[
  {
    "completion_time": 0.038797855377197266,
    "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": 0.46272808345739136,
      "block_0-gripper_Right": 0.30679823417399577,
      "block_1-gripper_Left": 0.25223676120425664,
      "block_1-gripper_Right": 0.5510274553625709,
      "cube 1 lift distance": 0.02185960000000009,
      "cube 2 lift distance": 0.02185960000000009
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 3.3108405110560124e-07,
    "bimanual_gripper_vertical_difference": 7.019584913336985e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.06097579002380371,
    "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": 0.47260134301418383,
      "block_0-gripper_Right": 0.3215191298267271,
      "block_1-gripper_Left": 0.26958720942532965,
      "block_1-gripper_Right": 0.5591956094426868,
      "cube 1 lift distance": 0.0012026703319473198,
      "cube 2 lift distance": 0.0011746602517760385
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8177482832837377e-07,
    "bimanual_gripper_vertical_difference": 8.911561488744724e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.08372211456298828,
    "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": 0.47244978139309063,
      "block_0-gripper_Right": 0.3213109842236985,
      "block_1-gripper_Left": 0.2688678127005207,
      "block_1-gripper_Right": 0.5588575395084987,
      "cube 1 lift distance": 0.0006942858539501495,
      "cube 2 lift distance": 0.0007111827287505923
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1519356996173707e-05,
    "bimanual_gripper_vertical_difference": 9.828236742966585e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10622787475585938,
    "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": 0.47234668534723795,
      "block_0-gripper_Right": 0.3211678821234473,
      "block_1-gripper_Left": 0.2687877951221631,
      "block_1-gripper_Right": 0.5588239895979814,
      "cube 1 lift distance": 0.00011735332142781552,
      "cube 2 lift distance": 0.0001297890864375706
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 8.649264845663092e-06,
    "bimanual_gripper_vertical_difference": 1.2545363636817797e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.12824583053588867,
    "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": 0.47211371117439493,
      "block_0-gripper_Right": 0.32083009340142626,
      "block_1-gripper_Left": 0.26836353970513316,
      "block_1-gripper_Right": 0.5586229137379305,
      "cube 1 lift distance": 0.00011890432857442068,
      "cube 2 lift distance": 0.00013025294452961855
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 7.3261730689729024e-06,
    "bimanual_gripper_vertical_difference": 1.8922112765551447e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.14972400665283203,
    "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": 0.4719643724723241,
      "block_0-gripper_Right": 0.32061318656498095,
      "block_1-gripper_Left": 0.2680908641336938,
      "block_1-gripper_Right": 0.5584936409159643,
      "cube 1 lift distance": 0.00011891911436090474,
      "cube 2 lift distance": 0.00013026264172621982
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.121647884875514e-06,
    "bimanual_gripper_vertical_difference": 2.5920035377306285e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.17150044441223145,
    "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": 0.4718682625558001,
      "block_0-gripper_Right": 0.32047341336716395,
      "block_1-gripper_Left": 0.2679154598585881,
      "block_1-gripper_Right": 0.5584104344999703,
      "cube 1 lift distance": 0.0001189234134516548,
      "cube 2 lift distance": 0.00013026923980941074
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00015015563274311896,
    "bimanual_gripper_vertical_difference": 2.7455897872690524e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.193528413772583,
    "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": 0.4718063322948657,
      "block_0-gripper_Right": 0.32038328002157657,
      "block_1-gripper_Left": 0.26780256019120857,
      "block_1-gripper_Right": 0.5583568411551525,
      "cube 1 lift distance": 0.00011892764183474291,
      "cube 2 lift distance": 0.00013027581811120292
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0001314173368915196,
    "bimanual_gripper_vertical_difference": 2.740098842268779e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21524906158447266,
    "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": 0.4717664805960822,
      "block_0-gripper_Right": 0.32032515555179625,
      "block_1-gripper_Left": 0.2677299191017695,
      "block_1-gripper_Right": 0.558322317025995,
      "cube 1 lift distance": 0.0001189318706189546,
      "cube 2 lift distance": 0.00013028239765422445
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00011695354726401201,
    "bimanual_gripper_vertical_difference": 2.4490525903549574e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2369685173034668,
    "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": 0.47174080130162815,
      "block_0-gripper_Right": 0.32028764756954275,
      "block_1-gripper_Left": 0.26768315080638955,
      "block_1-gripper_Right": 0.5583000648553957,
      "cube 1 lift distance": 0.00011893610029045654,
      "cube 2 lift distance": 0.00013028897858213817
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00010534086752133865,
    "bimanual_gripper_vertical_difference": 2.357134709640718e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.258561372756958,
    "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": 0.47172427382824844,
      "block_0-gripper_Right": 0.3202634537753442,
      "block_1-gripper_Left": 0.2676530559199216,
      "block_1-gripper_Right": 0.5582857271951728,
      "cube 1 lift distance": 0.00011894033085213529,
      "cube 2 lift distance": 0.00013029556089605432
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00017489247887278328,
    "bimanual_gripper_vertical_difference": 2.231903813280796e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2835519313812256,
    "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": 0.47141775063610375,
      "block_0-gripper_Right": 0.31981533788872957,
      "block_1-gripper_Left": 0.2670894755026647,
      "block_1-gripper_Right": 0.5580178030393456,
      "cube 1 lift distance": 0.00011894456230432393,
      "cube 2 lift distance": 0.00013030214459675005
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00016032382705287042,
    "bimanual_gripper_vertical_difference": 2.118882624912999e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.30569887161254883,
    "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": 0.4723332061775777,
      "block_0-gripper_Right": 0.3182693988240767,
      "block_1-gripper_Left": 0.26733220390229706,
      "block_1-gripper_Right": 0.5569841235773564,
      "cube 1 lift distance": 0.00011894879464735553,
      "cube 2 lift distance": 0.00013030872968411433
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.046552264206315266,
    "bimanual_gripper_vertical_difference": 0.00014263340186528348,
    "task_success": 0.0
  },
  {
    "completion_time": 0.32730746269226074,
    "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": 0.4741170218313402,
      "block_0-gripper_Right": 0.3169067803730601,
      "block_1-gripper_Left": 0.27102857399458913,
      "block_1-gripper_Right": 0.5558863869883275,
      "cube 1 lift distance": 0.00011895302788167417,
      "cube 2 lift distance": 0.00013031531615859127
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.13163717616690593,
    "bimanual_gripper_vertical_difference": 0.0006801964638459834,
    "task_success": 0.0
  },
  {
    "completion_time": 0.34935617446899414,
    "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": 0.47358972407802097,
      "block_0-gripper_Right": 0.31559511736349827,
      "block_1-gripper_Left": 0.2768904264386526,
      "block_1-gripper_Right": 0.5544898049000591,
      "cube 1 lift distance": 0.00011895726200694678,
      "cube 2 lift distance": 0.0001303219040205139
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.23179472193177295,
    "bimanual_gripper_vertical_difference": 0.0017745180440108606,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3729069232940674,
    "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": 0.46833649146881146,
      "block_0-gripper_Right": 0.3137634915332572,
      "block_1-gripper_Left": 0.2809627816987429,
      "block_1-gripper_Right": 0.5522211199757598,
      "cube 1 lift distance": 0.00011896149702361747,
      "cube 2 lift distance": 0.00013032849327021534
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3283289070697205,
    "bimanual_gripper_vertical_difference": 0.003277141004407319,
    "task_success": 0.0
  },
  {
    "completion_time": 0.39547157287597656,
    "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": 0.4596185943403061,
      "block_0-gripper_Right": 0.31144343223094345,
      "block_1-gripper_Left": 0.2825554397049477,
      "block_1-gripper_Right": 0.5492609605218596,
      "cube 1 lift distance": 0.00011896573293190826,
      "cube 2 lift distance": 0.00013033508390769555
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4189022902227181,
    "bimanual_gripper_vertical_difference": 0.004964772799563435,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4173140525817871,
    "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": 0.4506075100463922,
      "block_0-gripper_Right": 0.30905114867827665,
      "block_1-gripper_Left": 0.28286836090117495,
      "block_1-gripper_Right": 0.5462350841804156,
      "cube 1 lift distance": 0.00011896996973193019,
      "cube 2 lift distance": 0.00013034167593350965
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4458286487566511,
    "bimanual_gripper_vertical_difference": 0.006669792656132668,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4393491744995117,
    "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": 0.44338685490934976,
      "block_0-gripper_Right": 0.3069816814615283,
      "block_1-gripper_Left": 0.2822080838812155,
      "block_1-gripper_Right": 0.5435760455816274,
      "cube 1 lift distance": 0.0001189742074239053,
      "cube 2 lift distance": 0.00013034826934787969
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44501641642809014,
    "bimanual_gripper_vertical_difference": 0.008260063581575891,
    "task_success": 0.0
  },
  {
    "completion_time": 0.46097779273986816,
    "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": 0.4379883597954611,
      "block_0-gripper_Right": 0.3050313760208918,
      "block_1-gripper_Left": 0.280548967688491,
      "block_1-gripper_Right": 0.5410915732789501,
      "cube 1 lift distance": 0.0001189784460079446,
      "cube 2 lift distance": 0.00013035486415113873
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4719726988096796,
    "bimanual_gripper_vertical_difference": 0.009648606463969233,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4863600730895996,
    "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": 0.4359797973978333,
      "block_0-gripper_Right": 0.3032581019880457,
      "block_1-gripper_Left": 0.27930610724881755,
      "block_1-gripper_Right": 0.5394247953080085,
      "cube 1 lift distance": 0.00011898268548438118,
      "cube 2 lift distance": 0.00013036146034361984
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5286724884935241,
    "bimanual_gripper_vertical_difference": 0.01089715686072151,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5082724094390869,
    "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": 0.43489627180705137,
      "block_0-gripper_Right": 0.30189230922173244,
      "block_1-gripper_Left": 0.27766898585497624,
      "block_1-gripper_Right": 0.5385969399215723,
      "cube 1 lift distance": 0.00011898692585321502,
      "cube 2 lift distance": 0.00013036805792543404
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6017740256526797,
    "bimanual_gripper_vertical_difference": 0.012038707897925,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5301244258880615,
    "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": 0.43401613291357544,
      "block_0-gripper_Right": 0.3008952583070109,
      "block_1-gripper_Left": 0.27619609413506135,
      "block_1-gripper_Right": 0.5380841978124863,
      "cube 1 lift distance": 0.00011899116711489022,
      "cube 2 lift distance": 0.00013037465689702543
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.670786200685953,
    "bimanual_gripper_vertical_difference": 0.013079659754499396,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5520434379577637,
    "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": 0.43331586741259676,
      "block_0-gripper_Right": 0.3000820671458581,
      "block_1-gripper_Left": 0.27503111143183173,
      "block_1-gripper_Right": 0.5376533868663433,
      "cube 1 lift distance": 0.00011899540926929575,
      "cube 2 lift distance": 0.00013038125725872707
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7351649450509696,
    "bimanual_gripper_vertical_difference": 0.014033401882931886,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5742342472076416,
    "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": 0.4307849305904739,
      "block_0-gripper_Right": 0.29501835832657564,
      "block_1-gripper_Left": 0.2731057625618267,
      "block_1-gripper_Right": 0.5335267755762759,
      "cube 1 lift distance": 0.00011899965231698673,
      "cube 2 lift distance": 0.00013038785901053895
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7607259118271746,
    "bimanual_gripper_vertical_difference": 0.015027800703062146,
    "task_success": 0.0
  },
  {
    "completion_time": 0.596285343170166,
    "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": 0.4240141559910105,
      "block_0-gripper_Right": 0.282358197344764,
      "block_1-gripper_Left": 0.2700949285933049,
      "block_1-gripper_Right": 0.5223170013921263,
      "cube 1 lift distance": 0.00011900389625785213,
      "cube 2 lift distance": 0.00013039446215323824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7551992419598528,
    "bimanual_gripper_vertical_difference": 0.016236261168466805,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6181938648223877,
    "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": 0.4152155885089891,
      "block_0-gripper_Right": 0.26504207000125124,
      "block_1-gripper_Left": 0.2657551093560202,
      "block_1-gripper_Right": 0.5070400688179181,
      "cube 1 lift distance": 0.00011900814109200297,
      "cube 2 lift distance": 0.0001304010666866029
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7317954569887789,
    "bimanual_gripper_vertical_difference": 0.017702076250307657,
    "task_success": 0.0
  },
  {
    "completion_time": 0.639972448348999,
    "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": 0.40813157719025883,
      "block_0-gripper_Right": 0.24662908065568093,
      "block_1-gripper_Left": 0.2626555005587591,
      "block_1-gripper_Right": 0.4913892934540402,
      "cube 1 lift distance": 0.0001190123868201054,
      "cube 2 lift distance": 0.00013040767261129904
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7088285472828033,
    "bimanual_gripper_vertical_difference": 0.019470296817355896,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6621646881103516,
    "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": 0.4035572876077848,
      "block_0-gripper_Right": 0.23074357378921664,
      "block_1-gripper_Left": 0.2613604334404573,
      "block_1-gripper_Right": 0.477914420815673,
      "cube 1 lift distance": 0.00011901663344171531,
      "cube 2 lift distance": 0.0001304142799274377
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6864170658045834,
    "bimanual_gripper_vertical_difference": 0.021491137531800358,
    "task_success": 0.0
  },
  {
    "completion_time": 0.68450927734375,
    "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": 0.4006737453022898,
      "block_0-gripper_Right": 0.21860534591900715,
      "block_1-gripper_Left": 0.26095513003572174,
      "block_1-gripper_Right": 0.46671422196895135,
      "cube 1 lift distance": 0.00011902088095749885,
      "cube 2 lift distance": 0.00013042088863546297
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6986487860858532,
    "bimanual_gripper_vertical_difference": 0.023633796874308718,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7069480419158936,
    "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": 0.39881281464119184,
      "block_0-gripper_Right": 0.2098600563208145,
      "block_1-gripper_Left": 0.2607174965110417,
      "block_1-gripper_Right": 0.45752865741674376,
      "cube 1 lift distance": 0.00011902512936756704,
      "cube 2 lift distance": 0.0001304274987355969
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7409084676189672,
    "bimanual_gripper_vertical_difference": 0.02577957473479421,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7290940284729004,
    "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": 0.397617323272459,
      "block_0-gripper_Right": 0.20371430585475653,
      "block_1-gripper_Left": 0.2605655253225996,
      "block_1-gripper_Right": 0.4504525389223587,
      "cube 1 lift distance": 0.00011902937867191987,
      "cube 2 lift distance": 0.00013043411022795048
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7650648840957257,
    "bimanual_gripper_vertical_difference": 0.02787166805795121,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7520551681518555,
    "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": 0.39623433241162975,
      "block_0-gripper_Right": 0.20114122007222374,
      "block_1-gripper_Left": 0.2587756415567396,
      "block_1-gripper_Right": 0.4483729957941146,
      "cube 1 lift distance": 0.0001190336288707794,
      "cube 2 lift distance": 0.00013044072311318988
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7619082794571276,
    "bimanual_gripper_vertical_difference": 0.029848015599209077,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7747993469238281,
    "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": 0.3950649101809465,
      "block_0-gripper_Right": 0.19991541643866045,
      "block_1-gripper_Left": 0.25693127494116946,
      "block_1-gripper_Right": 0.44791240661287995,
      "cube 1 lift distance": 0.0001190378799645897,
      "cube 2 lift distance": 0.00013044733739120407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7423205040367862,
    "bimanual_gripper_vertical_difference": 0.03170089470967526,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7987253665924072,
    "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": 0.39427826097578567,
      "block_0-gripper_Right": 0.19916555079421025,
      "block_1-gripper_Left": 0.2556799274676643,
      "block_1-gripper_Right": 0.4476947432678217,
      "cube 1 lift distance": 0.00011904213195323976,
      "cube 2 lift distance": 0.00013045395306254814
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7233408012572939,
    "bimanual_gripper_vertical_difference": 0.03344209656411455,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8224458694458008,
    "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": 0.3934625723524067,
      "block_0-gripper_Right": 0.19828596903029636,
      "block_1-gripper_Left": 0.2543753172059339,
      "block_1-gripper_Right": 0.44734591071232,
      "cube 1 lift distance": 0.00011904638483706265,
      "cube 2 lift distance": 0.00013046057012733314
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7046588066155325,
    "bimanual_gripper_vertical_difference": 0.03508155483914657,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8455414772033691,
    "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": 0.39290580628212896,
      "block_0-gripper_Right": 0.19545249718283625,
      "block_1-gripper_Left": 0.25214161668143775,
      "block_1-gripper_Right": 0.4442448635009894,
      "cube 1 lift distance": 0.00011905063861616938,
      "cube 2 lift distance": 0.0001304671885862252
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6867756429967973,
    "bimanual_gripper_vertical_difference": 0.036608899340058544,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8680346012115479,
    "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": 0.394151156486941,
      "block_0-gripper_Right": 0.19053397593873125,
      "block_1-gripper_Left": 0.2507518993228028,
      "block_1-gripper_Right": 0.4354565501938318,
      "cube 1 lift distance": 0.000119054893290782,
      "cube 2 lift distance": 0.00013047380843900225
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6707737554382763,
    "bimanual_gripper_vertical_difference": 0.037996319587467055,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8937232494354248,
    "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": 0.39638454577496657,
      "block_0-gripper_Right": 0.18418586671930948,
      "block_1-gripper_Left": 0.2501981457064433,
      "block_1-gripper_Right": 0.4220760887047743,
      "cube 1 lift distance": 0.00011905914886112257,
      "cube 2 lift distance": 0.00013048042968633045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.656954594790328,
    "bimanual_gripper_vertical_difference": 0.03924955700043734,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9175698757171631,
    "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": 0.39865109039500746,
      "block_0-gripper_Right": 0.17727001102553108,
      "block_1-gripper_Left": 0.25001428283450916,
      "block_1-gripper_Right": 0.40695535933500177,
      "cube 1 lift distance": 0.00011906340532752413,
      "cube 2 lift distance": 0.0001304870523283208
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6439085455652718,
    "bimanual_gripper_vertical_difference": 0.04041534609181121,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9444386959075928,
    "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": 0.40090112018052815,
      "block_0-gripper_Right": 0.16971237756381763,
      "block_1-gripper_Left": 0.24979352002784996,
      "block_1-gripper_Right": 0.39256892305834096,
      "cube 1 lift distance": 0.00011906766268987568,
      "cube 2 lift distance": 0.00013049367636541742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6292463248401199,
    "bimanual_gripper_vertical_difference": 0.04156942343287407,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9687418937683105,
    "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": 0.4016829564147495,
      "block_0-gripper_Right": 0.16163903013112846,
      "block_1-gripper_Left": 0.2487224558588886,
      "block_1-gripper_Right": 0.3796102329656558,
      "cube 1 lift distance": 0.00011907192094851027,
      "cube 2 lift distance": 0.00013050030179784233
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6143199974316379,
    "bimanual_gripper_vertical_difference": 0.04275121586475454,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9934649467468262,
    "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": 0.4014207791245507,
      "block_0-gripper_Right": 0.1544361126602069,
      "block_1-gripper_Left": 0.24740481888201812,
      "block_1-gripper_Right": 0.3675096235975916,
      "cube 1 lift distance": 0.00011907618010364995,
      "cube 2 lift distance": 0.0001305069286258176
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6007336635791051,
    "bimanual_gripper_vertical_difference": 0.04395698400951427,
    "task_success": 0.0
  },
  {
    "completion_time": 1.017394781112671,
    "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": 0.4010130128043312,
      "block_0-gripper_Right": 0.1484573926517679,
      "block_1-gripper_Left": 0.24628169948658907,
      "block_1-gripper_Right": 0.35609173440535835,
      "cube 1 lift distance": 0.00011908044015540575,
      "cube 2 lift distance": 0.00013051355684967625
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5880410082714589,
    "bimanual_gripper_vertical_difference": 0.045179431705388365,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0412170886993408,
    "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": 0.40051280055192495,
      "block_0-gripper_Right": 0.14302177039530986,
      "block_1-gripper_Left": 0.24546029798016686,
      "block_1-gripper_Right": 0.34542971490061636,
      "cube 1 lift distance": 0.00011908470110399971,
      "cube 2 lift distance": 0.0001305201864697514
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5972513324619726,
    "bimanual_gripper_vertical_difference": 0.0464288597201236,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0649290084838867,
    "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": 0.39976060155250415,
      "block_0-gripper_Right": 0.13783699793639492,
      "block_1-gripper_Left": 0.2446961916994818,
      "block_1-gripper_Right": 0.33608760367062307,
      "cube 1 lift distance": 0.00011908896294965388,
      "cube 2 lift distance": 0.00013052681748615402
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6234856309895773,
    "bimanual_gripper_vertical_difference": 0.0477120025424675,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0883190631866455,
    "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": 0.3991064231228926,
      "block_0-gripper_Right": 0.13303005534212722,
      "block_1-gripper_Left": 0.24389290014309972,
      "block_1-gripper_Right": 0.32897208899588637,
      "cube 1 lift distance": 0.00011909322569270131,
      "cube 2 lift distance": 0.00013053344989932825
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6413915421958347,
    "bimanual_gripper_vertical_difference": 0.04902448354118168,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1116969585418701,
    "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": 0.39872988551998856,
      "block_0-gripper_Right": 0.12809312119608268,
      "block_1-gripper_Left": 0.24320935200525098,
      "block_1-gripper_Right": 0.32394237424955213,
      "cube 1 lift distance": 0.00011909748933291997,
      "cube 2 lift distance": 0.0001305400837094961
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6420514669335811,
    "bimanual_gripper_vertical_difference": 0.050372106702763965,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1359939575195312,
    "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": 0.3988960345279392,
      "block_0-gripper_Right": 0.12291911750099785,
      "block_1-gripper_Left": 0.2429359702480885,
      "block_1-gripper_Right": 0.3198806538392709,
      "cube 1 lift distance": 0.00011910175387086497,
      "cube 2 lift distance": 0.0001305467189172127
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6308893523554063,
    "bimanual_gripper_vertical_difference": 0.05176817893724432,
    "task_success": 0.0
  },
  {
    "completion_time": 1.16046142578125,
    "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": 0.3996849418890003,
      "block_0-gripper_Right": 0.11818691225970915,
      "block_1-gripper_Left": 0.24337860857524915,
      "block_1-gripper_Right": 0.31633555221815385,
      "cube 1 lift distance": 0.0001191060193065363,
      "cube 2 lift distance": 0.00013055335552247804
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6197526877647852,
    "bimanual_gripper_vertical_difference": 0.05321700943746208,
    "task_success": 0.0
  },
  {
    "completion_time": 1.183828592300415,
    "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": 0.4008430826705348,
      "block_0-gripper_Right": 0.11479127044638292,
      "block_1-gripper_Left": 0.24436673189063907,
      "block_1-gripper_Right": 0.3133483823750888,
      "cube 1 lift distance": 0.00011911028564015602,
      "cube 2 lift distance": 0.00013055999352584724
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6084876595339134,
    "bimanual_gripper_vertical_difference": 0.05469964232296238,
    "task_success": 0.0
  },
  {
    "completion_time": 1.206141471862793,
    "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": 0.4018549362493486,
      "block_0-gripper_Right": 0.11307086050710272,
      "block_1-gripper_Left": 0.24504265904442693,
      "block_1-gripper_Right": 0.3110677863436976,
      "cube 1 lift distance": 0.00011911455287205719,
      "cube 2 lift distance": 0.0001305666329273203
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5974131360044999,
    "bimanual_gripper_vertical_difference": 0.05617405062974017,
    "task_success": 0.0
  },
  {
    "completion_time": 1.228456974029541,
    "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": 0.40267957667460347,
      "block_0-gripper_Right": 0.11244579988924876,
      "block_1-gripper_Left": 0.2454434627376341,
      "block_1-gripper_Right": 0.3098527489163317,
      "cube 1 lift distance": 0.0001191188210022398,
      "cube 2 lift distance": 0.0001305732737274523
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5865966381561696,
    "bimanual_gripper_vertical_difference": 0.05761395207504749,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2515549659729004,
    "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": 0.40327400044514083,
      "block_0-gripper_Right": 0.11240661167061818,
      "block_1-gripper_Left": 0.24564708197281007,
      "block_1-gripper_Right": 0.30988187634865755,
      "cube 1 lift distance": 0.00011912309003103694,
      "cube 2 lift distance": 0.00013057991592646534
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5760224255773658,
    "bimanual_gripper_vertical_difference": 0.05900504364688376,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2745444774627686,
    "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": 0.4038307652942494,
      "block_0-gripper_Right": 0.11251575080591412,
      "block_1-gripper_Left": 0.24590370858126462,
      "block_1-gripper_Right": 0.31084325850176625,
      "cube 1 lift distance": 0.00011912735995844859,
      "cube 2 lift distance": 0.0001305865595244704
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5657345105097559,
    "bimanual_gripper_vertical_difference": 0.060347432998888485,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2968294620513916,
    "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": 0.40366884875985093,
      "block_0-gripper_Right": 0.11235060656742196,
      "block_1-gripper_Left": 0.24625414639633253,
      "block_1-gripper_Right": 0.3126731296159083,
      "cube 1 lift distance": 9.679164894682568e-05,
      "cube 2 lift distance": 0.00013059320452224465
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5556388211968334,
    "bimanual_gripper_vertical_difference": 0.061650978081670194,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.3198843002319336,
    "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": 0.40271189437997346,
      "block_0-gripper_Right": 0.11228267991184296,
      "block_1-gripper_Left": 0.24742815852537225,
      "block_1-gripper_Right": 0.3184509633044095,
      "cube 1 lift distance": 0.0007099639459404727,
      "cube 2 lift distance": 0.00013059985093055726
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5459080395754555,
    "bimanual_gripper_vertical_difference": 0.06291640482413739,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.343447208404541,
    "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": 0.40465018676922804,
      "block_0-gripper_Right": 0.11233699237625733,
      "block_1-gripper_Left": 0.24891895369770475,
      "block_1-gripper_Right": 0.32156290439341534,
      "cube 1 lift distance": 0.0008912189915151192,
      "cube 2 lift distance": 0.00013060649874097052
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5370879815754392,
    "bimanual_gripper_vertical_difference": 0.0641620498074745,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.368638277053833,
    "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": 0.4056719256725808,
      "block_0-gripper_Right": 0.11232045789658049,
      "block_1-gripper_Left": 0.2500033636977417,
      "block_1-gripper_Right": 0.323801542899581,
      "cube 1 lift distance": 0.0009520106418094976,
      "cube 2 lift distance": 0.00013061314795159706
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.545290580628081,
    "bimanual_gripper_vertical_difference": 0.06538383430340475,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.3906257152557373,
    "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": 0.4049441052913241,
      "block_0-gripper_Right": 0.11223602590158366,
      "block_1-gripper_Left": 0.2487479187276326,
      "block_1-gripper_Right": 0.32437256737747333,
      "cube 1 lift distance": 0.0010196716056536381,
      "cube 2 lift distance": 0.000130619798562992
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5717589520590265,
    "bimanual_gripper_vertical_difference": 0.0665449937209664,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4157719612121582,
    "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": 0.40365024872666255,
      "block_0-gripper_Right": 0.11220031888268017,
      "block_1-gripper_Left": 0.24694116910614475,
      "block_1-gripper_Right": 0.3241340575302937,
      "cube 1 lift distance": 0.0010314386883372162,
      "cube 2 lift distance": 0.00013062645057526634
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5674436410415556,
    "bimanual_gripper_vertical_difference": 0.06763898998179818,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4372999668121338,
    "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": 0.4024278162471253,
      "block_0-gripper_Right": 0.11218876782716665,
      "block_1-gripper_Left": 0.24565162895529663,
      "block_1-gripper_Right": 0.32372422825835295,
      "cube 1 lift distance": 0.0009612341883410425,
      "cube 2 lift distance": 0.00013063310398875316
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.583223341444725,
    "bimanual_gripper_vertical_difference": 0.06867780365088638,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4590833187103271,
    "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": 0.40108449847569333,
      "block_0-gripper_Right": 0.11214822372288276,
      "block_1-gripper_Left": 0.24481980469489367,
      "block_1-gripper_Right": 0.32243929027108353,
      "cube 1 lift distance": 0.0006686065490855153,
      "cube 2 lift distance": 0.0001306397588036745
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5968851768060934,
    "bimanual_gripper_vertical_difference": 0.06967602942514281,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4809520244598389,
    "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": 0.39957953989983613,
      "block_0-gripper_Right": 0.11210517726983703,
      "block_1-gripper_Left": 0.24428467164416007,
      "block_1-gripper_Right": 0.32053740755626386,
      "cube 1 lift distance": 0.00038372557143451225,
      "cube 2 lift distance": 0.00013064641502047447
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5975007229684801,
    "bimanual_gripper_vertical_difference": 0.0706405073181137,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5029120445251465,
    "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": 0.3982789599546052,
      "block_0-gripper_Right": 0.11208735380578505,
      "block_1-gripper_Left": 0.24394010339221858,
      "block_1-gripper_Right": 0.3190811063814929,
      "cube 1 lift distance": 0.00035751395989558343,
      "cube 2 lift distance": 0.0001306530726393751
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5901078591385421,
    "bimanual_gripper_vertical_difference": 0.07157097569899994,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.525782823562622,
    "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": 0.39674491457158506,
      "block_0-gripper_Right": 0.11209370919916528,
      "block_1-gripper_Left": 0.2426847270281246,
      "block_1-gripper_Right": 0.31818710961154395,
      "cube 1 lift distance": 0.0005571436845109856,
      "cube 2 lift distance": 0.00013065973166070943
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5823547670925453,
    "bimanual_gripper_vertical_difference": 0.07245115996252582,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5487334728240967,
    "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": 0.3968930861495961,
      "block_0-gripper_Right": 0.11209239450826906,
      "block_1-gripper_Left": 0.24059918962753096,
      "block_1-gripper_Right": 0.31892615275891917,
      "cube 1 lift distance": 0.0006466769013623308,
      "cube 2 lift distance": 0.00013066639208469955
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.574114275820103,
    "bimanual_gripper_vertical_difference": 0.07327374846201325,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5714542865753174,
    "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": 0.39586357653416887,
      "block_0-gripper_Right": 0.11204675937917327,
      "block_1-gripper_Left": 0.23614917078532827,
      "block_1-gripper_Right": 0.32050969722822625,
      "cube 1 lift distance": 0.0006779368912812611,
      "cube 2 lift distance": 0.00013067305391178952
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.56610593878489,
    "bimanual_gripper_vertical_difference": 0.07400818474493649,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5962939262390137,
    "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": 0.39094958114124445,
      "block_0-gripper_Right": 0.11202544461397197,
      "block_1-gripper_Left": 0.22829083062289218,
      "block_1-gripper_Right": 0.32217171952486745,
      "cube 1 lift distance": 0.0007355338943942913,
      "cube 2 lift distance": 0.0001306797171422014
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5594758266385002,
    "bimanual_gripper_vertical_difference": 0.07460874524768399,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6208717823028564,
    "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": 0.3815374782356208,
      "block_0-gripper_Right": 0.11201151287896761,
      "block_1-gripper_Left": 0.21743334231520187,
      "block_1-gripper_Right": 0.32330218869972777,
      "cube 1 lift distance": 0.0008403069430139576,
      "cube 2 lift distance": 0.0001306863817760462
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5713461212161665,
    "bimanual_gripper_vertical_difference": 0.07503746375072647,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6442766189575195,
    "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": 0.3689442482185211,
      "block_0-gripper_Right": 0.11201047396792467,
      "block_1-gripper_Left": 0.2044971177695595,
      "block_1-gripper_Right": 0.32377759104799303,
      "cube 1 lift distance": 0.0007677508316652482,
      "cube 2 lift distance": 0.00013069304781387903
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5978340223826574,
    "bimanual_gripper_vertical_difference": 0.0752716496767158,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.668260097503662,
    "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": 0.36196694703793814,
      "block_0-gripper_Right": 0.11199719864471205,
      "block_1-gripper_Left": 0.19757232361303756,
      "block_1-gripper_Right": 0.323422608816274,
      "cube 1 lift distance": 0.0006722703733050839,
      "cube 2 lift distance": 0.00013069971525581092
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6100799208332894,
    "bimanual_gripper_vertical_difference": 0.07540213112956208,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6923859119415283,
    "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": 0.35985957551376757,
      "block_0-gripper_Right": 0.11197989465860254,
      "block_1-gripper_Left": 0.1953742869815928,
      "block_1-gripper_Right": 0.322560875690346,
      "cube 1 lift distance": 0.0006302898526915346,
      "cube 2 lift distance": 0.00013070638410228597
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6108930796714966,
    "bimanual_gripper_vertical_difference": 0.07549988877763143,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.7156877517700195,
    "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": 0.35901920723597874,
      "block_0-gripper_Right": 0.11198725802092777,
      "block_1-gripper_Left": 0.1943185182884011,
      "block_1-gripper_Right": 0.322114407037835,
      "cube 1 lift distance": 0.0005344785958443232,
      "cube 2 lift distance": 0.0001307130543535262
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6127321364675268,
    "bimanual_gripper_vertical_difference": 0.07558221874057622,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.739725112915039,
    "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": 0.35827878433998755,
      "block_0-gripper_Right": 0.11198867286557156,
      "block_1-gripper_Left": 0.1930690949770552,
      "block_1-gripper_Right": 0.32189022737332906,
      "cube 1 lift distance": 0.00041618581523028553,
      "cube 2 lift distance": 0.0001307197260098647
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6297364388813944,
    "bimanual_gripper_vertical_difference": 0.07564744812554593,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.7630112171173096,
    "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": 0.35517845480227483,
      "block_0-gripper_Right": 0.11199288248312594,
      "block_1-gripper_Left": 0.18893938031454943,
      "block_1-gripper_Right": 0.32203086296675953,
      "cube 1 lift distance": 0.0003911468815422925,
      "cube 2 lift distance": 0.0001307263990715235
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6493213385931389,
    "bimanual_gripper_vertical_difference": 0.07565647173737786,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.7865626811981201,
    "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": 0.34938228535331284,
      "block_0-gripper_Right": 0.11199827086178975,
      "block_1-gripper_Left": 0.18198450622018209,
      "block_1-gripper_Right": 0.3224259913261234,
      "cube 1 lift distance": 0.00042389479989324297,
      "cube 2 lift distance": 0.0001307330735389467
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6691085057859284,
    "bimanual_gripper_vertical_difference": 0.07557282831309826,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.810060977935791,
    "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": 0.34240889022692705,
      "block_0-gripper_Right": 0.11199700703209091,
      "block_1-gripper_Left": 0.17372934222281267,
      "block_1-gripper_Right": 0.3227772236065579,
      "cube 1 lift distance": 0.0004713046566874324,
      "cube 2 lift distance": 0.0001307397494122453
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.688799811980978,
    "bimanual_gripper_vertical_difference": 0.07538203295122829,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.83314847946167,
    "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": 0.33582159582199267,
      "block_0-gripper_Right": 0.11199159863759338,
      "block_1-gripper_Left": 0.1653462829415424,
      "block_1-gripper_Right": 0.3230079985899037,
      "cube 1 lift distance": 0.0005093626370665794,
      "cube 2 lift distance": 0.0001307464266917524
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7080317725683901,
    "bimanual_gripper_vertical_difference": 0.0750859966882526,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.8563382625579834,
    "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": 0.3301471761959342,
      "block_0-gripper_Right": 0.1119896514004211,
      "block_1-gripper_Left": 0.15653969811465268,
      "block_1-gripper_Right": 0.3231869032964192,
      "cube 1 lift distance": 0.0005307164350081273,
      "cube 2 lift distance": 0.00013075310537791207
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7271367209378066,
    "bimanual_gripper_vertical_difference": 0.0746840467843976,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.8817639350891113,
    "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": 0.3259814860182753,
      "block_0-gripper_Right": 0.11198619921643567,
      "block_1-gripper_Left": 0.14796002949361386,
      "block_1-gripper_Right": 0.3233140920637812,
      "cube 1 lift distance": 0.0005423741746899413,
      "cube 2 lift distance": 0.00013075978547083533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7459387082619017,
    "bimanual_gripper_vertical_difference": 0.07418431382430099,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9056010246276855,
    "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": 0.3232987072172253,
      "block_0-gripper_Right": 0.11198819271882277,
      "block_1-gripper_Left": 0.14016186039906114,
      "block_1-gripper_Right": 0.32347879048186284,
      "cube 1 lift distance": 0.0005565212907410189,
      "cube 2 lift distance": 0.00013076646697096628
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7641679661143359,
    "bimanual_gripper_vertical_difference": 0.07360052148484934,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9269521236419678,
    "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": 0.321617862305531,
      "block_0-gripper_Right": 0.11198609222658215,
      "block_1-gripper_Left": 0.13374365212339492,
      "block_1-gripper_Right": 0.323685637161433,
      "cube 1 lift distance": 0.0005940065315467313,
      "cube 2 lift distance": 0.00013077314987852695
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7816846601602214,
    "bimanual_gripper_vertical_difference": 0.07295263156937033,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9483819007873535,
    "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": 0.31819638153102664,
      "block_0-gripper_Right": 0.11199292254964481,
      "block_1-gripper_Left": 0.13227330172130666,
      "block_1-gripper_Right": 0.32412713222091444,
      "cube 1 lift distance": 0.0006483069418823373,
      "cube 2 lift distance": 0.0001216943022996908
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7985059351944547,
    "bimanual_gripper_vertical_difference": 0.07229748319052959,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9685759544372559,
    "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": 0.31681788668752103,
      "block_0-gripper_Right": 0.11199736037854137,
      "block_1-gripper_Left": 0.1266999808722002,
      "block_1-gripper_Right": 0.3274948234445238,
      "cube 1 lift distance": 0.000733237289939237,
      "cube 2 lift distance": 0.0030569043334017776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8144804501338414,
    "bimanual_gripper_vertical_difference": 0.07162542697796992,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.990020751953125,
    "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": 0.3144979475185989,
      "block_0-gripper_Right": 0.11200359679561901,
      "block_1-gripper_Left": 0.1258452825291592,
      "block_1-gripper_Right": 0.3297938646795291,
      "cube 1 lift distance": 0.0008413286187698432,
      "cube 2 lift distance": 0.0023834544201247754
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8233954237420139,
    "bimanual_gripper_vertical_difference": 0.07094578694548548,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.010956287384033,
    "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": 0.3137291776948854,
      "block_0-gripper_Right": 0.11200975751129409,
      "block_1-gripper_Left": 0.12546985524955898,
      "block_1-gripper_Right": 0.3302075075209703,
      "cube 1 lift distance": 0.0009653179839927972,
      "cube 2 lift distance": 0.002342853527753097
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8189882849451331,
    "bimanual_gripper_vertical_difference": 0.07027461738357141,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.03261137008667,
    "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": 0.31420362246383426,
      "block_0-gripper_Right": 0.11201422448686378,
      "block_1-gripper_Left": 0.12496072674860068,
      "block_1-gripper_Right": 0.3305726432908997,
      "cube 1 lift distance": 0.001050918312207605,
      "cube 2 lift distance": 0.002394258251235515
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8131757242171841,
    "bimanual_gripper_vertical_difference": 0.0696135536089305,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.052931785583496,
    "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": 0.3161303672481135,
      "block_0-gripper_Right": 0.11204551830857631,
      "block_1-gripper_Left": 0.12480992971163417,
      "block_1-gripper_Right": 0.3320814384759436,
      "cube 1 lift distance": 0.0009658242948216156,
      "cube 2 lift distance": 0.0023629673325032963
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8172633978349667,
    "bimanual_gripper_vertical_difference": 0.06896658020474906,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.0741143226623535,
    "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": 0.31808065447243294,
      "block_0-gripper_Right": 0.1120244974227418,
      "block_1-gripper_Left": 0.12527156331786293,
      "block_1-gripper_Right": 0.3343162217150392,
      "cube 1 lift distance": 0.0009187751639158082,
      "cube 2 lift distance": 0.0022305742588326627
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8257063408460472,
    "bimanual_gripper_vertical_difference": 0.06833751867540165,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.0949132442474365,
    "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": 0.31976753116309625,
      "block_0-gripper_Right": 0.11201066484329629,
      "block_1-gripper_Left": 0.1254541929335719,
      "block_1-gripper_Right": 0.3355103917576205,
      "cube 1 lift distance": 0.0007997020333357918,
      "cube 2 lift distance": 0.0025407139047410876
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8364287373831623,
    "bimanual_gripper_vertical_difference": 0.06772934738752535,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.118138551712036,
    "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": 0.3184007151501701,
      "block_0-gripper_Right": 0.11201441344560785,
      "block_1-gripper_Left": 0.12780780133661854,
      "block_1-gripper_Right": 0.3423490368742136,
      "cube 1 lift distance": 0.0006826308184482155,
      "cube 2 lift distance": 0.0025032138620124655
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8486286383812055,
    "bimanual_gripper_vertical_difference": 0.06712525206988258,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.1408133506774902,
    "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": 0.3217176159793067,
      "block_0-gripper_Right": 0.112005875922583,
      "block_1-gripper_Left": 0.12599940777474788,
      "block_1-gripper_Right": 0.3445619424826775,
      "cube 1 lift distance": 0.0005839485787494381,
      "cube 2 lift distance": 0.0038826442797572636
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8617822177818307,
    "bimanual_gripper_vertical_difference": 0.06652850455101797,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.1659953594207764,
    "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": 0.32338135569371146,
      "block_0-gripper_Right": 0.11199710807005264,
      "block_1-gripper_Left": 0.1264786717293317,
      "block_1-gripper_Right": 0.34448234810170114,
      "cube 1 lift distance": 0.0004949920131294139,
      "cube 2 lift distance": 0.002151950942820391
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8749654356588977,
    "bimanual_gripper_vertical_difference": 0.06594312596754962,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.1906468868255615,
    "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": 0.32435311957892426,
      "block_0-gripper_Right": 0.111993974330812,
      "block_1-gripper_Left": 0.12768568887318862,
      "block_1-gripper_Right": 0.34436588222069925,
      "cube 1 lift distance": 0.0003998102547090321,
      "cube 2 lift distance": 3.7333443925535725e-05
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8881527065848096,
    "bimanual_gripper_vertical_difference": 0.06536940060702934,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.214273691177368,
    "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": 0.3264874787172648,
      "block_0-gripper_Right": 0.11197871494651386,
      "block_1-gripper_Left": 0.12675874189964487,
      "block_1-gripper_Right": 0.34436649897416216,
      "cube 1 lift distance": 0.00034099743480509037,
      "cube 2 lift distance": 0.00011739838199831265
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.901400136860163,
    "bimanual_gripper_vertical_difference": 0.0648054479874348,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.2384326457977295,
    "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": 0.329564731944605,
      "block_0-gripper_Right": 0.11197615693108519,
      "block_1-gripper_Left": 0.1247584646072974,
      "block_1-gripper_Right": 0.3442402891654269,
      "cube 1 lift distance": 0.0003085428477004326,
      "cube 2 lift distance": 0.00011844905476299239
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9147140201161463,
    "bimanual_gripper_vertical_difference": 0.06424253984711617,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.2652928829193115,
    "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": 0.33307297970888716,
      "block_0-gripper_Right": 0.1119845268848335,
      "block_1-gripper_Left": 0.12212790498191663,
      "block_1-gripper_Right": 0.34421317777016275,
      "cube 1 lift distance": 0.0002698737701201104,
      "cube 2 lift distance": 0.0001184602902488674
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9280811452507076,
    "bimanual_gripper_vertical_difference": 0.06367459613044008,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.2903263568878174,
    "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": 0.3369630460939377,
      "block_0-gripper_Right": 0.11200402392106151,
      "block_1-gripper_Left": 0.11958328128196294,
      "block_1-gripper_Right": 0.34470373817925054,
      "cube 1 lift distance": 0.00027387542102841334,
      "cube 2 lift distance": 0.00011846443047824895
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9409036883842202,
    "bimanual_gripper_vertical_difference": 0.06310062161175785,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.3145086765289307,
    "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": 0.34096951781889057,
      "block_0-gripper_Right": 0.11201378815674232,
      "block_1-gripper_Left": 0.11755566531025681,
      "block_1-gripper_Right": 0.3457052071078606,
      "cube 1 lift distance": 0.0003007646222266125,
      "cube 2 lift distance": 0.00011846852312424883
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9532348645016288,
    "bimanual_gripper_vertical_difference": 0.06252340248172776,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.33916974067688,
    "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": 0.34553529392239735,
      "block_0-gripper_Right": 0.11203009059094614,
      "block_1-gripper_Left": 0.11667519963250392,
      "block_1-gripper_Right": 0.34674114780114224,
      "cube 1 lift distance": 0.00032310642376032206,
      "cube 2 lift distance": 0.00042501148914253495
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9658875292878321,
    "bimanual_gripper_vertical_difference": 0.061955007489130146,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.363297700881958,
    "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": 0.34974842241576215,
      "block_0-gripper_Right": 0.1120140642763292,
      "block_1-gripper_Left": 0.11673758344274082,
      "block_1-gripper_Right": 0.3489275178601941,
      "cube 1 lift distance": 0.00034647714402713525,
      "cube 2 lift distance": 0.0005853509080532282
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9783409955449083,
    "bimanual_gripper_vertical_difference": 0.06140108155242894,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.3864450454711914,
    "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": 0.35116379926456187,
      "block_0-gripper_Right": 0.1120084751347005,
      "block_1-gripper_Left": 0.11683665134449463,
      "block_1-gripper_Right": 0.34879987468525625,
      "cube 1 lift distance": 0.00035200489122799716,
      "cube 2 lift distance": 0.0006251881435306306
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9909856886812406,
    "bimanual_gripper_vertical_difference": 0.0608600503596795,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.411177396774292,
    "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": 0.3532479590973017,
      "block_0-gripper_Right": 0.11199316726364082,
      "block_1-gripper_Left": 0.1169501590139168,
      "block_1-gripper_Right": 0.3499224004276587,
      "cube 1 lift distance": 0.00036573182075438915,
      "cube 2 lift distance": 0.0009287668923779746
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0038880700317367,
    "bimanual_gripper_vertical_difference": 0.06033379630907971,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.437760591506958,
    "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": 0.3537596707167072,
      "block_0-gripper_Right": 0.11197324339573021,
      "block_1-gripper_Left": 0.1169858194330646,
      "block_1-gripper_Right": 0.34956756437573155,
      "cube 1 lift distance": 0.00039932449815149873,
      "cube 2 lift distance": 0.0011071075836254218
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.015977155452876,
    "bimanual_gripper_vertical_difference": 0.059819895197877775,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.4606122970581055,
    "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": 0.3474124083058841,
      "block_0-gripper_Right": 0.11189063710069935,
      "block_1-gripper_Left": 0.11703139332448655,
      "block_1-gripper_Right": 0.34383521982939463,
      "cube 1 lift distance": 0.002544375883683392,
      "cube 2 lift distance": 0.0013363286509976424
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0244734350193174,
    "bimanual_gripper_vertical_difference": 0.05929953749460479,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.4831178188323975,
    "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": 0.33019807439700344,
      "block_0-gripper_Right": 0.11176860716577595,
      "block_1-gripper_Left": 0.11703763607738765,
      "block_1-gripper_Right": 0.32877810833155535,
      "cube 1 lift distance": 0.009084842533262472,
      "cube 2 lift distance": 0.001503202027477335
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.027897458307031,
    "bimanual_gripper_vertical_difference": 0.058759151225536536,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.5057895183563232,
    "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": 0.3068737443143033,
      "block_0-gripper_Right": 0.1117576953811882,
      "block_1-gripper_Left": 0.11700311423159737,
      "block_1-gripper_Right": 0.30931162688873615,
      "cube 1 lift distance": 0.01912363274356188,
      "cube 2 lift distance": 0.00174821535131775
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0292510600805647,
    "bimanual_gripper_vertical_difference": 0.05831970343741125,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.529232978820801,
    "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": 0.2843168015210841,
      "block_0-gripper_Right": 0.11180445556476602,
      "block_1-gripper_Left": 0.11696513795518347,
      "block_1-gripper_Right": 0.2920585685706348,
      "cube 1 lift distance": 0.028546545325919936,
      "cube 2 lift distance": 0.001800068969511237
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0303830546978596,
    "bimanual_gripper_vertical_difference": 0.057976090967590675,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.55338454246521,
    "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": 0.2669771443464425,
      "block_0-gripper_Right": 0.11189824082802569,
      "block_1-gripper_Left": 0.1169378568229701,
      "block_1-gripper_Right": 0.27875095900599284,
      "cube 1 lift distance": 0.03465880683538436,
      "cube 2 lift distance": 0.001815110998081626
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.033445909978718,
    "bimanual_gripper_vertical_difference": 0.05769665768897294,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.5794315338134766,
    "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": 0.25413746341406745,
      "block_0-gripper_Right": 0.11194941763486438,
      "block_1-gripper_Left": 0.11693518739216383,
      "block_1-gripper_Right": 0.2674703023568657,
      "cube 1 lift distance": 0.03662657628503063,
      "cube 2 lift distance": 0.0017767526474348205
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0269726088764277,
    "bimanual_gripper_vertical_difference": 0.05744200302534462,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.6032514572143555,
    "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": 0.24304230299257143,
      "block_0-gripper_Right": 0.111927865240721,
      "block_1-gripper_Left": 0.11691812734141636,
      "block_1-gripper_Right": 0.2558814337689438,
      "cube 1 lift distance": 0.03539022497118749,
      "cube 2 lift distance": 0.0018883902065496283
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0219471870334376,
    "bimanual_gripper_vertical_difference": 0.057180438077708125,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.6267106533050537,
    "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": 0.2339158213891709,
      "block_0-gripper_Right": 0.11190589114608304,
      "block_1-gripper_Left": 0.11692000235558449,
      "block_1-gripper_Right": 0.24470945532821933,
      "cube 1 lift distance": 0.03173925276644263,
      "cube 2 lift distance": 0.0018514866545057407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.01729534517275,
    "bimanual_gripper_vertical_difference": 0.0568913733143912,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.6498961448669434,
    "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": 0.23048449066852178,
      "block_0-gripper_Right": 0.11990527896890024,
      "block_1-gripper_Left": 0.11692919390878738,
      "block_1-gripper_Right": 0.23557064245761647,
      "cube 1 lift distance": 0.01966554543983734,
      "cube 2 lift distance": 0.0017320396297763052
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0181477646657444,
    "bimanual_gripper_vertical_difference": 0.05657011646804895,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.672654390335083,
    "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": 0.23319626247222675,
      "block_0-gripper_Right": 0.13729598167370086,
      "block_1-gripper_Left": 0.11693348936879484,
      "block_1-gripper_Right": 0.229080352003877,
      "cube 1 lift distance": -0.0002533098307402337,
      "cube 2 lift distance": 0.0015450446875071577
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0219897153590773,
    "bimanual_gripper_vertical_difference": 0.05622975674452169,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.6974871158599854,
    "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": 0.23225829179653737,
      "block_0-gripper_Right": 0.1397093562096711,
      "block_1-gripper_Left": 0.11691660806403292,
      "block_1-gripper_Right": 0.22923848176219566,
      "cube 1 lift distance": 0.0001287169364420082,
      "cube 2 lift distance": 0.002312620815727362
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.027482708826236,
    "bimanual_gripper_vertical_difference": 0.055910975104327874,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.721696615219116,
    "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": 0.2346729056657144,
      "block_0-gripper_Right": 0.1507972361000049,
      "block_1-gripper_Left": 0.11682259276051848,
      "block_1-gripper_Right": 0.23655278044794872,
      "cube 1 lift distance": 0.00013302399901549133,
      "cube 2 lift distance": 0.006925991324112646
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0266977403572068,
    "bimanual_gripper_vertical_difference": 0.05564936573172116,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.7451677322387695,
    "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": 0.2401240745125052,
      "block_0-gripper_Right": 0.16869494592488607,
      "block_1-gripper_Left": 0.1166957298055537,
      "block_1-gripper_Right": 0.24892886985128135,
      "cube 1 lift distance": 0.00013306061408513425,
      "cube 2 lift distance": 0.016962820272047652
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0250338084725694,
    "bimanual_gripper_vertical_difference": 0.05544694515365129,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.7685294151306152,
    "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": 0.24660207289984667,
      "block_0-gripper_Right": 0.18989300893713215,
      "block_1-gripper_Left": 0.11662216661168659,
      "block_1-gripper_Right": 0.26166907581759213,
      "cube 1 lift distance": 0.00013306807735702364,
      "cube 2 lift distance": 0.03211786174529818
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0259819652585636,
    "bimanual_gripper_vertical_difference": 0.05526680995553659,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.791574001312256,
    "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": 0.2510347920545122,
      "block_0-gripper_Right": 0.21082232492199174,
      "block_1-gripper_Left": 0.11668137748775069,
      "block_1-gripper_Right": 0.27107695956300626,
      "cube 1 lift distance": 0.00013307534313422575,
      "cube 2 lift distance": 0.048667041987697335
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0288365240365664,
    "bimanual_gripper_vertical_difference": 0.055068099537617134,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.817267894744873,
    "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": 0.2519301949604672,
      "block_0-gripper_Right": 0.22993151302092424,
      "block_1-gripper_Left": 0.11680508914182415,
      "block_1-gripper_Right": 0.2777377052052803,
      "cube 1 lift distance": 0.0001330826090838455,
      "cube 2 lift distance": 0.06349080090949188
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0322838463963826,
    "bimanual_gripper_vertical_difference": 0.054825238162874296,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.840057849884033,
    "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": 0.24961018041854793,
      "block_0-gripper_Right": 0.2465444367259769,
      "block_1-gripper_Left": 0.11692865497328876,
      "block_1-gripper_Right": 0.28176736303135175,
      "cube 1 lift distance": 0.00013308987655569204,
      "cube 2 lift distance": 0.07511276843913994
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0354456300099453,
    "bimanual_gripper_vertical_difference": 0.05453182830009197,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.8623545169830322,
    "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": 0.24425533894749243,
      "block_0-gripper_Right": 0.26034760545071434,
      "block_1-gripper_Left": 0.11703632390358856,
      "block_1-gripper_Right": 0.28217381851286466,
      "cube 1 lift distance": 0.00013309714555920227,
      "cube 2 lift distance": 0.08274932192859419
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0400049639064755,
    "bimanual_gripper_vertical_difference": 0.05420020149304711,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.8843653202056885,
    "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": 0.23676292540643937,
      "block_0-gripper_Right": 0.27073443023546645,
      "block_1-gripper_Left": 0.1171267525943416,
      "block_1-gripper_Right": 0.27925073166128317,
      "cube 1 lift distance": 0.0001331044160949313,
      "cube 2 lift distance": 0.08690421176954155
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0464732457645898,
    "bimanual_gripper_vertical_difference": 0.053846322606273235,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.9069809913635254,
    "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": 0.2281814068604012,
      "block_0-gripper_Right": 0.2768400396772052,
      "block_1-gripper_Left": 0.117199026080292,
      "block_1-gripper_Right": 0.2728829664902549,
      "cube 1 lift distance": 0.00013311168816310115,
      "cube 2 lift distance": 0.088616020289215
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0547306393102582,
    "bimanual_gripper_vertical_difference": 0.05347958133583325,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.932687282562256,
    "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": 0.21970342379141086,
      "block_0-gripper_Right": 0.2788132232540227,
      "block_1-gripper_Left": 0.11721400943408362,
      "block_1-gripper_Right": 0.2644529940209813,
      "cube 1 lift distance": 0.0001331189617639339,
      "cube 2 lift distance": 0.08841023196655606
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.063696354794813,
    "bimanual_gripper_vertical_difference": 0.05310837118803546,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.956559658050537,
    "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": 0.21154724837485275,
      "block_0-gripper_Right": 0.27794770632875665,
      "block_1-gripper_Left": 0.11717886291164142,
      "block_1-gripper_Right": 0.25598832007711336,
      "cube 1 lift distance": 0.0001331262368977626,
      "cube 2 lift distance": 0.08610543771047019
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0722341449894324,
    "bimanual_gripper_vertical_difference": 0.05274611642212953,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.979283571243286,
    "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": 0.20443663945849128,
      "block_0-gripper_Right": 0.275614505690955,
      "block_1-gripper_Left": 0.11710559589720433,
      "block_1-gripper_Right": 0.24875800739369358,
      "cube 1 lift distance": 0.00013313351356514236,
      "cube 2 lift distance": 0.08270670457509155
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0799446154816588,
    "bimanual_gripper_vertical_difference": 0.05240042416751198,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.0029473304748535,
    "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": 0.1994397188989932,
      "block_0-gripper_Right": 0.2743001602476382,
      "block_1-gripper_Left": 0.11701803732202054,
      "block_1-gripper_Right": 0.2455877607661668,
      "cube 1 lift distance": 0.0001331407917661842,
      "cube 2 lift distance": 0.07975520599886443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.08673559315166,
    "bimanual_gripper_vertical_difference": 0.05206702018806265,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.029533624649048,
    "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": 0.19524877730059065,
      "block_0-gripper_Right": 0.27446791148966837,
      "block_1-gripper_Left": 0.11700299464905635,
      "block_1-gripper_Right": 0.24671333890288719,
      "cube 1 lift distance": 0.0001331480715012212,
      "cube 2 lift distance": 0.07683380538334861
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0945322390423673,
    "bimanual_gripper_vertical_difference": 0.0517498072145962,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.0530481338500977,
    "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": 0.19121174739836894,
      "block_0-gripper_Right": 0.2733461984873305,
      "block_1-gripper_Left": 0.11702623750305403,
      "block_1-gripper_Right": 0.24682008371917316,
      "cube 1 lift distance": 0.00013315535277069745,
      "cube 2 lift distance": 0.0738022427564502
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.103282949398718,
    "bimanual_gripper_vertical_difference": 0.05145251808615464,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.076110601425171,
    "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": 0.1872315867933978,
      "block_0-gripper_Right": 0.2717084253959527,
      "block_1-gripper_Left": 0.11703566362927602,
      "block_1-gripper_Right": 0.24648425240670094,
      "cube 1 lift distance": 0.000133162635574835,
      "cube 2 lift distance": 0.07062036599838706
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1119120354631757,
    "bimanual_gripper_vertical_difference": 0.051176896322555655,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.099196672439575,
    "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": 0.1838472151103402,
      "block_0-gripper_Right": 0.2687440262487071,
      "block_1-gripper_Left": 0.11700201973174154,
      "block_1-gripper_Right": 0.24469021477669414,
      "cube 1 lift distance": 0.0001331699199140779,
      "cube 2 lift distance": 0.0677685233621046
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1197763300451642,
    "bimanual_gripper_vertical_difference": 0.05091922819763483,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.1234872341156006,
    "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": 0.1815421336237817,
      "block_0-gripper_Right": 0.2679319741953937,
      "block_1-gripper_Left": 0.11694468907633337,
      "block_1-gripper_Right": 0.247992916049972,
      "cube 1 lift distance": 0.00013317720578864822,
      "cube 2 lift distance": 0.06559258348252794
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1263289438379007,
    "bimanual_gripper_vertical_difference": 0.050669080854871804,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.147740364074707,
    "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": 0.17994988339310322,
      "block_0-gripper_Right": 0.26779866481335657,
      "block_1-gripper_Left": 0.11693876163898437,
      "block_1-gripper_Right": 0.25164467514187877,
      "cube 1 lift distance": 0.00013318449319876802,
      "cube 2 lift distance": 0.06388523004174962
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1254974669714162,
    "bimanual_gripper_vertical_difference": 0.050424951164699694,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.1702659130096436,
    "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": 0.1789563222410185,
      "block_0-gripper_Right": 0.2677383763993614,
      "block_1-gripper_Left": 0.11693459205373916,
      "block_1-gripper_Right": 0.25382876545546224,
      "cube 1 lift distance": 0.00013319178214488137,
      "cube 2 lift distance": 0.0627354040019179
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1178432410709624,
    "bimanual_gripper_vertical_difference": 0.05018585726734126,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.1926305294036865,
    "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": 0.17718800939349025,
      "block_0-gripper_Right": 0.2679122141823496,
      "block_1-gripper_Left": 0.11696196129990986,
      "block_1-gripper_Right": 0.25650559971210796,
      "cube 1 lift distance": 0.00013319907262754338,
      "cube 2 lift distance": 0.06071886514779812
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1141039119627159,
    "bimanual_gripper_vertical_difference": 0.04995629828541815,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.214972972869873,
    "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": 0.1761697086487987,
      "block_0-gripper_Right": 0.27560027063965375,
      "block_1-gripper_Left": 0.11698380327455944,
      "block_1-gripper_Right": 0.26821636468252524,
      "cube 1 lift distance": 0.00013320636464664304,
      "cube 2 lift distance": 0.05917641132740448
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1141541243475457,
    "bimanual_gripper_vertical_difference": 0.049761071326168686,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.237945079803467,
    "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": 0.17670324040489874,
      "block_0-gripper_Right": 0.2895122448370491,
      "block_1-gripper_Left": 0.11694534890887655,
      "block_1-gripper_Right": 0.2843520629158115,
      "cube 1 lift distance": 0.00013321365820273545,
      "cube 2 lift distance": 0.05928084634483688
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1183973474765732,
    "bimanual_gripper_vertical_difference": 0.04961219598242363,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.2606449127197266,
    "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": 0.1780859401610971,
      "block_0-gripper_Right": 0.3051733092739409,
      "block_1-gripper_Left": 0.11688574394231736,
      "block_1-gripper_Right": 0.29875269426475365,
      "cube 1 lift distance": 0.0001332209532961537,
      "cube 2 lift distance": 0.060650969280092504
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1226114462469436,
    "bimanual_gripper_vertical_difference": 0.049504157487745996,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.2865729331970215,
    "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": 0.17905273249355844,
      "block_0-gripper_Right": 0.3192331548376002,
      "block_1-gripper_Left": 0.11682976370598881,
      "block_1-gripper_Right": 0.30820001226092925,
      "cube 1 lift distance": 0.0001332282499271198,
      "cube 2 lift distance": 0.06199291514577299
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1275328405700418,
    "bimanual_gripper_vertical_difference": 0.04942678013705614,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.3098411560058594,
    "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": 0.1788232789609447,
      "block_0-gripper_Right": 0.33063552877911145,
      "block_1-gripper_Left": 0.11679356484812625,
      "block_1-gripper_Right": 0.31200095674541223,
      "cube 1 lift distance": 0.00013323554809607785,
      "cube 2 lift distance": 0.06224801166486804
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1333013590135539,
    "bimanual_gripper_vertical_difference": 0.04937502345142577,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.3348422050476074,
    "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": 0.1774798910291355,
      "block_0-gripper_Right": 0.3390804098564274,
      "block_1-gripper_Left": 0.11681263377417665,
      "block_1-gripper_Right": 0.311855372217348,
      "cube 1 lift distance": 0.00013324284780336093,
      "cube 2 lift distance": 0.061027247004661334
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1395229005992944,
    "bimanual_gripper_vertical_difference": 0.049348544244763655,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.3587734699249268,
    "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": 0.1751242178234396,
      "block_0-gripper_Right": 0.3446337336752233,
      "block_1-gripper_Left": 0.11688350706003522,
      "block_1-gripper_Right": 0.3104659811099818,
      "cube 1 lift distance": 0.00013325014904919108,
      "cube 2 lift distance": 0.05830769570044092
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1460022649319184,
    "bimanual_gripper_vertical_difference": 0.049350035522819115,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.382180690765381,
    "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": 0.17142037884113565,
      "block_0-gripper_Right": 0.3479687086548131,
      "block_1-gripper_Left": 0.11697454467431462,
      "block_1-gripper_Right": 0.3100826270937505,
      "cube 1 lift distance": 0.00013325745183390136,
      "cube 2 lift distance": 0.054049465164828225
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1529250539890947,
    "bimanual_gripper_vertical_difference": 0.04938563221657372,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.4057095050811768,
    "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": 0.16671237333063216,
      "block_0-gripper_Right": 0.3495295816503732,
      "block_1-gripper_Left": 0.11702979193713191,
      "block_1-gripper_Right": 0.31093665220206995,
      "cube 1 lift distance": 0.00013326475615782485,
      "cube 2 lift distance": 0.04892102687590927
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1602296381700057,
    "bimanual_gripper_vertical_difference": 0.04945850017104347,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.4299464225769043,
    "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": 0.1619623022401181,
      "block_0-gripper_Right": 0.3498588822956997,
      "block_1-gripper_Left": 0.11704124492402769,
      "block_1-gripper_Right": 0.3121201217542804,
      "cube 1 lift distance": 0.00013327206202140562,
      "cube 2 lift distance": 0.04396769202620776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1676275386491475,
    "bimanual_gripper_vertical_difference": 0.04956560303568824,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.453641891479492,
    "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": 0.15840262831180008,
      "block_0-gripper_Right": 0.3491640886479173,
      "block_1-gripper_Left": 0.11697549345333576,
      "block_1-gripper_Right": 0.3127080019114375,
      "cube 1 lift distance": 0.00022420318456972677,
      "cube 2 lift distance": 0.04055762453385481
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1748208406853597,
    "bimanual_gripper_vertical_difference": 0.04969416998319184,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.4766011238098145,
    "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": 0.15815333935893186,
      "block_0-gripper_Right": 0.34812676141463406,
      "block_1-gripper_Left": 0.1169364741535304,
      "block_1-gripper_Right": 0.3111334920901395,
      "cube 1 lift distance": 0.0007839336093516946,
      "cube 2 lift distance": 0.04095946874419121
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1817286430855496,
    "bimanual_gripper_vertical_difference": 0.04981595668053649,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.5009608268737793,
    "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": 0.1608582373094073,
      "block_0-gripper_Right": 0.34786059139171244,
      "block_1-gripper_Left": 0.11683646321497407,
      "block_1-gripper_Right": 0.3071060895884295,
      "cube 1 lift distance": 0.0001189263869940671,
      "cube 2 lift distance": 0.04294255999326024
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.188587468981133,
    "bimanual_gripper_vertical_difference": 0.04991913016511699,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.5261940956115723,
    "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": 0.1638567354412502,
      "block_0-gripper_Right": 0.3459531104231572,
      "block_1-gripper_Left": 0.11678984753717046,
      "block_1-gripper_Right": 0.30075382990306465,
      "cube 1 lift distance": 0.00013871937047171823,
      "cube 2 lift distance": 0.04579359945574013
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1953573507263693,
    "bimanual_gripper_vertical_difference": 0.04999580414656849,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.5536389350891113,
    "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": 0.16501947245136017,
      "block_0-gripper_Right": 0.34446785389078716,
      "block_1-gripper_Left": 0.11684697567230666,
      "block_1-gripper_Right": 0.2958889215238912,
      "cube 1 lift distance": 0.00013886296736476123,
      "cube 2 lift distance": 0.04666321579801891
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2021327339047805,
    "bimanual_gripper_vertical_difference": 0.05006087922053487,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.577375650405884,
    "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": 0.16346768733656145,
      "block_0-gripper_Right": 0.34362779131026877,
      "block_1-gripper_Left": 0.11694029747673464,
      "block_1-gripper_Right": 0.2943844572029842,
      "cube 1 lift distance": 0.00013887243344135047,
      "cube 2 lift distance": 0.04494021445409091
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2088756672920622,
    "bimanual_gripper_vertical_difference": 0.050132934111237135,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.603109836578369,
    "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": 0.16072248911583809,
      "block_0-gripper_Right": 0.3431716583366774,
      "block_1-gripper_Left": 0.11700513878893423,
      "block_1-gripper_Right": 0.2955931167040948,
      "cube 1 lift distance": 0.00013888098561953832,
      "cube 2 lift distance": 0.04232397563098367
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2142270151663437,
    "bimanual_gripper_vertical_difference": 0.050218283756256435,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.6270194053649902,
    "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": 0.15978673557491677,
      "block_0-gripper_Right": 0.3428650074835184,
      "block_1-gripper_Left": 0.11699208175675754,
      "block_1-gripper_Right": 0.2964270925845289,
      "cube 1 lift distance": 0.00011187040095139711,
      "cube 2 lift distance": 0.04168461115729327
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2129256199117466,
    "bimanual_gripper_vertical_difference": 0.05030398961196001,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.6524412631988525,
    "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": 0.15967306721938138,
      "block_0-gripper_Right": 0.34293626461683213,
      "block_1-gripper_Left": 0.11698041688364098,
      "block_1-gripper_Right": 0.2968230368843034,
      "cube 1 lift distance": 0.00014781045873257792,
      "cube 2 lift distance": 0.04180152938101234
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.206031836422791,
    "bimanual_gripper_vertical_difference": 0.050384596981228005,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.675353765487671,
    "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": 0.1594928061614706,
      "block_0-gripper_Right": 0.34389876998646046,
      "block_1-gripper_Left": 0.11696392628101666,
      "block_1-gripper_Right": 0.29792052412166015,
      "cube 1 lift distance": 0.00012716155760705838,
      "cube 2 lift distance": 0.04165036824756441
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.202437315316767,
    "bimanual_gripper_vertical_difference": 0.05046266557992426,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.698064088821411,
    "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": 0.15941751481835362,
      "block_0-gripper_Right": 0.34521425080982665,
      "block_1-gripper_Left": 0.11696007741562314,
      "block_1-gripper_Right": 0.299229851909347,
      "cube 1 lift distance": 0.00011694210407764416,
      "cube 2 lift distance": 0.041507750263442444
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2034016786110457,
    "bimanual_gripper_vertical_difference": 0.05053982348374552,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.7201757431030273,
    "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": 0.1592985004141644,
      "block_0-gripper_Right": 0.34632206734884724,
      "block_1-gripper_Left": 0.11694311258382367,
      "block_1-gripper_Right": 0.300176170349562,
      "cube 1 lift distance": 9.868288787029389e-05,
      "cube 2 lift distance": 0.04126055864132527
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2085360672843783,
    "bimanual_gripper_vertical_difference": 0.05061882298337019,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.744450330734253,
    "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": 0.15916487074567098,
      "block_0-gripper_Right": 0.34719205814375864,
      "block_1-gripper_Left": 0.1169389473573142,
      "block_1-gripper_Right": 0.3007285687568432,
      "cube 1 lift distance": 0.00023634688710649776,
      "cube 2 lift distance": 0.041056855815491344
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2167117244758838,
    "bimanual_gripper_vertical_difference": 0.05070024263093068,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.7710039615631104,
    "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": 0.15925021552268745,
      "block_0-gripper_Right": 0.34804644450520783,
      "block_1-gripper_Left": 0.1169354008590665,
      "block_1-gripper_Right": 0.3011182180380187,
      "cube 1 lift distance": 0.000195870247333918,
      "cube 2 lift distance": 0.04087683438703804
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.224396602047066,
    "bimanual_gripper_vertical_difference": 0.05078320800390939,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.79436993598938,
    "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": 0.1595106250796272,
      "block_0-gripper_Right": 0.3485200333808911,
      "block_1-gripper_Left": 0.11694300297107184,
      "block_1-gripper_Right": 0.30106156188835814,
      "cube 1 lift distance": 0.00011069128633200975,
      "cube 2 lift distance": 0.040870519029490904
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2316034151112567,
    "bimanual_gripper_vertical_difference": 0.05086555112274376,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.817255973815918,
    "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": 0.15968060185775443,
      "block_0-gripper_Right": 0.3485057176235802,
      "block_1-gripper_Left": 0.11694902703385268,
      "block_1-gripper_Right": 0.3007751922175484,
      "cube 1 lift distance": 0.0001207410627043215,
      "cube 2 lift distance": 0.04090483487119756
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2388546440925452,
    "bimanual_gripper_vertical_difference": 0.05094684444025457,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.8407928943634033,
    "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": 0.1550832671621187,
      "block_0-gripper_Right": 0.3481160695479264,
      "block_1-gripper_Left": 0.11424752140508364,
      "block_1-gripper_Right": 0.30003399647373025,
      "cube 1 lift distance": 0.0003625261507472777,
      "cube 2 lift distance": 0.03973377338528161
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 1.2456377567731116,
    "bimanual_gripper_vertical_difference": 0.05105241741342702,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true
    },
    "task_success": 1.0
  }
]