[
  {
    "completion_time": 0.03882789611816406,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3059772381867546,
      "block_0-gripper_Right": 0.46220119606946325,
      "block_1-gripper_Left": 0.28304927306848576,
      "block_1-gripper_Right": 0.5657956921176753,
      "cube 1 lift distance": 0.02185960000000009,
      "cube 2 lift distance": 0.02185960000000009
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 9.662721000558427e-07,
    "bimanual_gripper_vertical_difference": 5.348295140095161e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.06269145011901855,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.32040482816851873,
      "block_0-gripper_Right": 0.47189169192260155,
      "block_1-gripper_Left": 0.29962683604046625,
      "block_1-gripper_Right": 0.5742810408509462,
      "cube 1 lift distance": 0.0012027424107325935,
      "cube 2 lift distance": 0.001174445904316146
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 4.946741142229649e-07,
    "bimanual_gripper_vertical_difference": 6.785736417214139e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.08611631393432617,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3198301506876621,
      "block_0-gripper_Right": 0.471511688949207,
      "block_1-gripper_Left": 0.30009966104546826,
      "block_1-gripper_Right": 0.5745360380267555,
      "cube 1 lift distance": 0.0006945585929282183,
      "cube 2 lift distance": 0.0007103614678211079
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1279432600371647e-05,
    "bimanual_gripper_vertical_difference": 1.3898679984691853e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10932803153991699,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3197564604697092,
      "block_0-gripper_Right": 0.4714674949926509,
      "block_1-gripper_Left": 0.2997701719003964,
      "block_1-gripper_Right": 0.5743687524338053,
      "cube 1 lift distance": 0.00011746988812766368,
      "cube 2 lift distance": 0.00012949691729846613
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 8.492808887088088e-06,
    "bimanual_gripper_vertical_difference": 2.0137958522958854e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.13300037384033203,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.31939824569106784,
      "block_0-gripper_Right": 0.47122798250482856,
      "block_1-gripper_Left": 0.29943974523680844,
      "block_1-gripper_Right": 0.5741991230797086,
      "cube 1 lift distance": 0.00011901468400388193,
      "cube 2 lift distance": 0.0001299849959467414
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 4.739018752260883e-05,
    "bimanual_gripper_vertical_difference": 2.251138653264206e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.15601181983947754,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3191686626025813,
      "block_0-gripper_Right": 0.47107448477523556,
      "block_1-gripper_Left": 0.299226522682124,
      "block_1-gripper_Right": 0.5740896790091606,
      "cube 1 lift distance": 0.00011902941205299555,
      "cube 2 lift distance": 0.00012999491773268979
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00019262078831340482,
    "bimanual_gripper_vertical_difference": 2.7428943560892094e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1795787811279297,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.31902098465485734,
      "block_0-gripper_Right": 0.47097564962960026,
      "block_1-gripper_Left": 0.2990887160282019,
      "block_1-gripper_Right": 0.5740188327189294,
      "cube 1 lift distance": 0.00011903369541232944,
      "cube 2 lift distance": 0.00013000157660136846
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00098134093389709,
    "bimanual_gripper_vertical_difference": 4.35960867406493e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.20260071754455566,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3189260149650862,
      "block_0-gripper_Right": 0.4709118439985855,
      "block_1-gripper_Left": 0.29899961014832194,
      "block_1-gripper_Right": 0.5739727935907829,
      "cube 1 lift distance": 0.00011903790834710826,
      "cube 2 lift distance": 0.0001300082145829773
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0011107649181683259,
    "bimanual_gripper_vertical_difference": 5.691248028405482e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.22577643394470215,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3188649193119951,
      "block_0-gripper_Right": 0.47087088852901304,
      "block_1-gripper_Left": 0.298941986203438,
      "block_1-gripper_Right": 0.5739431259356955,
      "cube 1 lift distance": 0.00011904212168201145,
      "cube 2 lift distance": 0.00013001485381081146
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0010165615353995667,
    "bimanual_gripper_vertical_difference": 7.680666596559465e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2489452362060547,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.31882559526757165,
      "block_0-gripper_Right": 0.47084444155687405,
      "block_1-gripper_Left": 0.29890468164471967,
      "block_1-gripper_Right": 0.5739238365009827,
      "cube 1 lift distance": 0.0001190463359003191,
      "cube 2 lift distance": 0.00013002149443597233
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0009359119830797902,
    "bimanual_gripper_vertical_difference": 9.621301733098164e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2720463275909424,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3188003162174865,
      "block_0-gripper_Right": 0.4708273809406642,
      "block_1-gripper_Left": 0.29888055627177684,
      "block_1-gripper_Right": 0.5739113147121949,
      "cube 1 lift distance": 0.00011905055100613904,
      "cube 2 lift distance": 0.0001300281364599032
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0011524216406107312,
    "bimanual_gripper_vertical_difference": 1.11097130283223e-08,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2954442501068115,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3181184632736612,
      "block_0-gripper_Right": 0.4703560843101825,
      "block_1-gripper_Left": 0.2982379480730251,
      "block_1-gripper_Right": 0.5735755975232928,
      "cube 1 lift distance": 0.00011905476699902717,
      "cube 2 lift distance": 0.00013003477988304812
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0011661114609770602,
    "bimanual_gripper_vertical_difference": 5.453417381562353e-07,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3191213607788086,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3175636575047846,
      "block_0-gripper_Right": 0.4695876108583567,
      "block_1-gripper_Left": 0.2972049602744194,
      "block_1-gripper_Right": 0.5730554872150176,
      "cube 1 lift distance": 0.00011905898387953862,
      "cube 2 lift distance": 0.00013004142470551816
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.048805547489741294,
    "bimanual_gripper_vertical_difference": 2.368582280005864e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3417661190032959,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.31735504186118496,
      "block_0-gripper_Right": 0.4693891687493209,
      "block_1-gripper_Left": 0.29461543190495265,
      "block_1-gripper_Right": 0.5730233639753963,
      "cube 1 lift distance": 0.00011906320164789541,
      "cube 2 lift distance": 0.0001300480709278684
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.13456959716422487,
    "bimanual_gripper_vertical_difference": 5.135202875467775e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3644540309906006,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3148078625339633,
      "block_0-gripper_Right": 0.4696778935708767,
      "block_1-gripper_Left": 0.28783283315169494,
      "block_1-gripper_Right": 0.5734048545100225,
      "cube 1 lift distance": 0.00011906742030443063,
      "cube 2 lift distance": 0.00013005471854998785
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2557806526836162,
    "bimanual_gripper_vertical_difference": 0.00010658686832951681,
    "task_success": 0.0
  },
  {
    "completion_time": 0.38695287704467773,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3115051313990094,
      "block_0-gripper_Right": 0.46977447428915986,
      "block_1-gripper_Left": 0.2793188831579105,
      "block_1-gripper_Right": 0.573572230639826,
      "cube 1 lift distance": 0.0001190716398488112,
      "cube 2 lift distance": 0.00013006136757265363
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.38508247269365337,
    "bimanual_gripper_vertical_difference": 0.0002199598277393966,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4099085330963135,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.30888669529845997,
      "block_0-gripper_Right": 0.4692662632744452,
      "block_1-gripper_Left": 0.2721816726396211,
      "block_1-gripper_Right": 0.5731554572909797,
      "cube 1 lift distance": 0.00011907586028159223,
      "cube 2 lift distance": 0.00013006801799564371
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4980529605389351,
    "bimanual_gripper_vertical_difference": 0.00036861154340266507,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4326496124267578,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.30653291347448663,
      "block_0-gripper_Right": 0.4679433888843572,
      "block_1-gripper_Left": 0.2666369506841946,
      "block_1-gripper_Right": 0.5719237012787589,
      "cube 1 lift distance": 0.0001190800816026627,
      "cube 2 lift distance": 0.00013007466981973526
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5929500968729021,
    "bimanual_gripper_vertical_difference": 0.0005597066631818976,
    "task_success": 0.0
  },
  {
    "completion_time": 0.45531487464904785,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.30428380139135924,
      "block_0-gripper_Right": 0.4662994282252349,
      "block_1-gripper_Left": 0.26231207181785104,
      "block_1-gripper_Right": 0.5703313158957585,
      "cube 1 lift distance": 0.00011908430381246671,
      "cube 2 lift distance": 0.00013008132304492825
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6761775764827884,
    "bimanual_gripper_vertical_difference": 0.0007907738753590445,
    "task_success": 0.0
  },
  {
    "completion_time": 0.47829461097717285,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.30219965278867184,
      "block_0-gripper_Right": 0.4648151459990128,
      "block_1-gripper_Left": 0.25892025964475857,
      "block_1-gripper_Right": 0.5688708053209138,
      "cube 1 lift distance": 0.00011908852691144833,
      "cube 2 lift distance": 0.00013008797767155578
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7518463435009932,
    "bimanual_gripper_vertical_difference": 0.0010594613278758658,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5047681331634521,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3020062927032569,
      "block_0-gripper_Right": 0.4639365741458315,
      "block_1-gripper_Left": 0.2572711371979883,
      "block_1-gripper_Right": 0.5678911668312049,
      "cube 1 lift distance": 0.00011909275089916349,
      "cube 2 lift distance": 0.0001300946336999509
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8064373773395785,
    "bimanual_gripper_vertical_difference": 0.0012823513546241202,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5288848876953125,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3081456861806558,
      "block_0-gripper_Right": 0.46370174744294373,
      "block_1-gripper_Left": 0.26110718838796887,
      "block_1-gripper_Right": 0.5674046695541711,
      "cube 1 lift distance": 0.00011909697577616729,
      "cube 2 lift distance": 0.00013010129113044666
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8367622614146768,
    "bimanual_gripper_vertical_difference": 0.0012314996267477946,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5529615879058838,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3076894224403132,
      "block_0-gripper_Right": 0.4627283635571625,
      "block_1-gripper_Left": 0.26034954278847416,
      "block_1-gripper_Right": 0.5667084956260977,
      "cube 1 lift distance": 0.00011910120154257076,
      "cube 2 lift distance": 0.00013010794996326513
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8949102824095077,
    "bimanual_gripper_vertical_difference": 0.0012321376563440688,
    "task_success": 0.0
  },
  {
    "completion_time": 0.576460599899292,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.30611036550687226,
      "block_0-gripper_Right": 0.4618446504705338,
      "block_1-gripper_Left": 0.25876169381551894,
      "block_1-gripper_Right": 0.5660869582976712,
      "cube 1 lift distance": 0.00011910542819881798,
      "cube 2 lift distance": 0.0001301146101988504
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.94979566470242,
    "bimanual_gripper_vertical_difference": 0.001229368979714059,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6000745296478271,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3050766502171941,
      "block_0-gripper_Right": 0.461274943177255,
      "block_1-gripper_Left": 0.2577196542967164,
      "block_1-gripper_Right": 0.5656857455682777,
      "cube 1 lift distance": 0.0001191096557446869,
      "cube 2 lift distance": 0.00013012127183720246
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0012883051920123,
    "bimanual_gripper_vertical_difference": 0.0012242720097156478,
    "task_success": 0.0
  },
  {
    "completion_time": 0.623305082321167,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.3040324155477376,
      "block_0-gripper_Right": 0.4606449037416697,
      "block_1-gripper_Left": 0.25663101263601323,
      "block_1-gripper_Right": 0.5652450370893907,
      "cube 1 lift distance": 0.00011911388418062163,
      "cube 2 lift distance": 0.00013012793487887642
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0490804908395566,
    "bimanual_gripper_vertical_difference": 0.0012210108064134755,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6465883255004883,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.2975044161581126,
      "block_0-gripper_Right": 0.4608477974758855,
      "block_1-gripper_Left": 0.2506645748896964,
      "block_1-gripper_Right": 0.5659284941994889,
      "cube 1 lift distance": 0.00011911811350662216,
      "cube 2 lift distance": 0.0001301345993239833
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0508454697841652,
    "bimanual_gripper_vertical_difference": 0.0012725208889200932,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6705939769744873,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.28425441551364716,
      "block_0-gripper_Right": 0.4620531735686119,
      "block_1-gripper_Left": 0.23859033637378008,
      "block_1-gripper_Right": 0.5677244775543414,
      "cube 1 lift distance": 0.00011912234372313257,
      "cube 2 lift distance": 0.0001301412651729672
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.032786567726262,
    "bimanual_gripper_vertical_difference": 0.0016570806719434148,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6939308643341064,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.26690847005806073,
      "block_0-gripper_Right": 0.4631073080517633,
      "block_1-gripper_Left": 0.22251953859420337,
      "block_1-gripper_Right": 0.5692746727828919,
      "cube 1 lift distance": 0.00011912657483015288,
      "cube 2 lift distance": 0.00013014793242605016
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0337999213190865,
    "bimanual_gripper_vertical_difference": 0.0024788105020363397,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7173798084259033,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.24993112588478386,
      "block_0-gripper_Right": 0.4635599590030409,
      "block_1-gripper_Left": 0.2052658209884765,
      "block_1-gripper_Right": 0.5701102955623392,
      "cube 1 lift distance": 0.00011913080682801613,
      "cube 2 lift distance": 0.00013015460108367627
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.059569701289377,
    "bimanual_gripper_vertical_difference": 0.0037396337660740835,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7409555912017822,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.23691787667117867,
      "block_0-gripper_Right": 0.4634745548020509,
      "block_1-gripper_Left": 0.18871561866764144,
      "block_1-gripper_Right": 0.5703283292710807,
      "cube 1 lift distance": 0.00011913503971661132,
      "cube 2 lift distance": 0.00013016127114606757
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1072679255361575,
    "bimanual_gripper_vertical_difference": 0.005374036865531184,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7642717361450195,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.22865723016126327,
      "block_0-gripper_Right": 0.4631552328446561,
      "block_1-gripper_Left": 0.17460899269622562,
      "block_1-gripper_Right": 0.5702471881791662,
      "cube 1 lift distance": 0.00011913927349638254,
      "cube 2 lift distance": 0.00013016794261333509
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1518665927083176,
    "bimanual_gripper_vertical_difference": 0.007271318435866522,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7886614799499512,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.22367161023884383,
      "block_0-gripper_Right": 0.4627940086287831,
      "block_1-gripper_Left": 0.16468552619686186,
      "block_1-gripper_Right": 0.5699935292449049,
      "cube 1 lift distance": 0.00011914350816755181,
      "cube 2 lift distance": 0.0001301746154859229
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1913568581699399,
    "bimanual_gripper_vertical_difference": 0.009294615920042376,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8161389827728271,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.22185664840268576,
      "block_0-gripper_Right": 0.4620791914898095,
      "block_1-gripper_Left": 0.1615957899443988,
      "block_1-gripper_Right": 0.5694479369266688,
      "cube 1 lift distance": 0.00011914774373011916,
      "cube 2 lift distance": 0.00013018128976427512
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.223067082526557,
    "bimanual_gripper_vertical_difference": 0.011238139311735477,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8402812480926514,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.2209094133417929,
      "block_0-gripper_Right": 0.46113975123351814,
      "block_1-gripper_Left": 0.16028303334902835,
      "block_1-gripper_Right": 0.5687905617752994,
      "cube 1 lift distance": 0.00011915198018441764,
      "cube 2 lift distance": 0.00013018796544850275
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2214654013555695,
    "bimanual_gripper_vertical_difference": 0.013055125325939233,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8656537532806396,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.22024999847009208,
      "block_0-gripper_Right": 0.4604412020534502,
      "block_1-gripper_Left": 0.15932756054225142,
      "block_1-gripper_Right": 0.568305860900251,
      "cube 1 lift distance": 0.0001191562175306693,
      "cube 2 lift distance": 0.00013019464253882784
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1927275233401191,
    "bimanual_gripper_vertical_difference": 0.014759426689247223,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8896102905273438,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.21882767509522089,
      "block_0-gripper_Right": 0.45974070759189006,
      "block_1-gripper_Left": 0.15702504203521878,
      "block_1-gripper_Right": 0.5679156061553777,
      "cube 1 lift distance": 0.00011916045576887413,
      "cube 2 lift distance": 0.0001302013210358055
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1778853437654595,
    "bimanual_gripper_vertical_difference": 0.016379647479598403,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9163274765014648,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.2158852174927878,
      "block_0-gripper_Right": 0.4601730964229467,
      "block_1-gripper_Left": 0.1511551767317944,
      "block_1-gripper_Right": 0.5687078112615661,
      "cube 1 lift distance": 0.00011916469489925419,
      "cube 2 lift distance": 0.00013020800093954676
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1865245235425195,
    "bimanual_gripper_vertical_difference": 0.01802524797130074,
    "task_success": 0.0
  },
  {
    "completion_time": 0.941253662109375,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.2121197928211249,
      "block_0-gripper_Right": 0.46105488333644873,
      "block_1-gripper_Left": 0.142780497750492,
      "block_1-gripper_Right": 0.5698914314614216,
      "cube 1 lift distance": 0.00011916893492214253,
      "cube 2 lift distance": 0.00013021468225038468
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.215391209717993,
    "bimanual_gripper_vertical_difference": 0.019772670309464706,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9657425880432129,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.20848396912515055,
      "block_0-gripper_Right": 0.4615447421495128,
      "block_1-gripper_Left": 0.1338335454945907,
      "block_1-gripper_Right": 0.57064126820193,
      "cube 1 lift distance": 0.00011917317583776121,
      "cube 2 lift distance": 0.0001302213649685413
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2287385411582106,
    "bimanual_gripper_vertical_difference": 0.021640029237197655,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9927349090576172,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.2052558745644685,
      "block_0-gripper_Right": 0.4610772567095161,
      "block_1-gripper_Left": 0.12546562102429346,
      "block_1-gripper_Right": 0.5703485981803754,
      "cube 1 lift distance": 0.00011917741764622125,
      "cube 2 lift distance": 0.00013022804909457175
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2189762682692182,
    "bimanual_gripper_vertical_difference": 0.023606027389459498,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0161323547363281,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.20260478137658974,
      "block_0-gripper_Right": 0.46010347157635795,
      "block_1-gripper_Left": 0.11860120955502773,
      "block_1-gripper_Right": 0.5694920861162989,
      "cube 1 lift distance": 0.00011918166034763367,
      "cube 2 lift distance": 0.00013023473462858703
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2005716807565796,
    "bimanual_gripper_vertical_difference": 0.02562942732991599,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0440361499786377,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.20067716739408653,
      "block_0-gripper_Right": 0.45912719189077705,
      "block_1-gripper_Left": 0.11380506077025616,
      "block_1-gripper_Right": 0.5686213284658908,
      "cube 1 lift distance": 0.00011918590394210948,
      "cube 2 lift distance": 0.0001302414215708092
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1832971217824313,
    "bimanual_gripper_vertical_difference": 0.02766154877356115,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0687017440795898,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1992133036144037,
      "block_0-gripper_Right": 0.4584320710919173,
      "block_1-gripper_Left": 0.1112902333048336,
      "block_1-gripper_Right": 0.5680268674558192,
      "cube 1 lift distance": 0.00011919014842998177,
      "cube 2 lift distance": 0.00013024810992157132
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1643773808932625,
    "bimanual_gripper_vertical_difference": 0.029652545295086784,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0920867919921875,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1980203279265151,
      "block_0-gripper_Right": 0.45840125685100963,
      "block_1-gripper_Left": 0.11031985328914937,
      "block_1-gripper_Right": 0.5680597417887701,
      "cube 1 lift distance": 0.00011919439381158359,
      "cube 2 lift distance": 0.00013025479968131748
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1463813883503282,
    "bimanual_gripper_vertical_difference": 0.03157913783622418,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1153905391693115,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.19767812190505452,
      "block_0-gripper_Right": 0.4592314770901612,
      "block_1-gripper_Left": 0.11040352059744059,
      "block_1-gripper_Right": 0.5689787941204026,
      "cube 1 lift distance": 0.00011919864009035663,
      "cube 2 lift distance": 0.00023376397123575643
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.125094283056856,
    "bimanual_gripper_vertical_difference": 0.03343485525482098,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.1386091709136963,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.197856284164019,
      "block_0-gripper_Right": 0.4605335738881674,
      "block_1-gripper_Left": 0.1104208137137163,
      "block_1-gripper_Right": 0.5696643419911771,
      "cube 1 lift distance": 0.00011920288727240713,
      "cube 2 lift distance": 0.0002884789796611109
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.10273345576863,
    "bimanual_gripper_vertical_difference": 0.03523312992176516,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.1623663902282715,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1980586926244227,
      "block_0-gripper_Right": 0.4617673877444613,
      "block_1-gripper_Left": 0.11042825481804608,
      "block_1-gripper_Right": 0.5712589161275915,
      "cube 1 lift distance": 0.00011920713534874228,
      "cube 2 lift distance": 0.00020778800149512389
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0807826783447525,
    "bimanual_gripper_vertical_difference": 0.03697685680952937,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.18684720993042,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1980295672231772,
      "block_0-gripper_Right": 0.46261841340249443,
      "block_1-gripper_Left": 0.11043060290396813,
      "block_1-gripper_Right": 0.5719652216708421,
      "cube 1 lift distance": 0.00011921138431936207,
      "cube 2 lift distance": 0.0002631580456153859
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0610556538602038,
    "bimanual_gripper_vertical_difference": 0.0386615825493102,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.2116785049438477,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1973490044738925,
      "block_0-gripper_Right": 0.46296247954024455,
      "block_1-gripper_Left": 0.11039293748156973,
      "block_1-gripper_Right": 0.5711258464149219,
      "cube 1 lift distance": 0.00011921563418448855,
      "cube 2 lift distance": 0.0006482355761205927
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0498189431258051,
    "bimanual_gripper_vertical_difference": 0.04027768291038708,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.2357425689697266,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1954564925312218,
      "block_0-gripper_Right": 0.4630167050798504,
      "block_1-gripper_Left": 0.11022265495279719,
      "block_1-gripper_Right": 0.5674044995526146,
      "cube 1 lift distance": 0.00011921988494445479,
      "cube 2 lift distance": 0.0036445354106013905
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0542424325476079,
    "bimanual_gripper_vertical_difference": 0.04177735523510383,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.259596586227417,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.19123490372449353,
      "block_0-gripper_Right": 0.46249236538843014,
      "block_1-gripper_Left": 0.11000358626696105,
      "block_1-gripper_Right": 0.560015105328739,
      "cube 1 lift distance": 0.00011922413659926079,
      "cube 2 lift distance": 0.009024866857283431
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0730085109701126,
    "bimanual_gripper_vertical_difference": 0.04312354927776463,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.2846035957336426,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1845200393713352,
      "block_0-gripper_Right": 0.46157858335215834,
      "block_1-gripper_Left": 0.10985318486330294,
      "block_1-gripper_Right": 0.5485952194546377,
      "cube 1 lift distance": 0.00011922838914901757,
      "cube 2 lift distance": 0.015354798178167983
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0939459927368258,
    "bimanual_gripper_vertical_difference": 0.04431915170494959,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.30930495262146,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17708148296736073,
      "block_0-gripper_Right": 0.46116287006883133,
      "block_1-gripper_Left": 0.10971472536866404,
      "block_1-gripper_Right": 0.5337916505479995,
      "cube 1 lift distance": 0.00011923264259416921,
      "cube 2 lift distance": 0.02258183645756562
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.112499346628264,
    "bimanual_gripper_vertical_difference": 0.04537981864399662,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.3348724842071533,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17216793805896224,
      "block_0-gripper_Right": 0.4617981505172591,
      "block_1-gripper_Left": 0.1095800736165485,
      "block_1-gripper_Right": 0.5159335758816679,
      "cube 1 lift distance": 0.00011923689693460471,
      "cube 2 lift distance": 0.03240905018995788
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1288003445273722,
    "bimanual_gripper_vertical_difference": 0.04628663921258535,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.359645128250122,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17371350103253452,
      "block_0-gripper_Right": 0.4627672855940505,
      "block_1-gripper_Left": 0.10946359374046889,
      "block_1-gripper_Right": 0.49527271708431514,
      "cube 1 lift distance": 0.00011924115217087916,
      "cube 2 lift distance": 0.046520857356682876
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1442943054654322,
    "bimanual_gripper_vertical_difference": 0.04697072512079752,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.3835108280181885,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.18181880243692955,
      "block_0-gripper_Right": 0.4631985166254754,
      "block_1-gripper_Left": 0.10949839746535643,
      "block_1-gripper_Right": 0.47400772836536,
      "cube 1 lift distance": 0.00011924540830299257,
      "cube 2 lift distance": 0.06308173410187501
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.156140750026048,
    "bimanual_gripper_vertical_difference": 0.047384524055760595,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4086523056030273,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.18164779227317124,
      "block_0-gripper_Right": 0.4630155718728973,
      "block_1-gripper_Left": 0.11017077243978543,
      "block_1-gripper_Right": 0.4641751778493117,
      "cube 1 lift distance": 0.00011924966533094494,
      "cube 2 lift distance": 0.0655248763120655
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1484218455906032,
    "bimanual_gripper_vertical_difference": 0.047761571467994035,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4329957962036133,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17501045612161287,
      "block_0-gripper_Right": 0.4620786361786018,
      "block_1-gripper_Left": 0.11057701218583749,
      "block_1-gripper_Right": 0.46540555041505305,
      "cube 1 lift distance": 0.00011925392325529138,
      "cube 2 lift distance": 0.05872543120356588
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1317075924924773,
    "bimanual_gripper_vertical_difference": 0.04821414730907248,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.4564919471740723,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17061196986300783,
      "block_0-gripper_Right": 0.4611954334279051,
      "block_1-gripper_Left": 0.11053767563551767,
      "block_1-gripper_Right": 0.46743073000854385,
      "cube 1 lift distance": 0.00011925818207592087,
      "cube 2 lift distance": 0.05421399998555532
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1145423484810866,
    "bimanual_gripper_vertical_difference": 0.04870095510403026,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.48268461227417,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16663198233342663,
      "block_0-gripper_Right": 0.4601564818439505,
      "block_1-gripper_Left": 0.11053364708416302,
      "block_1-gripper_Right": 0.46919413774615487,
      "cube 1 lift distance": 0.0001192624417932775,
      "cube 2 lift distance": 0.05007448819564497
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.097770438395419,
    "bimanual_gripper_vertical_difference": 0.049210281459051736,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5054235458374023,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1632730843375877,
      "block_0-gripper_Right": 0.4579368326741984,
      "block_1-gripper_Left": 0.11053556694601943,
      "block_1-gripper_Right": 0.47061834115737566,
      "cube 1 lift distance": 0.00011926670240725024,
      "cube 2 lift distance": 0.04630482375775791
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0832146035904224,
    "bimanual_gripper_vertical_difference": 0.04972068350472496,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5283069610595703,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16363841292515352,
      "block_0-gripper_Right": 0.455206200119551,
      "block_1-gripper_Left": 0.11049486133466391,
      "block_1-gripper_Right": 0.47010765946839606,
      "cube 1 lift distance": 0.00011927096391828318,
      "cube 2 lift distance": 0.04622753474488239
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0733432394796205,
    "bimanual_gripper_vertical_difference": 0.05017793130502415,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.553344488143921,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16791089523708755,
      "block_0-gripper_Right": 0.45315558636062603,
      "block_1-gripper_Left": 0.11047758626036043,
      "block_1-gripper_Right": 0.46810453358127885,
      "cube 1 lift distance": 0.00011927522632648735,
      "cube 2 lift distance": 0.050011424957470574
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0671844512172197,
    "bimanual_gripper_vertical_difference": 0.05053829270387159,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5757880210876465,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17475335970675163,
      "block_0-gripper_Right": 0.452127404221517,
      "block_1-gripper_Left": 0.11040525053391084,
      "block_1-gripper_Right": 0.46583957536397863,
      "cube 1 lift distance": 0.00011927948963186275,
      "cube 2 lift distance": 0.056638136548355256
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0610130888045262,
    "bimanual_gripper_vertical_difference": 0.05077307577382282,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.5996029376983643,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1821836109260011,
      "block_0-gripper_Right": 0.4519632887016562,
      "block_1-gripper_Left": 0.11027498512731605,
      "block_1-gripper_Right": 0.46345636612120394,
      "cube 1 lift distance": 0.00011928375383485346,
      "cube 2 lift distance": 0.06454493100300196
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0560310837838094,
    "bimanual_gripper_vertical_difference": 0.050877071362773675,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6223618984222412,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.18894362591129454,
      "block_0-gripper_Right": 0.452416393376603,
      "block_1-gripper_Left": 0.1101337586738657,
      "block_1-gripper_Right": 0.4600746601278276,
      "cube 1 lift distance": 0.00011928801893568153,
      "cube 2 lift distance": 0.07262433131608703
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0537050801650523,
    "bimanual_gripper_vertical_difference": 0.05086300173952158,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6463756561279297,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.19439451298120605,
      "block_0-gripper_Right": 0.45335692465482963,
      "block_1-gripper_Left": 0.11004441404900138,
      "block_1-gripper_Right": 0.4557869338662783,
      "cube 1 lift distance": 0.00011929228493434696,
      "cube 2 lift distance": 0.07984991137297115
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.052795961735212,
    "bimanual_gripper_vertical_difference": 0.05075434661857425,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.669651985168457,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.19807594329255984,
      "block_0-gripper_Right": 0.4548523784367349,
      "block_1-gripper_Left": 0.11006869710525223,
      "block_1-gripper_Right": 0.45192968639229775,
      "cube 1 lift distance": 0.0001192965518310718,
      "cube 2 lift distance": 0.08508651369597797
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0499657527687454,
    "bimanual_gripper_vertical_difference": 0.050586507964710745,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.6915760040283203,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.19969745539682174,
      "block_0-gripper_Right": 0.45659636976966084,
      "block_1-gripper_Left": 0.11017406366246604,
      "block_1-gripper_Right": 0.4491634161010103,
      "cube 1 lift distance": 0.0001193008196261891,
      "cube 2 lift distance": 0.08776746453934514
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0429830194752057,
    "bimanual_gripper_vertical_difference": 0.05039808506331269,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.7154498100280762,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1997537442807296,
      "block_0-gripper_Right": 0.45809168654387356,
      "block_1-gripper_Left": 0.11027941704501,
      "block_1-gripper_Right": 0.4466089810612454,
      "cube 1 lift distance": 0.00011930508831958786,
      "cube 2 lift distance": 0.0885624979291082
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0327962040511862,
    "bimanual_gripper_vertical_difference": 0.05021415098540424,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.7377326488494873,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1989319547172083,
      "block_0-gripper_Right": 0.4588401357985469,
      "block_1-gripper_Left": 0.11032253685650015,
      "block_1-gripper_Right": 0.44307615660498023,
      "cube 1 lift distance": 0.00011930935791182318,
      "cube 2 lift distance": 0.0884058608352758
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0219730744691198,
    "bimanual_gripper_vertical_difference": 0.05004506854388152,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.7600696086883545,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1975705270403091,
      "block_0-gripper_Right": 0.4587374855983377,
      "block_1-gripper_Left": 0.11031491589097453,
      "block_1-gripper_Right": 0.4383693963621323,
      "cube 1 lift distance": 0.00011931362840289506,
      "cube 2 lift distance": 0.08770788006393881
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0122141599652767,
    "bimanual_gripper_vertical_difference": 0.049894262330295466,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.7819526195526123,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.19584288916816825,
      "block_0-gripper_Right": 0.45831292401714946,
      "block_1-gripper_Left": 0.11030686471593447,
      "block_1-gripper_Right": 0.43361923280076536,
      "cube 1 lift distance": 0.00011931789979291452,
      "cube 2 lift distance": 0.086544184508069
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0037350523520905,
    "bimanual_gripper_vertical_difference": 0.04976497802444028,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.805558681488037,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.19339368900699663,
      "block_0-gripper_Right": 0.45801802140636616,
      "block_1-gripper_Left": 0.11030162079016613,
      "block_1-gripper_Right": 0.43011157543629763,
      "cube 1 lift distance": 0.00011932217208232565,
      "cube 2 lift distance": 0.08456807723810988
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.996032857828557,
    "bimanual_gripper_vertical_difference": 0.04966682811739848,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.8285269737243652,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1901058500537534,
      "block_0-gripper_Right": 0.4583111429543872,
      "block_1-gripper_Left": 0.11035436586001925,
      "block_1-gripper_Right": 0.4289411198696608,
      "cube 1 lift distance": 0.00011932644527101743,
      "cube 2 lift distance": 0.08155648596164045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9868347049243651,
    "bimanual_gripper_vertical_difference": 0.049614642941472165,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.8509705066680908,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.18638272826231042,
      "block_0-gripper_Right": 0.459126802809388,
      "block_1-gripper_Left": 0.11043758216332296,
      "block_1-gripper_Right": 0.4296779676406367,
      "cube 1 lift distance": 0.00011933071935943396,
      "cube 2 lift distance": 0.0779254996352019
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9759860756243177,
    "bimanual_gripper_vertical_difference": 0.049617035603201964,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.8726441860198975,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1823442650554872,
      "block_0-gripper_Right": 0.4600208315222526,
      "block_1-gripper_Left": 0.11052193683068103,
      "block_1-gripper_Right": 0.43117958027831793,
      "cube 1 lift distance": 0.00011933499434757522,
      "cube 2 lift distance": 0.07384013114290355
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9662444904006353,
    "bimanual_gripper_vertical_difference": 0.04967788706982919,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.895110845565796,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17793902710082288,
      "block_0-gripper_Right": 0.46065736683005776,
      "block_1-gripper_Left": 0.11054359186505601,
      "block_1-gripper_Right": 0.4324747234950908,
      "cube 1 lift distance": 0.00011933927023577429,
      "cube 2 lift distance": 0.06940004726121685
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9576330259381116,
    "bimanual_gripper_vertical_difference": 0.04979873866738951,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9218811988830566,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1733115649581352,
      "block_0-gripper_Right": 0.4607824390987949,
      "block_1-gripper_Left": 0.11052662724259835,
      "block_1-gripper_Right": 0.43311950867365073,
      "cube 1 lift distance": 0.00011934354702414218,
      "cube 2 lift distance": 0.06478857808875205
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9493961542580067,
    "bimanual_gripper_vertical_difference": 0.049976812008326224,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9464831352233887,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1688217877542319,
      "block_0-gripper_Right": 0.46062729098649186,
      "block_1-gripper_Left": 0.11049883930255688,
      "block_1-gripper_Right": 0.43332126690745415,
      "cube 1 lift distance": 0.00011934782471290095,
      "cube 2 lift distance": 0.06034828617883958
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9409145657738518,
    "bimanual_gripper_vertical_difference": 0.050206467439141096,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9683947563171387,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16418848818975304,
      "block_0-gripper_Right": 0.46040999472880373,
      "block_1-gripper_Left": 0.11046115383094574,
      "block_1-gripper_Right": 0.4333753020292584,
      "cube 1 lift distance": 0.00011935210330227264,
      "cube 2 lift distance": 0.055809699006267754
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9325373110393707,
    "bimanual_gripper_vertical_difference": 0.05048639801592308,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 1.9918251037597656,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1599916855669057,
      "block_0-gripper_Right": 0.46049211021087333,
      "block_1-gripper_Left": 0.11046224509900021,
      "block_1-gripper_Right": 0.43372025697150357,
      "cube 1 lift distance": 0.00011935638279225724,
      "cube 2 lift distance": 0.05164516919170703
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.923801515456805,
    "bimanual_gripper_vertical_difference": 0.050811726784964,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.0153887271881104,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.15701153164549006,
      "block_0-gripper_Right": 0.46094608184768265,
      "block_1-gripper_Left": 0.11046194566130535,
      "block_1-gripper_Right": 0.43429047412590077,
      "cube 1 lift distance": 0.00011936066318318783,
      "cube 2 lift distance": 0.04866507622335203
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9141535195184259,
    "bimanual_gripper_vertical_difference": 0.05116858684615763,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.0378730297088623,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.15580838176078718,
      "block_0-gripper_Right": 0.46143027343943827,
      "block_1-gripper_Left": 0.11044802490716799,
      "block_1-gripper_Right": 0.43468409236891165,
      "cube 1 lift distance": 0.00011936494447528645,
      "cube 2 lift distance": 0.04747896441089128
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9035569081190911,
    "bimanual_gripper_vertical_difference": 0.05153468160647814,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.0604898929595947,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.15694848621246252,
      "block_0-gripper_Right": 0.4617928099267294,
      "block_1-gripper_Left": 0.11041463944828847,
      "block_1-gripper_Right": 0.4347821755301419,
      "cube 1 lift distance": 0.00011936922666877514,
      "cube 2 lift distance": 0.048710091805382216
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8941128441992906,
    "bimanual_gripper_vertical_difference": 0.051880983044031555,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.0856432914733887,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16040195177179797,
      "block_0-gripper_Right": 0.46205214379784654,
      "block_1-gripper_Left": 0.11037049749991444,
      "block_1-gripper_Right": 0.43497169886342296,
      "cube 1 lift distance": 0.00011937350976376493,
      "cube 2 lift distance": 0.052344124718923135
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8869888465223071,
    "bimanual_gripper_vertical_difference": 0.052179943007318874,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.10825514793396,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16544385513818538,
      "block_0-gripper_Right": 0.462323095641562,
      "block_1-gripper_Left": 0.1103232517198463,
      "block_1-gripper_Right": 0.4357982293507771,
      "cube 1 lift distance": 0.00011937779376036683,
      "cube 2 lift distance": 0.05760568652930176
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8814906409274527,
    "bimanual_gripper_vertical_difference": 0.052414552184177274,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.1313889026641846,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17085688672943355,
      "block_0-gripper_Right": 0.46261990585714435,
      "block_1-gripper_Left": 0.11027930813389338,
      "block_1-gripper_Right": 0.4370323405053323,
      "cube 1 lift distance": 0.00011938207865902495,
      "cube 2 lift distance": 0.06317336327281176
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8769484267024538,
    "bimanual_gripper_vertical_difference": 0.052582424643243496,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.1550071239471436,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1752604179143232,
      "block_0-gripper_Right": 0.46305671538450055,
      "block_1-gripper_Left": 0.11027752319974962,
      "block_1-gripper_Right": 0.4379546225312826,
      "cube 1 lift distance": 0.00011938636445962825,
      "cube 2 lift distance": 0.06759763035959776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8720180344376,
    "bimanual_gripper_vertical_difference": 0.05269762229252693,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.1777796745300293,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17745855109204284,
      "block_0-gripper_Right": 0.46376677670996896,
      "block_1-gripper_Left": 0.11030937583475356,
      "block_1-gripper_Right": 0.4385575635034201,
      "cube 1 lift distance": 0.0001193906511625098,
      "cube 2 lift distance": 0.06975616213368352
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8659341995436688,
    "bimanual_gripper_vertical_difference": 0.05278822880537565,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.2017264366149902,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17707468599565346,
      "block_0-gripper_Right": 0.46454719888617574,
      "block_1-gripper_Left": 0.11036017204220341,
      "block_1-gripper_Right": 0.4393643590264909,
      "cube 1 lift distance": 0.00011939493876800267,
      "cube 2 lift distance": 0.0693204230057225
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8584378242719098,
    "bimanual_gripper_vertical_difference": 0.05288376831583052,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.2280173301696777,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1744881118189469,
      "block_0-gripper_Right": 0.4651128848349182,
      "block_1-gripper_Left": 0.11040911588736184,
      "block_1-gripper_Right": 0.44071744621883246,
      "cube 1 lift distance": 0.00011939922727599583,
      "cube 2 lift distance": 0.06667940096058134
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8506860871548018,
    "bimanual_gripper_vertical_difference": 0.05300692997968233,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.2508785724639893,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1705865504377869,
      "block_0-gripper_Right": 0.4651648089496463,
      "block_1-gripper_Left": 0.11044353712762553,
      "block_1-gripper_Right": 0.4421363767715456,
      "cube 1 lift distance": 0.00011940351668682236,
      "cube 2 lift distance": 0.06272994483579097
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8435955668301907,
    "bimanual_gripper_vertical_difference": 0.053169764606577664,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.2733042240142822,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1660290383114143,
      "block_0-gripper_Right": 0.46478544802516686,
      "block_1-gripper_Left": 0.1104674263181207,
      "block_1-gripper_Right": 0.44314661186123866,
      "cube 1 lift distance": 0.00011940780700081532,
      "cube 2 lift distance": 0.05813393864810168
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8370244766381816,
    "bimanual_gripper_vertical_difference": 0.05337799648885388,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.295001268386841,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16128865951387844,
      "block_0-gripper_Right": 0.46432695165053256,
      "block_1-gripper_Left": 0.11047556341151303,
      "block_1-gripper_Right": 0.44350323188217144,
      "cube 1 lift distance": 0.00011941209821797472,
      "cube 2 lift distance": 0.05338095241523533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8307016731359274,
    "bimanual_gripper_vertical_difference": 0.05363269302163789,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.3186001777648926,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.15680936792222405,
      "block_0-gripper_Right": 0.46393703502719863,
      "block_1-gripper_Left": 0.11046785462118427,
      "block_1-gripper_Right": 0.44332006206099267,
      "cube 1 lift distance": 0.00011941639033852258,
      "cube 2 lift distance": 0.048898728596509455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8244183377601892,
    "bimanual_gripper_vertical_difference": 0.05392945905133552,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.3413009643554688,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.15276330047209002,
      "block_0-gripper_Right": 0.46369060352721936,
      "block_1-gripper_Left": 0.11046029335910316,
      "block_1-gripper_Right": 0.44305997435190037,
      "cube 1 lift distance": 0.00011942068336268097,
      "cube 2 lift distance": 0.044823806704008096
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.818121046557717,
    "bimanual_gripper_vertical_difference": 0.05426196122361721,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.3659515380859375,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1494065696499593,
      "block_0-gripper_Right": 0.46361164739966454,
      "block_1-gripper_Left": 0.11045748928505499,
      "block_1-gripper_Right": 0.4430095659807682,
      "cube 1 lift distance": 0.00011942497729067192,
      "cube 2 lift distance": 0.04142592916340959
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8116504031917829,
    "bimanual_gripper_vertical_difference": 0.05462143106585292,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.389092206954956,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.14922163058890522,
      "block_0-gripper_Right": 0.46362045015911435,
      "block_1-gripper_Left": 0.1104282350292392,
      "block_1-gripper_Right": 0.4422905146792977,
      "cube 1 lift distance": 0.00010164656891220591,
      "cube 2 lift distance": 0.041182403389909084
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8043612928412506,
    "bimanual_gripper_vertical_difference": 0.054974830685571525,
    "task_stage_reached": {
      "1": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.414820432662964,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.14922401947420288,
      "block_0-gripper_Right": 0.46379901654513783,
      "block_1-gripper_Left": 0.11042704637527435,
      "block_1-gripper_Right": 0.44174134750057914,
      "cube 1 lift distance": 9.558709171664237e-05,
      "cube 2 lift distance": 0.041113234633102014
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.79688620870962,
    "bimanual_gripper_vertical_difference": 0.05532041736156228,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.437943935394287,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.14924239847543416,
      "block_0-gripper_Right": 0.464044786622676,
      "block_1-gripper_Left": 0.11041263711588711,
      "block_1-gripper_Right": 0.44156510725074277,
      "cube 1 lift distance": 9.414001195029442e-05,
      "cube 2 lift distance": 0.041121574522144044
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7892181748212728,
    "bimanual_gripper_vertical_difference": 0.05565831608359522,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.460484743118286,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1494294335735976,
      "block_0-gripper_Right": 0.4643605267540211,
      "block_1-gripper_Left": 0.11040124328474633,
      "block_1-gripper_Right": 0.44252833554733234,
      "cube 1 lift distance": 0.0001375030444060732,
      "cube 2 lift distance": 0.041429406019680926
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7822969875244355,
    "bimanual_gripper_vertical_difference": 0.05598715546152392,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.4823174476623535,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1520195782052731,
      "block_0-gripper_Right": 0.4646198242990256,
      "block_1-gripper_Left": 0.11033688621943238,
      "block_1-gripper_Right": 0.4435699287420353,
      "cube 1 lift distance": 0.00013789457614565848,
      "cube 2 lift distance": 0.044175625084589276
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7775764817656311,
    "bimanual_gripper_vertical_difference": 0.056284620378994184,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.5058248043060303,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.15703048175858886,
      "block_0-gripper_Right": 0.46471300692126266,
      "block_1-gripper_Left": 0.11028513706568262,
      "block_1-gripper_Right": 0.4441917209043713,
      "cube 1 lift distance": 0.00013790542807590178,
      "cube 2 lift distance": 0.04924316225834424
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7741986305904991,
    "bimanual_gripper_vertical_difference": 0.05652806092547933,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.529726982116699,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1624675321219178,
      "block_0-gripper_Right": 0.4648764329378142,
      "block_1-gripper_Left": 0.11027964424066672,
      "block_1-gripper_Right": 0.44485990427592104,
      "cube 1 lift distance": 0.00013791368289528538,
      "cube 2 lift distance": 0.05457447227793644
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7706343812534263,
    "bimanual_gripper_vertical_difference": 0.0567150913556609,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.552304267883301,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16669782251798856,
      "block_0-gripper_Right": 0.4653309634893933,
      "block_1-gripper_Left": 0.11028381854733356,
      "block_1-gripper_Right": 0.44569916776154234,
      "cube 1 lift distance": 0.00013792192170958284,
      "cube 2 lift distance": 0.0586239420426129
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7665801661414777,
    "bimanual_gripper_vertical_difference": 0.05685947408311309,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.5742506980895996,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16943446379535554,
      "block_0-gripper_Right": 0.46603956540441743,
      "block_1-gripper_Left": 0.11026623769204105,
      "block_1-gripper_Right": 0.4459535312368807,
      "cube 1 lift distance": 0.00013793016214003195,
      "cube 2 lift distance": 0.06120354402413808
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7627454216041767,
    "bimanual_gripper_vertical_difference": 0.05697823291846765,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.5968308448791504,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17091078053274233,
      "block_0-gripper_Right": 0.46673988098778424,
      "block_1-gripper_Left": 0.11025504803360033,
      "block_1-gripper_Right": 0.4453769668760516,
      "cube 1 lift distance": 0.00013793840430731397,
      "cube 2 lift distance": 0.06254002876110953
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7591063544769582,
    "bimanual_gripper_vertical_difference": 0.057084369356302005,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.618764638900757,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.171257522280766,
      "block_0-gripper_Right": 0.46732989432608046,
      "block_1-gripper_Left": 0.11025181428569644,
      "block_1-gripper_Right": 0.4444490270399281,
      "cube 1 lift distance": 0.00013794664821242808,
      "cube 2 lift distance": 0.06269399221732352
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.755486138279099,
    "bimanual_gripper_vertical_difference": 0.057188321818346065,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.641394853591919,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17015601676237804,
      "block_0-gripper_Right": 0.46797130103860685,
      "block_1-gripper_Left": 0.11031461284637457,
      "block_1-gripper_Right": 0.44422969202460955,
      "cube 1 lift distance": 0.00013795489385581838,
      "cube 2 lift distance": 0.06133485007006989
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7504586574222082,
    "bimanual_gripper_vertical_difference": 0.057303289823010334,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.6654272079467773,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.167689293247342,
      "block_0-gripper_Right": 0.46871478422699586,
      "block_1-gripper_Left": 0.1104127969220195,
      "block_1-gripper_Right": 0.4449549739922418,
      "cube 1 lift distance": 0.00013796314123804,
      "cube 2 lift distance": 0.0586749412568186
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7443633435903905,
    "bimanual_gripper_vertical_difference": 0.05744155401628457,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.689220428466797,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1639034493744612,
      "block_0-gripper_Right": 0.46949163014484474,
      "block_1-gripper_Left": 0.11052206785481561,
      "block_1-gripper_Right": 0.44641558093394074,
      "cube 1 lift distance": 0.00013797139035931494,
      "cube 2 lift distance": 0.054845574940269204
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.740007006983031,
    "bimanual_gripper_vertical_difference": 0.05761424378762749,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.711568832397461,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1592170624023007,
      "block_0-gripper_Right": 0.4701665744613851,
      "block_1-gripper_Left": 0.11056109707294504,
      "block_1-gripper_Right": 0.4481760454836988,
      "cube 1 lift distance": 0.00013797964121986528,
      "cube 2 lift distance": 0.050201905497926136
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7367350354005262,
    "bimanual_gripper_vertical_difference": 0.05782906674062036,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.734253168106079,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.15411425579758017,
      "block_0-gripper_Right": 0.47054745545806625,
      "block_1-gripper_Left": 0.11053829779424718,
      "block_1-gripper_Right": 0.449839778017588,
      "cube 1 lift distance": 0.00013798789382024612,
      "cube 2 lift distance": 0.04512894120444266
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.733465576586447,
    "bimanual_gripper_vertical_difference": 0.05808895374542021,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.7570512294769287,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.15016548621416534,
      "block_0-gripper_Right": 0.47056558084139005,
      "block_1-gripper_Left": 0.11044320705162668,
      "block_1-gripper_Right": 0.4507664442613411,
      "cube 1 lift distance": 0.00015304424248130388,
      "cube 2 lift distance": 0.041248174137985316
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.728969365400912,
    "bimanual_gripper_vertical_difference": 0.05838225634562386,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.780728816986084,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.14986957467124193,
      "block_0-gripper_Right": 0.4699608062013917,
      "block_1-gripper_Left": 0.11039033664530244,
      "block_1-gripper_Right": 0.45035670465233046,
      "cube 1 lift distance": 0.0005923144427644189,
      "cube 2 lift distance": 0.04126623753888503
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.72377630516098,
    "bimanual_gripper_vertical_difference": 0.05867363113756836,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.803468942642212,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.14976639551637697,
      "block_0-gripper_Right": 0.46968629206595985,
      "block_1-gripper_Left": 0.11039157932172294,
      "block_1-gripper_Right": 0.44999765610670583,
      "cube 1 lift distance": 0.0007741174359300329,
      "cube 2 lift distance": 0.04119590984537247
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.718118771415119,
    "bimanual_gripper_vertical_difference": 0.05896496229702116,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.8259706497192383,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1497418590511915,
      "block_0-gripper_Right": 0.46956640587986104,
      "block_1-gripper_Left": 0.11039156951794045,
      "block_1-gripper_Right": 0.44982188470974355,
      "cube 1 lift distance": 0.0008725768680879487,
      "cube 2 lift distance": 0.04115157066349662
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7124530439037496,
    "bimanual_gripper_vertical_difference": 0.05925626761430455,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.84808349609375,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1501512195612293,
      "block_0-gripper_Right": 0.46994464453972346,
      "block_1-gripper_Left": 0.11040585013414934,
      "block_1-gripper_Right": 0.4504384385597093,
      "cube 1 lift distance": 0.0005355110522959894,
      "cube 2 lift distance": 0.04111678016707687
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7068779290562823,
    "bimanual_gripper_vertical_difference": 0.05954686073368018,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.876063585281372,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.15056123542649874,
      "block_0-gripper_Right": 0.47060946967022926,
      "block_1-gripper_Left": 0.11042006577322501,
      "block_1-gripper_Right": 0.45125190262377274,
      "cube 1 lift distance": 0.00012705672775337185,
      "cube 2 lift distance": 0.04122734788863802
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7015896399293361,
    "bimanual_gripper_vertical_difference": 0.059834789258675226,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.898763418197632,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1530576230610567,
      "block_0-gripper_Right": 0.47061932997454653,
      "block_1-gripper_Left": 0.11037348295657982,
      "block_1-gripper_Right": 0.45158195612359925,
      "cube 1 lift distance": 0.00013358904774352087,
      "cube 2 lift distance": 0.044026475910879714
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6979881540683313,
    "bimanual_gripper_vertical_difference": 0.06009603928031491,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.9214539527893066,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1583756555545903,
      "block_0-gripper_Right": 0.47032601530046564,
      "block_1-gripper_Left": 0.11029854758322394,
      "block_1-gripper_Right": 0.451015521195258,
      "cube 1 lift distance": 0.00013364928610393179,
      "cube 2 lift distance": 0.04956213721065228
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6957740698471242,
    "bimanual_gripper_vertical_difference": 0.06030684464048324,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.943645715713501,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.16478999640231468,
      "block_0-gripper_Right": 0.4701975598717038,
      "block_1-gripper_Left": 0.1102471441784045,
      "block_1-gripper_Right": 0.44964131206536684,
      "cube 1 lift distance": 0.0001336569861121184,
      "cube 2 lift distance": 0.05605689321928908
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6942587184311444,
    "bimanual_gripper_vertical_difference": 0.06046044095439423,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.9666826725006104,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1704156796996866,
      "block_0-gripper_Right": 0.4705019389595215,
      "block_1-gripper_Left": 0.11022420220927047,
      "block_1-gripper_Right": 0.4480227728568863,
      "cube 1 lift distance": 0.00013366432898576086,
      "cube 2 lift distance": 0.06166177083950908
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6926054037693556,
    "bimanual_gripper_vertical_difference": 0.06056638690422538,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 2.989316940307617,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17430031438155608,
      "block_0-gripper_Right": 0.4711473313797809,
      "block_1-gripper_Left": 0.11021965558094676,
      "block_1-gripper_Right": 0.44668112059150034,
      "cube 1 lift distance": 0.00013367167095801324,
      "cube 2 lift distance": 0.06543411627679152
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6904907728427312,
    "bimanual_gripper_vertical_difference": 0.060641852643670786,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.0158979892730713,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17633960419077763,
      "block_0-gripper_Right": 0.4718895560255917,
      "block_1-gripper_Left": 0.11023284196538186,
      "block_1-gripper_Right": 0.44601299289053375,
      "cube 1 lift distance": 0.00013367901446126318,
      "cube 2 lift distance": 0.06726800876093275
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6878449213576678,
    "bimanual_gripper_vertical_difference": 0.06070373970087741,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.037658452987671,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17702526967509077,
      "block_0-gripper_Right": 0.4724993902559688,
      "block_1-gripper_Left": 0.11027637872248085,
      "block_1-gripper_Right": 0.44610173786226665,
      "cube 1 lift distance": 0.00013368635951227503,
      "cube 2 lift distance": 0.06771410934033462
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6843421070114867,
    "bimanual_gripper_vertical_difference": 0.060763109007110516,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.05999493598938,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17684316922717,
      "block_0-gripper_Right": 0.47286247896025496,
      "block_1-gripper_Left": 0.11031184150412784,
      "block_1-gripper_Right": 0.44671057729125047,
      "cube 1 lift distance": 0.00013369370611193698,
      "cube 2 lift distance": 0.06728286812110684
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.680201675157265,
    "bimanual_gripper_vertical_difference": 0.06082602669671215,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.084515333175659,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1762456162980677,
      "block_0-gripper_Right": 0.47292360288042457,
      "block_1-gripper_Left": 0.11033313493337883,
      "block_1-gripper_Right": 0.447345560291232,
      "cube 1 lift distance": 0.00013370105426002699,
      "cube 2 lift distance": 0.06645716614233765
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6758172296392991,
    "bimanual_gripper_vertical_difference": 0.06089434459658372,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.1087193489074707,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.175737185786859,
      "block_0-gripper_Right": 0.47281003534522764,
      "block_1-gripper_Left": 0.11034970894830481,
      "block_1-gripper_Right": 0.44758538919886237,
      "cube 1 lift distance": 0.00013370840395721117,
      "cube 2 lift distance": 0.06579924081290178
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.671162116317835,
    "bimanual_gripper_vertical_difference": 0.0609665689102394,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.132028579711914,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.17654955652908702,
      "block_0-gripper_Right": 0.472603839005196,
      "block_1-gripper_Left": 0.11683251918481079,
      "block_1-gripper_Right": 0.4481247053377723,
      "cube 1 lift distance": 0.00013371575520282342,
      "cube 2 lift distance": 0.06054714176652487
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6671781241190767,
    "bimanual_gripper_vertical_difference": 0.06103114688734346,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 0.0
  },
  {
    "completion_time": 3.155869722366333,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0,
      "object_2": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "target_distance": {
      "block_0-gripper_Left": 0.1782228338428084,
      "block_0-gripper_Right": 0.4725304776983984,
      "block_1-gripper_Left": 0.13908914126006802,
      "block_1-gripper_Right": 0.4562195987055714,
      "cube 1 lift distance": 0.0001337231079977519,
      "cube 2 lift distance": 0.0401740518268221
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 0.6640482698196796,
    "bimanual_gripper_vertical_difference": 0.061080745344983284,
    "task_stage_reached": {
      "1": true,
      "3": true
    },
    "task_success": 1.0
  }
]