676977,
      "block_1-gripper_Right": 0.20310841510342684,
      "cube 1 lift distance": 0.00011896645830400399,
      "cube 2 lift distance": 0.00013041842409977633
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1795844806773979,
    "bimanual_gripper_vertical_difference": 0.03161873192900512,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9314651489257812,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.51664629035777,
      "block_0-gripper_Right": 0.13415585240498049,
      "block_1-gripper_Left": 0.38542965036309446,
      "block_1-gripper_Right": 0.20385091673338462,
      "cube 1 lift distance": 0.00011897073392008739,
      "cube 2 lift distance": 0.000130425072365159
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1809476733989437,
    "bimanual_gripper_vertical_difference": 0.033339678017380685,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9522647857666016,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5175088786100032,
      "block_0-gripper_Right": 0.1297853189888329,
      "block_1-gripper_Left": 0.3862284374911059,
      "block_1-gripper_Right": 0.2041731121632986,
      "cube 1 lift distance": 0.0001189750104362286,
      "cube 2 lift distance": 0.000130431722031088
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1642863983843548,
    "bimanual_gripper_vertical_difference": 0.035082290390263685,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9730494022369385,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5182780603596514,
      "block_0-gripper_Right": 0.12478695875287192,
      "block_1-gripper_Left": 0.3869935743536408,
      "block_1-gripper_Right": 0.20392997182385783,
      "cube 1 lift distance": 0.00011897928785287171,
      "cube 2 lift distance": 0.0001304383730977854
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.153155403975976,
    "bimanual_gripper_vertical_difference": 0.03686281887456572,
    "task_success": 0.0
  },
  {
    "completion_time": 0.994002103805542,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.518656451296299,
      "block_0-gripper_Right": 0.12051226859558858,
      "block_1-gripper_Left": 0.38744122784064056,
      "block_1-gripper_Right": 0.2035125466722696,
      "cube 1 lift distance": 0.00011898356616990569,
      "cube 2 lift distance": 0.00013044502556547322
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.155538130226694,
    "bimanual_gripper_vertical_difference": 0.03866427786516084,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0152530670166016,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5185923800812285,
      "block_0-gripper_Right": 0.11699776191357131,
      "block_1-gripper_Left": 0.3874679295225473,
      "block_1-gripper_Right": 0.20265972005504604,
      "cube 1 lift distance": 0.0001189878453876636,
      "cube 2 lift distance": 0.00013045167943448455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1745199702767883,
    "bimanual_gripper_vertical_difference": 0.040464348719420756,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0372333526611328,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5180730035126234,
      "block_0-gripper_Right": 0.11419914368674826,
      "block_1-gripper_Left": 0.38703930491471267,
      "block_1-gripper_Right": 0.20146729980287428,
      "cube 1 lift distance": 0.00011899212550636751,
      "cube 2 lift distance": 0.00013045833470515245
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1936002727643689,
    "bimanual_gripper_vertical_difference": 0.04224268871727046,
    "task_success": 0.0
  },
  {
    "completion_time": 1.058014154434204,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5171038958251719,
      "block_0-gripper_Right": 0.11180324885381551,
      "block_1-gripper_Left": 0.3861024389895256,
      "block_1-gripper_Right": 0.20021507207399455,
      "cube 1 lift distance": 0.0001189964065260174,
      "cube 2 lift distance": 0.00013046499137769896
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2126490254465816,
    "bimanual_gripper_vertical_difference": 0.04398219661382123,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0786616802215576,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5158720660523755,
      "block_0-gripper_Right": 0.10958228721269894,
      "block_1-gripper_Left": 0.38480735904326385,
      "block_1-gripper_Right": 0.19888981045092763,
      "cube 1 lift distance": 0.00011900068844705736,
      "cube 2 lift distance": 0.00013047164945234613
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2312480023457066,
    "bimanual_gripper_vertical_difference": 0.04567087858951902,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0995419025421143,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5146972166278827,
      "block_0-gripper_Right": 0.107558515191448,
      "block_1-gripper_Left": 0.3835173917191669,
      "block_1-gripper_Right": 0.19756691415700403,
      "cube 1 lift distance": 0.00011900497126937637,
      "cube 2 lift distance": 0.00013047830892964907
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.228114475062425,
    "bimanual_gripper_vertical_difference": 0.04730486370227037,
    "task_success": 0.0
  },
  {
    "completion_time": 1.119873285293579,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5177339617953035,
      "block_0-gripper_Right": 0.1047764254048771,
      "block_1-gripper_Left": 0.38252560619855747,
      "block_1-gripper_Right": 0.195657850176393,
      "cube 1 lift distance": 0.0014752094853272002,
      "cube 2 lift distance": 0.00013048496981249436
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2075574830098998,
    "bimanual_gripper_vertical_difference": 0.04887630310044991,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.1413037776947021,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5242434950185725,
      "block_0-gripper_Right": 0.10468696384148948,
      "block_1-gripper_Left": 0.38198661902196496,
      "block_1-gripper_Right": 0.19515802401811216,
      "cube 1 lift distance": 0.00047241112396811946,
      "cube 2 lift distance": 0.00013049163209677417
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1962103016350119,
    "bimanual_gripper_vertical_difference": 0.05039969352367893,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.1625902652740479,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5243840020564691,
      "block_0-gripper_Right": 0.1046123422384582,
      "block_1-gripper_Left": 0.381954417479692,
      "block_1-gripper_Right": 0.1946584884900091,
      "cube 1 lift distance": 0.000203615862755413,
      "cube 2 lift distance": 0.0001304982957943679
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1988503057818618,
    "bimanual_gripper_vertical_difference": 0.05187270834430357,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.1839823722839355,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5246172156871469,
      "block_0-gripper_Right": 0.10460162374988496,
      "block_1-gripper_Left": 0.3821889117854407,
      "block_1-gripper_Right": 0.19419058164073916,
      "cube 1 lift distance": 0.00021990305182362224,
      "cube 2 lift distance": 0.00013050496089761499
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2130692719988538,
    "bimanual_gripper_vertical_difference": 0.053296981991890764,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.205458402633667,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5249267961859316,
      "block_0-gripper_Right": 0.10459873720624886,
      "block_1-gripper_Left": 0.3824804116139571,
      "block_1-gripper_Right": 0.1936804843452512,
      "cube 1 lift distance": 0.00022403065349041462,
      "cube 2 lift distance": 0.0001305116274047391
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2066060010985862,
    "bimanual_gripper_vertical_difference": 0.0546770351300067,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.226738691329956,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5250630270817406,
      "block_0-gripper_Right": 0.10459480783556414,
      "block_1-gripper_Left": 0.38269230421693545,
      "block_1-gripper_Right": 0.1935131412319001,
      "cube 1 lift distance": 0.00021382431240857258,
      "cube 2 lift distance": 0.00013051829531629533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1869404616013939,
    "bimanual_gripper_vertical_difference": 0.05601514764576766,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.2490243911743164,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5249714396605801,
      "block_0-gripper_Right": 0.104594308119725,
      "block_1-gripper_Left": 0.38279681411416144,
      "block_1-gripper_Right": 0.19337918301422702,
      "cube 1 lift distance": 0.00020586474121742082,
      "cube 2 lift distance": 0.0001305249646322837
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1675122745068003,
    "bimanual_gripper_vertical_difference": 0.05731276675603618,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.2706670761108398,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5231745324348565,
      "block_0-gripper_Right": 0.1045599585558255,
      "block_1-gripper_Left": 0.38303745651225396,
      "block_1-gripper_Right": 0.19246524443973,
      "cube 1 lift distance": 0.0017741179301082877,
      "cube 2 lift distance": 0.0001305316353532593
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1512424240687367,
    "bimanual_gripper_vertical_difference": 0.058550260557426,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.2943730354309082,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.5151519832022777,
      "block_0-gripper_Right": 0.10443621360235888,
      "block_1-gripper_Left": 0.3835845154012753,
      "block_1-gripper_Right": 0.18961171481394798,
      "cube 1 lift distance": 0.006899807340728481,
      "cube 2 lift distance": 0.00013053830747933315
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1445450164646274,
    "bimanual_gripper_vertical_difference": 0.05968262292219363,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.3154995441436768,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.500925941251607,
      "block_0-gripper_Right": 0.10429087145146214,
      "block_1-gripper_Left": 0.38436741034322247,
      "block_1-gripper_Right": 0.18464691475156297,
      "cube 1 lift distance": 0.014992915798801465,
      "cube 2 lift distance": 0.00013054498101083833
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1471567815860568,
    "bimanual_gripper_vertical_difference": 0.060675525980354555,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.3389828205108643,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.4826876475082778,
      "block_0-gripper_Right": 0.10420964239786501,
      "block_1-gripper_Left": 0.3852187740039032,
      "block_1-gripper_Right": 0.1788245414464082,
      "cube 1 lift distance": 0.023992032512471173,
      "cube 2 lift distance": 0.00013055165594832996
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1542656519707835,
    "bimanual_gripper_vertical_difference": 0.06152427818475951,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.3605256080627441,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.4635725753974059,
      "block_0-gripper_Right": 0.10416886855272982,
      "block_1-gripper_Left": 0.3857582643259865,
      "block_1-gripper_Right": 0.17281161197768827,
      "cube 1 lift distance": 0.03165473110909156,
      "cube 2 lift distance": 0.000130558332291697
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1592345987665513,
    "bimanual_gripper_vertical_difference": 0.06225004781272746,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.382079839706421,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.44570279077105,
      "block_0-gripper_Right": 0.10415588581948988,
      "block_1-gripper_Left": 0.38577366829996607,
      "block_1-gripper_Right": 0.16768897573466626,
      "cube 1 lift distance": 0.03761845444435208,
      "cube 2 lift distance": 0.00013056501004138354
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1613112291775636,
    "bimanual_gripper_vertical_difference": 0.06287083168055424,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4036026000976562,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.43001799786318545,
      "block_0-gripper_Right": 0.10416595420207903,
      "block_1-gripper_Left": 0.38536055545639303,
      "block_1-gripper_Right": 0.16376816948240763,
      "cube 1 lift distance": 0.04200166800595628,
      "cube 2 lift distance": 0.00013057168919716755
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1565832677006722,
    "bimanual_gripper_vertical_difference": 0.06340161265299232,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4252793788909912,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.4174253263911279,
      "block_0-gripper_Right": 0.10422614258375425,
      "block_1-gripper_Left": 0.3848231678169389,
      "block_1-gripper_Right": 0.16059970861701756,
      "cube 1 lift distance": 0.044526974917096895,
      "cube 2 lift distance": 0.0001305783697604923
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1450561775944528,
    "bimanual_gripper_vertical_difference": 0.06386550421063268,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4469687938690186,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.40778541793079104,
      "block_0-gripper_Right": 0.10430294416005001,
      "block_1-gripper_Left": 0.38431761595902947,
      "block_1-gripper_Right": 0.15792214761950363,
      "cube 1 lift distance": 0.04565834799334145,
      "cube 2 lift distance": 0.00013058505173113577
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1297395097053913,
    "bimanual_gripper_vertical_difference": 0.06428446404093725,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4707739353179932,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.4001640429754724,
      "block_0-gripper_Right": 0.1043778371560908,
      "block_1-gripper_Left": 0.3838985614595081,
      "block_1-gripper_Right": 0.15572520182317334,
      "cube 1 lift distance": 0.046098276605676114,
      "cube 2 lift distance": 0.00013059173510931998
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1142819585381851,
    "bimanual_gripper_vertical_difference": 0.06467275745339561,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4924840927124023,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3933476919084407,
      "block_0-gripper_Right": 0.10442890103430894,
      "block_1-gripper_Left": 0.3834489678181033,
      "block_1-gripper_Right": 0.15412073643103713,
      "cube 1 lift distance": 0.04649920274315744,
      "cube 2 lift distance": 0.000130598419895267
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1001787261212759,
    "bimanual_gripper_vertical_difference": 0.06503412973469519,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5142123699188232,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.38677652562341847,
      "block_0-gripper_Right": 0.10446217284506422,
      "block_1-gripper_Left": 0.3829142799696178,
      "block_1-gripper_Right": 0.15341295972649863,
      "cube 1 lift distance": 0.04735518264069194,
      "cube 2 lift distance": 0.00013060510608875475
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0865058661339706,
    "bimanual_gripper_vertical_difference": 0.06536313153822858,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5355780124664307,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3809405296550094,
      "block_0-gripper_Right": 0.10449976481556135,
      "block_1-gripper_Left": 0.38248681669862405,
      "block_1-gripper_Right": 0.15345071790550166,
      "cube 1 lift distance": 0.048515345816840805,
      "cube 2 lift distance": 0.00013061179369133757
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0740238993704347,
    "bimanual_gripper_vertical_difference": 0.06565675668991999,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5570440292358398,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.37625869179140214,
      "block_0-gripper_Right": 0.10452244294076549,
      "block_1-gripper_Left": 0.3825174710834095,
      "block_1-gripper_Right": 0.1537984918138467,
      "cube 1 lift distance": 0.04965032533033531,
      "cube 2 lift distance": 0.00013061848270257137
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0601473939546762,
    "bimanual_gripper_vertical_difference": 0.06592076876719337,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5787675380706787,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.37292784948505675,
      "block_0-gripper_Right": 0.10453881173141814,
      "block_1-gripper_Left": 0.3832122377226888,
      "block_1-gripper_Right": 0.1541050053946118,
      "cube 1 lift distance": 0.05050311443968125,
      "cube 2 lift distance": 0.00013062517312290023
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0460255893054946,
    "bimanual_gripper_vertical_difference": 0.06616630350918298,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6003525257110596,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.37025107064297597,
      "block_0-gripper_Right": 0.1045391941655396,
      "block_1-gripper_Left": 0.38409747918914133,
      "block_1-gripper_Right": 0.15416912928790744,
      "cube 1 lift distance": 0.05097688854091342,
      "cube 2 lift distance": 0.0001306318649525462
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0323142325462413,
    "bimanual_gripper_vertical_difference": 0.06640130861191014,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6233112812042236,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3674984859666785,
      "block_0-gripper_Right": 0.104527802093981,
      "block_1-gripper_Left": 0.38465004999484204,
      "block_1-gripper_Right": 0.1538817696334787,
      "cube 1 lift distance": 0.05101599211262853,
      "cube 2 lift distance": 0.00013063855819184234
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0202965831304864,
    "bimanual_gripper_vertical_difference": 0.06662745857014137,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6445589065551758,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.36476989116971376,
      "block_0-gripper_Right": 0.10451924493967024,
      "block_1-gripper_Left": 0.3846704467702809,
      "block_1-gripper_Right": 0.1531967531471724,
      "cube 1 lift distance": 0.05057257970375506,
      "cube 2 lift distance": 0.00013064525284112172
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0112320596220106,
    "bimanual_gripper_vertical_difference": 0.06684420649140072,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6657543182373047,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.36181199239325534,
      "block_0-gripper_Right": 0.10450311640604991,
      "block_1-gripper_Left": 0.384389385948193,
      "block_1-gripper_Right": 0.1524151006767622,
      "cube 1 lift distance": 0.04994755320220157,
      "cube 2 lift distance": 0.00013065194890049536
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.003654023197195,
    "bimanual_gripper_vertical_difference": 0.06704961275163218,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.68699049949646,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3585999894480126,
      "block_0-gripper_Right": 0.10447499369144718,
      "block_1-gripper_Left": 0.3840629981696107,
      "block_1-gripper_Right": 0.1521198769093632,
      "cube 1 lift distance": 0.04973307716919395,
      "cube 2 lift distance": 0.00013065864637040736
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.995943416040107,
    "bimanual_gripper_vertical_difference": 0.06723804166550858,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.7084360122680664,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3555537311766352,
      "block_0-gripper_Right": 0.1044535693585384,
      "block_1-gripper_Left": 0.38385540314574296,
      "block_1-gripper_Right": 0.15283867858627584,
      "cube 1 lift distance": 0.05045577520066713,
      "cube 2 lift distance": 0.00013066534525107976
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9853138277896425,
    "bimanual_gripper_vertical_difference": 0.06740142460262663,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.7328343391418457,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.35279392478028,
      "block_0-gripper_Right": 0.10444841691959035,
      "block_1-gripper_Left": 0.38388010547476104,
      "block_1-gripper_Right": 0.15444823013296444,
      "cube 1 lift distance": 0.05199478484008879,
      "cube 2 lift distance": 0.00013067204554295664
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9736032074051899,
    "bimanual_gripper_vertical_difference": 0.06753537948219789,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.756155014038086,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.35071724409451555,
      "block_0-gripper_Right": 0.10446730368081697,
      "block_1-gripper_Left": 0.38414722244934485,
      "block_1-gripper_Right": 0.15626649530238085,
      "cube 1 lift distance": 0.05368777005045522,
      "cube 2 lift distance": 0.00013067874724570494
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9631216182831052,
    "bimanual_gripper_vertical_difference": 0.06764389537767361,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.777841567993164,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3495468490989662,
      "block_0-gripper_Right": 0.10450596862755118,
      "block_1-gripper_Left": 0.3844862338742438,
      "block_1-gripper_Right": 0.15760663418520168,
      "cube 1 lift distance": 0.05488716664039073,
      "cube 2 lift distance": 0.00013068545036065693
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9520175524590446,
    "bimanual_gripper_vertical_difference": 0.06773588021496585,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.799429178237915,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.34942594964215695,
      "block_0-gripper_Right": 0.10454815719015641,
      "block_1-gripper_Left": 0.3848166359919737,
      "block_1-gripper_Right": 0.15838199809449316,
      "cube 1 lift distance": 0.0555551718811127,
      "cube 2 lift distance": 0.00013069215488759056
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.940953446120763,
    "bimanual_gripper_vertical_difference": 0.06781913660016263,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.8230080604553223,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3502519918405579,
      "block_0-gripper_Right": 0.10458473669285537,
      "block_1-gripper_Left": 0.3851737755735081,
      "block_1-gripper_Right": 0.15864519016809409,
      "cube 1 lift distance": 0.05575241811359399,
      "cube 2 lift distance": 0.00013069886082694993
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9308051747790892,
    "bimanual_gripper_vertical_difference": 0.06790056093704527,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.8447914123535156,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.35201250332035733,
      "block_0-gripper_Right": 0.10461005163206147,
      "block_1-gripper_Left": 0.38564464968742646,
      "block_1-gripper_Right": 0.15835500334689204,
      "cube 1 lift distance": 0.05541182133567979,
      "cube 2 lift distance": 0.00013070556817884604
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9215554864168888,
    "bimanual_gripper_vertical_difference": 0.06798898680242038,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.8664145469665527,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.35429206830020915,
      "block_0-gripper_Right": 0.10461919433309068,
      "block_1-gripper_Left": 0.38608571198303593,
      "block_1-gripper_Right": 0.1577161803479726,
      "cube 1 lift distance": 0.054717145130099176,
      "cube 2 lift distance": 0.00013071227694361198
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.911769579420292,
    "bimanual_gripper_vertical_difference": 0.06808899510814166,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.8884196281433105,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.35712340487524846,
      "block_0-gripper_Right": 0.10465810511263621,
      "block_1-gripper_Left": 0.38623067450812987,
      "block_1-gripper_Right": 0.1564099460875296,
      "cube 1 lift distance": 0.05331999696833978,
      "cube 2 lift distance": 0.0001307189871215808
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9046726183920124,
    "bimanual_gripper_vertical_difference": 0.06820518009754471,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.910048007965088,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.36045983049315905,
      "block_0-gripper_Right": 0.10470596218012913,
      "block_1-gripper_Left": 0.3861518653478545,
      "block_1-gripper_Right": 0.15411382521480962,
      "cube 1 lift distance": 0.050935948647415685,
      "cube 2 lift distance": 0.0001307256987130856
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.901229145214234,
    "bimanual_gripper_vertical_difference": 0.06834641462176032,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9317831993103027,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3635506517901789,
      "block_0-gripper_Right": 0.10471263110909185,
      "block_1-gripper_Left": 0.38609679067391656,
      "block_1-gripper_Right": 0.1514584367295629,
      "cube 1 lift distance": 0.048244468888655856,
      "cube 2 lift distance": 0.00013073241171834837
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8975809245685474,
    "bimanual_gripper_vertical_difference": 0.06851691401173121,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9532809257507324,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3657168655446999,
      "block_0-gripper_Right": 0.10469830606188991,
      "block_1-gripper_Left": 0.3860388122555965,
      "block_1-gripper_Right": 0.14911028861152104,
      "cube 1 lift distance": 0.04591273214007008,
      "cube 2 lift distance": 0.00013073912613770222
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.892733308581715,
    "bimanual_gripper_vertical_difference": 0.06871212925262735,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9756672382354736,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.366490732034804,
      "block_0-gripper_Right": 0.10468359080560123,
      "block_1-gripper_Left": 0.38566626808153687,
      "block_1-gripper_Right": 0.14730695600430627,
      "cube 1 lift distance": 0.044180506487554894,
      "cube 2 lift distance": 0.0001307458419714802
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8856640322970533,
    "bimanual_gripper_vertical_difference": 0.06892142668752194,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9974431991577148,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.36573913337918385,
      "block_0-gripper_Right": 0.1046514458965757,
      "block_1-gripper_Left": 0.38506765186411784,
      "block_1-gripper_Right": 0.1463820106474267,
      "cube 1 lift distance": 0.043373377529578594,
      "cube 2 lift distance": 0.00013075255922001539
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8768631693448227,
    "bimanual_gripper_vertical_difference": 0.06913189213548847,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.0187766551971436,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.36375130704008607,
      "block_0-gripper_Right": 0.10461562773696877,
      "block_1-gripper_Left": 0.3844415944689295,
      "block_1-gripper_Right": 0.14645340333748277,
      "cube 1 lift distance": 0.04355362865940071,
      "cube 2 lift distance": 0.0001307592778835298
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8687312563903614,
    "bimanual_gripper_vertical_difference": 0.06933121054156537,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.0405077934265137,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.36175868183555093,
      "block_0-gripper_Right": 0.10460289312967273,
      "block_1-gripper_Left": 0.38394778546953,
      "block_1-gripper_Right": 0.1471359490858051,
      "cube 1 lift distance": 0.04430328392121208,
      "cube 2 lift distance": 0.0001307659979621345
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.859960676163225,
    "bimanual_gripper_vertical_difference": 0.06951373031852731,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.062464714050293,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3600204715255816,
      "block_0-gripper_Right": 0.10459744938583683,
      "block_1-gripper_Left": 0.3836121274336972,
      "block_1-gripper_Right": 0.14805028854979768,
      "cube 1 lift distance": 0.04524993958271506,
      "cube 2 lift distance": 0.0001307727194564956
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.851129271417356,
    "bimanual_gripper_vertical_difference": 0.06967851248286182,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.084995746612549,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3588055182032588,
      "block_0-gripper_Right": 0.10459374137557666,
      "block_1-gripper_Left": 0.3834507726690585,
      "block_1-gripper_Right": 0.14891202017279245,
      "cube 1 lift distance": 0.0461122227065065,
      "cube 2 lift distance": 0.00013077944236672412
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8427054473747917,
    "bimanual_gripper_vertical_difference": 0.06982827138182973,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.105984926223755,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.36172525251140425,
      "block_0-gripper_Right": 0.11243027096405957,
      "block_1-gripper_Left": 0.3834401623368538,
      "block_1-gripper_Right": 0.15062605855179106,
      "cube 1 lift distance": 0.03989005545917945,
      "cube 2 lift distance": 0.0001272943777222979
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 0.834789299977758,
    "bimanual_gripper_vertical_difference": 0.06995625389362363,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 1.0
  }
]