diff --git "a/demos/rigid_body/PlugCharger-v0/trajectory.json" "b/demos/rigid_body/PlugCharger-v0/trajectory.json"
new file mode 100644--- /dev/null
+++ "b/demos/rigid_body/PlugCharger-v0/trajectory.json"
@@ -0,0 +1,15016 @@
+{
+  "env_info": {
+    "env_id": "PlugCharger-v0",
+    "max_episode_steps": 200,
+    "env_kwargs": {
+      "obs_mode": "none",
+      "control_mode": "pd_joint_pos"
+    }
+  },
+  "commit_info": {
+    "commit_id": "475c3725c7f3fc4f2266b5de583313bba0a37fdf",
+    "branch": "main"
+  },
+  "episodes": [
+    {
+      "episode_id": 0,
+      "episode_seed": 0,
+      "reset_kwargs": {
+        "seed": 0
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00030661572236567736,
+        "obj_to_goal_angle": 0.0032002059462845622,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 1,
+      "episode_seed": 2,
+      "reset_kwargs": {
+        "seed": 2
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.00025115671451203525,
+        "obj_to_goal_angle": 0.002660230892972848,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 2,
+      "episode_seed": 3,
+      "reset_kwargs": {
+        "seed": 3
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0003743019769899547,
+        "obj_to_goal_angle": 0.002811959069990877,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 3,
+      "episode_seed": 5,
+      "reset_kwargs": {
+        "seed": 5
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.000776444561779499,
+        "obj_to_goal_angle": 0.000793993283626726,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 4,
+      "episode_seed": 6,
+      "reset_kwargs": {
+        "seed": 6
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0013979477807879448,
+        "obj_to_goal_angle": 0.0013831362608973663,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 5,
+      "episode_seed": 7,
+      "reset_kwargs": {
+        "seed": 7
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.00047235560487024486,
+        "obj_to_goal_angle": 0.0011662080538537012,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 6,
+      "episode_seed": 9,
+      "reset_kwargs": {
+        "seed": 9
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.0003150225675199181,
+        "obj_to_goal_angle": 0.0023997563022764012,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 7,
+      "episode_seed": 11,
+      "reset_kwargs": {
+        "seed": 11
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0004143998376093805,
+        "obj_to_goal_angle": 0.0013232413419395073,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 8,
+      "episode_seed": 15,
+      "reset_kwargs": {
+        "seed": 15
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0012029522331431508,
+        "obj_to_goal_angle": 0.0027137806035328893,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 9,
+      "episode_seed": 16,
+      "reset_kwargs": {
+        "seed": 16
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.000327218760503456,
+        "obj_to_goal_angle": 0.003016070043948993,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 10,
+      "episode_seed": 17,
+      "reset_kwargs": {
+        "seed": 17
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.00017201947048306465,
+        "obj_to_goal_angle": 0.0016394888660125062,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 11,
+      "episode_seed": 18,
+      "reset_kwargs": {
+        "seed": 18
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0001592611224623397,
+        "obj_to_goal_angle": 0.0013093117334062043,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 12,
+      "episode_seed": 19,
+      "reset_kwargs": {
+        "seed": 19
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.0004804526106454432,
+        "obj_to_goal_angle": 0.001569132084128455,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 13,
+      "episode_seed": 20,
+      "reset_kwargs": {
+        "seed": 20
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00044905455433763564,
+        "obj_to_goal_angle": 0.0011125699528724553,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 14,
+      "episode_seed": 21,
+      "reset_kwargs": {
+        "seed": 21
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 167,
+      "info": {
+        "elapsed_steps": 167,
+        "obj_to_goal_dist": 0.0004676930548157543,
+        "obj_to_goal_angle": 0.00242329870987934,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 15,
+      "episode_seed": 22,
+      "reset_kwargs": {
+        "seed": 22
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.00032891612499952316,
+        "obj_to_goal_angle": 0.001083601591219896,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 16,
+      "episode_seed": 23,
+      "reset_kwargs": {
+        "seed": 23
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0003665024705696851,
+        "obj_to_goal_angle": 0.0013660007298854637,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 17,
+      "episode_seed": 26,
+      "reset_kwargs": {
+        "seed": 26
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 167,
+      "info": {
+        "elapsed_steps": 167,
+        "obj_to_goal_dist": 0.000500730297062546,
+        "obj_to_goal_angle": 0.0012843044098955758,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 18,
+      "episode_seed": 27,
+      "reset_kwargs": {
+        "seed": 27
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0005007061990909278,
+        "obj_to_goal_angle": 0.0017269963157264812,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 19,
+      "episode_seed": 28,
+      "reset_kwargs": {
+        "seed": 28
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.0008154235547408462,
+        "obj_to_goal_angle": 0.0035912942310147855,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 20,
+      "episode_seed": 29,
+      "reset_kwargs": {
+        "seed": 29
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.0011572883231565356,
+        "obj_to_goal_angle": 0.0017144008602052452,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 21,
+      "episode_seed": 30,
+      "reset_kwargs": {
+        "seed": 30
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.00047952422755770385,
+        "obj_to_goal_angle": 0.0030627933045117572,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 22,
+      "episode_seed": 31,
+      "reset_kwargs": {
+        "seed": 31
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.00031637452775612473,
+        "obj_to_goal_angle": 0.001349252749452745,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 23,
+      "episode_seed": 32,
+      "reset_kwargs": {
+        "seed": 32
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.0006922422908246517,
+        "obj_to_goal_angle": 0.00022152417468035424,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 24,
+      "episode_seed": 33,
+      "reset_kwargs": {
+        "seed": 33
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.0005661557661369443,
+        "obj_to_goal_angle": 0.002852242775438718,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 25,
+      "episode_seed": 35,
+      "reset_kwargs": {
+        "seed": 35
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0004938772181048989,
+        "obj_to_goal_angle": 0.0016812714560128228,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 26,
+      "episode_seed": 37,
+      "reset_kwargs": {
+        "seed": 37
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 190,
+      "info": {
+        "elapsed_steps": 190,
+        "obj_to_goal_dist": 0.0017370765563100576,
+        "obj_to_goal_angle": 0.0022095043740266718,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 27,
+      "episode_seed": 38,
+      "reset_kwargs": {
+        "seed": 38
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.000292039243504405,
+        "obj_to_goal_angle": 0.002068506624881117,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 28,
+      "episode_seed": 39,
+      "reset_kwargs": {
+        "seed": 39
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.004747946280986071,
+        "obj_to_goal_angle": 0.001376716956049684,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 29,
+      "episode_seed": 41,
+      "reset_kwargs": {
+        "seed": 41
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.0004517858615145087,
+        "obj_to_goal_angle": 0.0019609430412028672,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 30,
+      "episode_seed": 42,
+      "reset_kwargs": {
+        "seed": 42
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.00032364550861530006,
+        "obj_to_goal_angle": 0.0012465794550955422,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 31,
+      "episode_seed": 43,
+      "reset_kwargs": {
+        "seed": 43
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 190,
+      "info": {
+        "elapsed_steps": 190,
+        "obj_to_goal_dist": 0.00047970371088013053,
+        "obj_to_goal_angle": 0.0018120667467442786,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 32,
+      "episode_seed": 44,
+      "reset_kwargs": {
+        "seed": 44
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 189,
+      "info": {
+        "elapsed_steps": 189,
+        "obj_to_goal_dist": 0.004465930629521608,
+        "obj_to_goal_angle": 0.0026799584713801394,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 33,
+      "episode_seed": 45,
+      "reset_kwargs": {
+        "seed": 45
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.0004733560490421951,
+        "obj_to_goal_angle": 0.0027229442539384863,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 34,
+      "episode_seed": 47,
+      "reset_kwargs": {
+        "seed": 47
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "info": {
+        "elapsed_steps": 128,
+        "obj_to_goal_dist": 0.0003376920649316162,
+        "obj_to_goal_angle": 0.0014051866892899056,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 35,
+      "episode_seed": 49,
+      "reset_kwargs": {
+        "seed": 49
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 197,
+      "info": {
+        "elapsed_steps": 197,
+        "obj_to_goal_dist": 0.0008779145427979529,
+        "obj_to_goal_angle": 0.001157525735804299,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 36,
+      "episode_seed": 50,
+      "reset_kwargs": {
+        "seed": 50
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.00041284356848336756,
+        "obj_to_goal_angle": 0.010280983976120872,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 37,
+      "episode_seed": 51,
+      "reset_kwargs": {
+        "seed": 51
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0005186661146581173,
+        "obj_to_goal_angle": 0.0010909396405445193,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 38,
+      "episode_seed": 52,
+      "reset_kwargs": {
+        "seed": 52
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.0005887674051336944,
+        "obj_to_goal_angle": 0.000965532372089406,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 39,
+      "episode_seed": 53,
+      "reset_kwargs": {
+        "seed": 53
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.00035911929444409907,
+        "obj_to_goal_angle": 0.0025552179344918713,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 40,
+      "episode_seed": 54,
+      "reset_kwargs": {
+        "seed": 54
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 185,
+      "info": {
+        "elapsed_steps": 185,
+        "obj_to_goal_dist": 0.0020313961431384087,
+        "obj_to_goal_angle": 0.04257595913064538,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 41,
+      "episode_seed": 55,
+      "reset_kwargs": {
+        "seed": 55
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.00033478435943834484,
+        "obj_to_goal_angle": 0.0022093922677486333,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 42,
+      "episode_seed": 57,
+      "reset_kwargs": {
+        "seed": 57
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.0002615406410768628,
+        "obj_to_goal_angle": 0.0010785285093763974,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 43,
+      "episode_seed": 58,
+      "reset_kwargs": {
+        "seed": 58
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00035625658347271383,
+        "obj_to_goal_angle": 0.004100873938522653,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 44,
+      "episode_seed": 60,
+      "reset_kwargs": {
+        "seed": 60
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "info": {
+        "elapsed_steps": 135,
+        "obj_to_goal_dist": 0.0002177450805902481,
+        "obj_to_goal_angle": 0.0010497811829859316,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 45,
+      "episode_seed": 62,
+      "reset_kwargs": {
+        "seed": 62
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.00046998090692795813,
+        "obj_to_goal_angle": 0.0012624438064934296,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 46,
+      "episode_seed": 63,
+      "reset_kwargs": {
+        "seed": 63
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 191,
+      "info": {
+        "elapsed_steps": 191,
+        "obj_to_goal_dist": 0.00010253863729303703,
+        "obj_to_goal_angle": 0.002850149145642966,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 47,
+      "episode_seed": 64,
+      "reset_kwargs": {
+        "seed": 64
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00030174784478731453,
+        "obj_to_goal_angle": 0.002624679526270768,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 48,
+      "episode_seed": 65,
+      "reset_kwargs": {
+        "seed": 65
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.00034225129638798535,
+        "obj_to_goal_angle": 0.0023866159621146465,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 49,
+      "episode_seed": 66,
+      "reset_kwargs": {
+        "seed": 66
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.00027018203400075436,
+        "obj_to_goal_angle": 0.0013278202352360324,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 50,
+      "episode_seed": 67,
+      "reset_kwargs": {
+        "seed": 67
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.00015719093789812177,
+        "obj_to_goal_angle": 0.0024964790590447095,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 51,
+      "episode_seed": 68,
+      "reset_kwargs": {
+        "seed": 68
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.0003969655081164092,
+        "obj_to_goal_angle": 0.002219485234187246,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 52,
+      "episode_seed": 71,
+      "reset_kwargs": {
+        "seed": 71
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.0002693490532692522,
+        "obj_to_goal_angle": 0.002704808849796514,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 53,
+      "episode_seed": 72,
+      "reset_kwargs": {
+        "seed": 72
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.0002500805421732366,
+        "obj_to_goal_angle": 0.0009227957397950348,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 54,
+      "episode_seed": 73,
+      "reset_kwargs": {
+        "seed": 73
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.0004219992842990905,
+        "obj_to_goal_angle": 0.0031022455921281278,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 55,
+      "episode_seed": 74,
+      "reset_kwargs": {
+        "seed": 74
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.000524757953826338,
+        "obj_to_goal_angle": 0.0015088893405694748,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 56,
+      "episode_seed": 76,
+      "reset_kwargs": {
+        "seed": 76
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.0005685656215064228,
+        "obj_to_goal_angle": 0.0020267152663278054,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 57,
+      "episode_seed": 78,
+      "reset_kwargs": {
+        "seed": 78
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0005106612807139754,
+        "obj_to_goal_angle": 0.0010399557153331074,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 58,
+      "episode_seed": 79,
+      "reset_kwargs": {
+        "seed": 79
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00044548872392624617,
+        "obj_to_goal_angle": 0.0025900230077384734,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 59,
+      "episode_seed": 80,
+      "reset_kwargs": {
+        "seed": 80
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0002851865137927234,
+        "obj_to_goal_angle": 0.0012519447997876298,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 60,
+      "episode_seed": 82,
+      "reset_kwargs": {
+        "seed": 82
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0005183142493478954,
+        "obj_to_goal_angle": 0.0025645453106912797,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 61,
+      "episode_seed": 83,
+      "reset_kwargs": {
+        "seed": 83
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0003615235036704689,
+        "obj_to_goal_angle": 0.0012532510557363707,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 62,
+      "episode_seed": 85,
+      "reset_kwargs": {
+        "seed": 85
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.00017144909361377358,
+        "obj_to_goal_angle": 0.0026249224492049805,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 63,
+      "episode_seed": 86,
+      "reset_kwargs": {
+        "seed": 86
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00037423233152367175,
+        "obj_to_goal_angle": 0.0010946322156906163,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 64,
+      "episode_seed": 87,
+      "reset_kwargs": {
+        "seed": 87
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0009349015890620649,
+        "obj_to_goal_angle": 0.0040232658183319,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 65,
+      "episode_seed": 88,
+      "reset_kwargs": {
+        "seed": 88
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.00017825650866143405,
+        "obj_to_goal_angle": 0.0017312883330298234,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 66,
+      "episode_seed": 89,
+      "reset_kwargs": {
+        "seed": 89
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.0004470293060876429,
+        "obj_to_goal_angle": 0.0018901728577382926,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 67,
+      "episode_seed": 91,
+      "reset_kwargs": {
+        "seed": 91
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.00035454894532449543,
+        "obj_to_goal_angle": 0.00117827079162236,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 68,
+      "episode_seed": 93,
+      "reset_kwargs": {
+        "seed": 93
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.0002734325244091451,
+        "obj_to_goal_angle": 0.0014870412727203686,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 69,
+      "episode_seed": 94,
+      "reset_kwargs": {
+        "seed": 94
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.0001979858207050711,
+        "obj_to_goal_angle": 0.00417675801113937,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 70,
+      "episode_seed": 95,
+      "reset_kwargs": {
+        "seed": 95
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.0010255101369693875,
+        "obj_to_goal_angle": 0.012267680399832948,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 71,
+      "episode_seed": 96,
+      "reset_kwargs": {
+        "seed": 96
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00046002797898836434,
+        "obj_to_goal_angle": 0.0012104959184044972,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 72,
+      "episode_seed": 97,
+      "reset_kwargs": {
+        "seed": 97
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.0008262920891866088,
+        "obj_to_goal_angle": 0.0019645974958955037,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 73,
+      "episode_seed": 99,
+      "reset_kwargs": {
+        "seed": 99
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.0002457150840200484,
+        "obj_to_goal_angle": 0.005148810535395398,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 74,
+      "episode_seed": 100,
+      "reset_kwargs": {
+        "seed": 100
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0002753118169493973,
+        "obj_to_goal_angle": 0.0008764670106868877,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 75,
+      "episode_seed": 102,
+      "reset_kwargs": {
+        "seed": 102
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.00032922421814873815,
+        "obj_to_goal_angle": 0.0010150199844174423,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 76,
+      "episode_seed": 103,
+      "reset_kwargs": {
+        "seed": 103
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00013545503315981477,
+        "obj_to_goal_angle": 0.0010085151230230238,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 77,
+      "episode_seed": 105,
+      "reset_kwargs": {
+        "seed": 105
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 189,
+      "info": {
+        "elapsed_steps": 189,
+        "obj_to_goal_dist": 0.0005320459604263306,
+        "obj_to_goal_angle": 0.0016679807454123008,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 78,
+      "episode_seed": 106,
+      "reset_kwargs": {
+        "seed": 106
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0005520115955732763,
+        "obj_to_goal_angle": 0.0012488352908794909,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 79,
+      "episode_seed": 107,
+      "reset_kwargs": {
+        "seed": 107
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.00039424237911589444,
+        "obj_to_goal_angle": 0.002410760682223234,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 80,
+      "episode_seed": 108,
+      "reset_kwargs": {
+        "seed": 108
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.00027560186572372913,
+        "obj_to_goal_angle": 0.0016837900206132517,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 81,
+      "episode_seed": 109,
+      "reset_kwargs": {
+        "seed": 109
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.00013391439279075712,
+        "obj_to_goal_angle": 0.0036694359803446375,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 82,
+      "episode_seed": 110,
+      "reset_kwargs": {
+        "seed": 110
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.00037741826963610947,
+        "obj_to_goal_angle": 0.000886921841715349,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 83,
+      "episode_seed": 112,
+      "reset_kwargs": {
+        "seed": 112
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.00029684806941077113,
+        "obj_to_goal_angle": 0.001975959960753393,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 84,
+      "episode_seed": 114,
+      "reset_kwargs": {
+        "seed": 114
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0003916342684533447,
+        "obj_to_goal_angle": 0.001231655130796483,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 85,
+      "episode_seed": 115,
+      "reset_kwargs": {
+        "seed": 115
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.0004360523307695985,
+        "obj_to_goal_angle": 0.0010390999874996254,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 86,
+      "episode_seed": 116,
+      "reset_kwargs": {
+        "seed": 116
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0005582425510510802,
+        "obj_to_goal_angle": 0.0015382827797427723,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 87,
+      "episode_seed": 120,
+      "reset_kwargs": {
+        "seed": 120
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.001117665320634842,
+        "obj_to_goal_angle": 0.02406256367274029,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 88,
+      "episode_seed": 121,
+      "reset_kwargs": {
+        "seed": 121
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.00031943299109116197,
+        "obj_to_goal_angle": 0.0030754575794214034,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 89,
+      "episode_seed": 122,
+      "reset_kwargs": {
+        "seed": 122
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.00046028124052099884,
+        "obj_to_goal_angle": 0.0009349028922915892,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 90,
+      "episode_seed": 124,
+      "reset_kwargs": {
+        "seed": 124
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "info": {
+        "elapsed_steps": 130,
+        "obj_to_goal_dist": 0.00028052940615452826,
+        "obj_to_goal_angle": 0.0011733124221109392,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 91,
+      "episode_seed": 125,
+      "reset_kwargs": {
+        "seed": 125
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0004431921406649053,
+        "obj_to_goal_angle": 0.0008070130311983448,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 92,
+      "episode_seed": 126,
+      "reset_kwargs": {
+        "seed": 126
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0003202999650966376,
+        "obj_to_goal_angle": 0.0016889540335691677,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 93,
+      "episode_seed": 127,
+      "reset_kwargs": {
+        "seed": 127
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00046068779192864895,
+        "obj_to_goal_angle": 0.0008070841554816965,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 94,
+      "episode_seed": 129,
+      "reset_kwargs": {
+        "seed": 129
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0004014794831164181,
+        "obj_to_goal_angle": 0.0027372111067860416,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 95,
+      "episode_seed": 130,
+      "reset_kwargs": {
+        "seed": 130
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.0005438265507109463,
+        "obj_to_goal_angle": 0.001392532738465846,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 96,
+      "episode_seed": 133,
+      "reset_kwargs": {
+        "seed": 133
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0003553408896550536,
+        "obj_to_goal_angle": 0.002546412219853522,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 97,
+      "episode_seed": 136,
+      "reset_kwargs": {
+        "seed": 136
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "info": {
+        "elapsed_steps": 135,
+        "obj_to_goal_dist": 0.00020623646560125053,
+        "obj_to_goal_angle": 0.0027282236335706145,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 98,
+      "episode_seed": 139,
+      "reset_kwargs": {
+        "seed": 139
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.000456980022136122,
+        "obj_to_goal_angle": 0.001248194646923828,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 99,
+      "episode_seed": 140,
+      "reset_kwargs": {
+        "seed": 140
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.00016118916391860694,
+        "obj_to_goal_angle": 0.00173740314702453,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 100,
+      "episode_seed": 143,
+      "reset_kwargs": {
+        "seed": 143
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0005636135465465486,
+        "obj_to_goal_angle": 0.0016270664037358884,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 101,
+      "episode_seed": 144,
+      "reset_kwargs": {
+        "seed": 144
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.00022996550251264125,
+        "obj_to_goal_angle": 0.003145051042571012,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 102,
+      "episode_seed": 145,
+      "reset_kwargs": {
+        "seed": 145
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.00038369171670638025,
+        "obj_to_goal_angle": 0.0011679474891233,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 103,
+      "episode_seed": 146,
+      "reset_kwargs": {
+        "seed": 146
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.0005009343731217086,
+        "obj_to_goal_angle": 0.002593002654541543,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 104,
+      "episode_seed": 151,
+      "reset_kwargs": {
+        "seed": 151
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.00047457797336392105,
+        "obj_to_goal_angle": 0.0029090340661612757,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 105,
+      "episode_seed": 153,
+      "reset_kwargs": {
+        "seed": 153
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.00047202789573930204,
+        "obj_to_goal_angle": 0.002499982472531137,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 106,
+      "episode_seed": 154,
+      "reset_kwargs": {
+        "seed": 154
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0002024992718361318,
+        "obj_to_goal_angle": 0.0010335982862121895,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 107,
+      "episode_seed": 156,
+      "reset_kwargs": {
+        "seed": 156
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.0004445552476681769,
+        "obj_to_goal_angle": 0.0012353993504268246,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 108,
+      "episode_seed": 157,
+      "reset_kwargs": {
+        "seed": 157
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 174,
+      "info": {
+        "elapsed_steps": 174,
+        "obj_to_goal_dist": 0.0005171903176233172,
+        "obj_to_goal_angle": 0.0021561595042278725,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 109,
+      "episode_seed": 158,
+      "reset_kwargs": {
+        "seed": 158
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0004463049990590662,
+        "obj_to_goal_angle": 0.0009740444156998151,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 110,
+      "episode_seed": 159,
+      "reset_kwargs": {
+        "seed": 159
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.0005076269153505564,
+        "obj_to_goal_angle": 0.0018478851102239346,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 111,
+      "episode_seed": 160,
+      "reset_kwargs": {
+        "seed": 160
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.0036611338146030903,
+        "obj_to_goal_angle": 0.0009828750402656183,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 112,
+      "episode_seed": 161,
+      "reset_kwargs": {
+        "seed": 161
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.0026559880934655666,
+        "obj_to_goal_angle": 0.0010773863668847028,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 113,
+      "episode_seed": 162,
+      "reset_kwargs": {
+        "seed": 162
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0003958268789574504,
+        "obj_to_goal_angle": 0.001825378709961356,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 114,
+      "episode_seed": 164,
+      "reset_kwargs": {
+        "seed": 164
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0002502180577721447,
+        "obj_to_goal_angle": 0.0012496466695504083,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 115,
+      "episode_seed": 166,
+      "reset_kwargs": {
+        "seed": 166
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0001718936109682545,
+        "obj_to_goal_angle": 0.0009719850348774983,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 116,
+      "episode_seed": 168,
+      "reset_kwargs": {
+        "seed": 168
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 6.29691276117228e-05,
+        "obj_to_goal_angle": 0.003183168039722517,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 117,
+      "episode_seed": 169,
+      "reset_kwargs": {
+        "seed": 169
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.00045799987856298685,
+        "obj_to_goal_angle": 0.00140343817807409,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 118,
+      "episode_seed": 170,
+      "reset_kwargs": {
+        "seed": 170
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.0002460540272295475,
+        "obj_to_goal_angle": 0.001210839314906842,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 119,
+      "episode_seed": 171,
+      "reset_kwargs": {
+        "seed": 171
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0003826503816526383,
+        "obj_to_goal_angle": 0.001212558295621946,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 120,
+      "episode_seed": 172,
+      "reset_kwargs": {
+        "seed": 172
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00040257663931697607,
+        "obj_to_goal_angle": 0.0012014235029953468,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 121,
+      "episode_seed": 173,
+      "reset_kwargs": {
+        "seed": 173
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0003111287660431117,
+        "obj_to_goal_angle": 0.0010685312223852605,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 122,
+      "episode_seed": 174,
+      "reset_kwargs": {
+        "seed": 174
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.000529493554495275,
+        "obj_to_goal_angle": 0.0018320083049045977,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 123,
+      "episode_seed": 176,
+      "reset_kwargs": {
+        "seed": 176
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0003386660246178508,
+        "obj_to_goal_angle": 0.0011848671388783316,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 124,
+      "episode_seed": 177,
+      "reset_kwargs": {
+        "seed": 177
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.0003227638953831047,
+        "obj_to_goal_angle": 0.002545882311172143,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 125,
+      "episode_seed": 178,
+      "reset_kwargs": {
+        "seed": 178
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0029731220565736294,
+        "obj_to_goal_angle": 0.05334085626549889,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 126,
+      "episode_seed": 180,
+      "reset_kwargs": {
+        "seed": 180
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 197,
+      "info": {
+        "elapsed_steps": 197,
+        "obj_to_goal_dist": 0.0002935173688456416,
+        "obj_to_goal_angle": 0.0019490100127006471,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 127,
+      "episode_seed": 181,
+      "reset_kwargs": {
+        "seed": 181
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.00033257738687098026,
+        "obj_to_goal_angle": 0.0018579322831664413,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 128,
+      "episode_seed": 183,
+      "reset_kwargs": {
+        "seed": 183
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0011390309082344174,
+        "obj_to_goal_angle": 0.0014425759514313796,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 129,
+      "episode_seed": 184,
+      "reset_kwargs": {
+        "seed": 184
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 197,
+      "info": {
+        "elapsed_steps": 197,
+        "obj_to_goal_dist": 0.00043790298514068127,
+        "obj_to_goal_angle": 0.0014561120868936683,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 130,
+      "episode_seed": 185,
+      "reset_kwargs": {
+        "seed": 185
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.00030460229027085006,
+        "obj_to_goal_angle": 0.0011365161282306246,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 131,
+      "episode_seed": 186,
+      "reset_kwargs": {
+        "seed": 186
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00019817646534647793,
+        "obj_to_goal_angle": 0.0009656761945491255,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 132,
+      "episode_seed": 188,
+      "reset_kwargs": {
+        "seed": 188
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0004593816411215812,
+        "obj_to_goal_angle": 0.0032657149090979942,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 133,
+      "episode_seed": 189,
+      "reset_kwargs": {
+        "seed": 189
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0002136783004971221,
+        "obj_to_goal_angle": 0.0012123954240221835,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 134,
+      "episode_seed": 190,
+      "reset_kwargs": {
+        "seed": 190
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0006452614325098693,
+        "obj_to_goal_angle": 0.0076331962462665714,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 135,
+      "episode_seed": 191,
+      "reset_kwargs": {
+        "seed": 191
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.00046927202492952347,
+        "obj_to_goal_angle": 0.0012773012152766938,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 136,
+      "episode_seed": 192,
+      "reset_kwargs": {
+        "seed": 192
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.00031092623248696327,
+        "obj_to_goal_angle": 0.0010832870807826467,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 137,
+      "episode_seed": 193,
+      "reset_kwargs": {
+        "seed": 193
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.0002341724029975012,
+        "obj_to_goal_angle": 0.003199178088763688,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 138,
+      "episode_seed": 196,
+      "reset_kwargs": {
+        "seed": 196
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.000775595661252737,
+        "obj_to_goal_angle": 0.001776741959390371,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 139,
+      "episode_seed": 197,
+      "reset_kwargs": {
+        "seed": 197
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 199,
+      "info": {
+        "elapsed_steps": 199,
+        "obj_to_goal_dist": 0.0005684100324288011,
+        "obj_to_goal_angle": 0.0026743168067486778,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 140,
+      "episode_seed": 198,
+      "reset_kwargs": {
+        "seed": 198
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 195,
+      "info": {
+        "elapsed_steps": 195,
+        "obj_to_goal_dist": 0.00023629899078514427,
+        "obj_to_goal_angle": 0.001985596275305923,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 141,
+      "episode_seed": 199,
+      "reset_kwargs": {
+        "seed": 199
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0004195712099317461,
+        "obj_to_goal_angle": 0.0015000839510515007,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 142,
+      "episode_seed": 201,
+      "reset_kwargs": {
+        "seed": 201
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.00047104331315495074,
+        "obj_to_goal_angle": 0.0014430098193480845,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 143,
+      "episode_seed": 203,
+      "reset_kwargs": {
+        "seed": 203
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.0005357822519727051,
+        "obj_to_goal_angle": 0.011103154453415698,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 144,
+      "episode_seed": 206,
+      "reset_kwargs": {
+        "seed": 206
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.0004511406586971134,
+        "obj_to_goal_angle": 0.002093656380742104,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 145,
+      "episode_seed": 207,
+      "reset_kwargs": {
+        "seed": 207
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 9.472217789152637e-05,
+        "obj_to_goal_angle": 0.002924971273954746,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 146,
+      "episode_seed": 209,
+      "reset_kwargs": {
+        "seed": 209
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.0014554073568433523,
+        "obj_to_goal_angle": 0.0020995106604209113,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 147,
+      "episode_seed": 210,
+      "reset_kwargs": {
+        "seed": 210
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.000551743374671787,
+        "obj_to_goal_angle": 0.0008440820745692079,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 148,
+      "episode_seed": 213,
+      "reset_kwargs": {
+        "seed": 213
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0003618447808548808,
+        "obj_to_goal_angle": 0.0013804921727658126,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 149,
+      "episode_seed": 214,
+      "reset_kwargs": {
+        "seed": 214
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 189,
+      "info": {
+        "elapsed_steps": 189,
+        "obj_to_goal_dist": 0.0006879714783281088,
+        "obj_to_goal_angle": 0.0012691522543137879,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 150,
+      "episode_seed": 215,
+      "reset_kwargs": {
+        "seed": 215
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0003912785614375025,
+        "obj_to_goal_angle": 0.001605003302894481,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 151,
+      "episode_seed": 217,
+      "reset_kwargs": {
+        "seed": 217
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0005121812573634088,
+        "obj_to_goal_angle": 0.001286395562182463,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 152,
+      "episode_seed": 218,
+      "reset_kwargs": {
+        "seed": 218
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.0006207505939528346,
+        "obj_to_goal_angle": 0.0015114845424379908,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 153,
+      "episode_seed": 219,
+      "reset_kwargs": {
+        "seed": 219
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.00031573980231769383,
+        "obj_to_goal_angle": 0.0013446494350981553,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 154,
+      "episode_seed": 220,
+      "reset_kwargs": {
+        "seed": 220
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0004014069272670895,
+        "obj_to_goal_angle": 0.002893955523685321,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 155,
+      "episode_seed": 222,
+      "reset_kwargs": {
+        "seed": 222
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.0001484364620409906,
+        "obj_to_goal_angle": 0.0030986903026386514,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 156,
+      "episode_seed": 224,
+      "reset_kwargs": {
+        "seed": 224
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.00034901394974440336,
+        "obj_to_goal_angle": 0.002181191256245718,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 157,
+      "episode_seed": 225,
+      "reset_kwargs": {
+        "seed": 225
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.0004122245009057224,
+        "obj_to_goal_angle": 0.0016173095741374155,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 158,
+      "episode_seed": 227,
+      "reset_kwargs": {
+        "seed": 227
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.0020180733408778906,
+        "obj_to_goal_angle": 0.05276336163897355,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 159,
+      "episode_seed": 228,
+      "reset_kwargs": {
+        "seed": 228
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0001755109115038067,
+        "obj_to_goal_angle": 0.003528071276240219,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 160,
+      "episode_seed": 229,
+      "reset_kwargs": {
+        "seed": 229
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "info": {
+        "elapsed_steps": 129,
+        "obj_to_goal_dist": 0.00024382521223742515,
+        "obj_to_goal_angle": 0.0010347698075490186,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 161,
+      "episode_seed": 230,
+      "reset_kwargs": {
+        "seed": 230
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 191,
+      "info": {
+        "elapsed_steps": 191,
+        "obj_to_goal_dist": 0.00010887965618167073,
+        "obj_to_goal_angle": 0.0008970643619337082,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 162,
+      "episode_seed": 231,
+      "reset_kwargs": {
+        "seed": 231
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.004607680719345808,
+        "obj_to_goal_angle": 0.000988200461087274,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 163,
+      "episode_seed": 232,
+      "reset_kwargs": {
+        "seed": 232
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0002881114196497947,
+        "obj_to_goal_angle": 0.0010669205260285253,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 164,
+      "episode_seed": 233,
+      "reset_kwargs": {
+        "seed": 233
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.00045231173862703145,
+        "obj_to_goal_angle": 0.0014264365881313523,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 165,
+      "episode_seed": 234,
+      "reset_kwargs": {
+        "seed": 234
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0009388926555402577,
+        "obj_to_goal_angle": 0.001720379853413334,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 166,
+      "episode_seed": 238,
+      "reset_kwargs": {
+        "seed": 238
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0006386115564964712,
+        "obj_to_goal_angle": 0.0010473828524961704,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 167,
+      "episode_seed": 239,
+      "reset_kwargs": {
+        "seed": 239
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00025633879704400897,
+        "obj_to_goal_angle": 0.0012250693046409467,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 168,
+      "episode_seed": 240,
+      "reset_kwargs": {
+        "seed": 240
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0004732730449177325,
+        "obj_to_goal_angle": 0.0019821055341173732,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 169,
+      "episode_seed": 242,
+      "reset_kwargs": {
+        "seed": 242
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "info": {
+        "elapsed_steps": 198,
+        "obj_to_goal_dist": 0.0004914860473945737,
+        "obj_to_goal_angle": 0.0005820922805623852,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 170,
+      "episode_seed": 243,
+      "reset_kwargs": {
+        "seed": 243
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00020228650828357786,
+        "obj_to_goal_angle": 0.00210178396479499,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 171,
+      "episode_seed": 244,
+      "reset_kwargs": {
+        "seed": 244
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "info": {
+        "elapsed_steps": 130,
+        "obj_to_goal_dist": 0.00020726029470097274,
+        "obj_to_goal_angle": 0.0013079390508750066,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 172,
+      "episode_seed": 245,
+      "reset_kwargs": {
+        "seed": 245
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.001116267521865666,
+        "obj_to_goal_angle": 0.002087743152006105,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 173,
+      "episode_seed": 246,
+      "reset_kwargs": {
+        "seed": 246
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00019592110766097903,
+        "obj_to_goal_angle": 0.004540736960978009,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 174,
+      "episode_seed": 247,
+      "reset_kwargs": {
+        "seed": 247
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00020048908481840044,
+        "obj_to_goal_angle": 0.002368617940413209,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 175,
+      "episode_seed": 249,
+      "reset_kwargs": {
+        "seed": 249
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.00011932149209314957,
+        "obj_to_goal_angle": 0.0038969649712932153,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 176,
+      "episode_seed": 250,
+      "reset_kwargs": {
+        "seed": 250
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.0002931609924416989,
+        "obj_to_goal_angle": 0.0010960747010209104,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 177,
+      "episode_seed": 251,
+      "reset_kwargs": {
+        "seed": 251
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.0005172505043447018,
+        "obj_to_goal_angle": 0.002779930314630974,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 178,
+      "episode_seed": 252,
+      "reset_kwargs": {
+        "seed": 252
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.0003783859428949654,
+        "obj_to_goal_angle": 0.0009817527925486402,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 179,
+      "episode_seed": 253,
+      "reset_kwargs": {
+        "seed": 253
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00033338830689899623,
+        "obj_to_goal_angle": 0.0010017619441384795,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 180,
+      "episode_seed": 254,
+      "reset_kwargs": {
+        "seed": 254
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.00029059118242003024,
+        "obj_to_goal_angle": 0.0016017756751347534,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 181,
+      "episode_seed": 255,
+      "reset_kwargs": {
+        "seed": 255
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.000442242220742628,
+        "obj_to_goal_angle": 0.003197319896496964,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 182,
+      "episode_seed": 256,
+      "reset_kwargs": {
+        "seed": 256
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.00025816878769546747,
+        "obj_to_goal_angle": 0.0011408231076615039,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 183,
+      "episode_seed": 259,
+      "reset_kwargs": {
+        "seed": 259
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.00043632887536659837,
+        "obj_to_goal_angle": 0.002065874660609701,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 184,
+      "episode_seed": 260,
+      "reset_kwargs": {
+        "seed": 260
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.00041985398274846375,
+        "obj_to_goal_angle": 0.0010033913669831307,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 185,
+      "episode_seed": 261,
+      "reset_kwargs": {
+        "seed": 261
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 174,
+      "info": {
+        "elapsed_steps": 174,
+        "obj_to_goal_dist": 0.0010951178846880794,
+        "obj_to_goal_angle": 0.0011743361734000146,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 186,
+      "episode_seed": 262,
+      "reset_kwargs": {
+        "seed": 262
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0004678740515373647,
+        "obj_to_goal_angle": 0.0013321311917442458,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 187,
+      "episode_seed": 263,
+      "reset_kwargs": {
+        "seed": 263
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0005087557365186512,
+        "obj_to_goal_angle": 0.0016801771621262063,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 188,
+      "episode_seed": 265,
+      "reset_kwargs": {
+        "seed": 265
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.00012380944099277258,
+        "obj_to_goal_angle": 0.001589678890603352,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 189,
+      "episode_seed": 266,
+      "reset_kwargs": {
+        "seed": 266
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.00040296497172676027,
+        "obj_to_goal_angle": 0.0013321059472506391,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 190,
+      "episode_seed": 267,
+      "reset_kwargs": {
+        "seed": 267
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0003799416299443692,
+        "obj_to_goal_angle": 0.0011996441036199457,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 191,
+      "episode_seed": 268,
+      "reset_kwargs": {
+        "seed": 268
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.0001882866636151448,
+        "obj_to_goal_angle": 0.002263707378287627,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 192,
+      "episode_seed": 269,
+      "reset_kwargs": {
+        "seed": 269
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0003786263696383685,
+        "obj_to_goal_angle": 0.0010168604614095855,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 193,
+      "episode_seed": 271,
+      "reset_kwargs": {
+        "seed": 271
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 185,
+      "info": {
+        "elapsed_steps": 185,
+        "obj_to_goal_dist": 0.0002597820130176842,
+        "obj_to_goal_angle": 0.0012010755021414354,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 194,
+      "episode_seed": 272,
+      "reset_kwargs": {
+        "seed": 272
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.00034166438854299486,
+        "obj_to_goal_angle": 0.003070916177884797,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 195,
+      "episode_seed": 273,
+      "reset_kwargs": {
+        "seed": 273
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.0005079992697574198,
+        "obj_to_goal_angle": 0.002413920300841532,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 196,
+      "episode_seed": 274,
+      "reset_kwargs": {
+        "seed": 274
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0005312486318871379,
+        "obj_to_goal_angle": 0.004123250533054623,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 197,
+      "episode_seed": 275,
+      "reset_kwargs": {
+        "seed": 275
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.0005164346075616777,
+        "obj_to_goal_angle": 0.0013200456847313191,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 198,
+      "episode_seed": 277,
+      "reset_kwargs": {
+        "seed": 277
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 196,
+      "info": {
+        "elapsed_steps": 196,
+        "obj_to_goal_dist": 0.0004462106735445559,
+        "obj_to_goal_angle": 0.0014348254928888693,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 199,
+      "episode_seed": 278,
+      "reset_kwargs": {
+        "seed": 278
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0004447222745511681,
+        "obj_to_goal_angle": 0.0014784726552772298,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 200,
+      "episode_seed": 279,
+      "reset_kwargs": {
+        "seed": 279
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "info": {
+        "elapsed_steps": 198,
+        "obj_to_goal_dist": 0.000814000319223851,
+        "obj_to_goal_angle": 0.013314842975258756,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 201,
+      "episode_seed": 280,
+      "reset_kwargs": {
+        "seed": 280
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "info": {
+        "elapsed_steps": 130,
+        "obj_to_goal_dist": 0.00022903448552824557,
+        "obj_to_goal_angle": 0.0010258639276878867,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 202,
+      "episode_seed": 281,
+      "reset_kwargs": {
+        "seed": 281
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0001076452317647636,
+        "obj_to_goal_angle": 0.0029204831433373712,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 203,
+      "episode_seed": 282,
+      "reset_kwargs": {
+        "seed": 282
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.00037206674460321665,
+        "obj_to_goal_angle": 0.003221577558574218,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 204,
+      "episode_seed": 283,
+      "reset_kwargs": {
+        "seed": 283
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0003930269449483603,
+        "obj_to_goal_angle": 0.0013654173194215247,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 205,
+      "episode_seed": 284,
+      "reset_kwargs": {
+        "seed": 284
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.0006069529335945845,
+        "obj_to_goal_angle": 0.0016196796741709818,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 206,
+      "episode_seed": 285,
+      "reset_kwargs": {
+        "seed": 285
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.0005353942979127169,
+        "obj_to_goal_angle": 0.001648154899413612,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 207,
+      "episode_seed": 286,
+      "reset_kwargs": {
+        "seed": 286
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0003217433113604784,
+        "obj_to_goal_angle": 0.0015493278169023128,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 208,
+      "episode_seed": 287,
+      "reset_kwargs": {
+        "seed": 287
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.0004359000886324793,
+        "obj_to_goal_angle": 0.001130112659899929,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 209,
+      "episode_seed": 288,
+      "reset_kwargs": {
+        "seed": 288
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.004788034129887819,
+        "obj_to_goal_angle": 0.0017678854676717037,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 210,
+      "episode_seed": 289,
+      "reset_kwargs": {
+        "seed": 289
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.0005964318988844752,
+        "obj_to_goal_angle": 0.0022382750657472528,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 211,
+      "episode_seed": 290,
+      "reset_kwargs": {
+        "seed": 290
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0004757161077577621,
+        "obj_to_goal_angle": 0.0017875040024488698,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 212,
+      "episode_seed": 291,
+      "reset_kwargs": {
+        "seed": 291
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.0003025108017027378,
+        "obj_to_goal_angle": 0.001097323245683235,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 213,
+      "episode_seed": 292,
+      "reset_kwargs": {
+        "seed": 292
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0004597071965690702,
+        "obj_to_goal_angle": 0.002904109944658728,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 214,
+      "episode_seed": 293,
+      "reset_kwargs": {
+        "seed": 293
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0006362993153743446,
+        "obj_to_goal_angle": 0.0015009471838247634,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 215,
+      "episode_seed": 294,
+      "reset_kwargs": {
+        "seed": 294
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.004492513835430145,
+        "obj_to_goal_angle": 0.0012922257660594738,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 216,
+      "episode_seed": 295,
+      "reset_kwargs": {
+        "seed": 295
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0001257371623069048,
+        "obj_to_goal_angle": 0.0021634984072873564,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 217,
+      "episode_seed": 296,
+      "reset_kwargs": {
+        "seed": 296
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.0005351876607164741,
+        "obj_to_goal_angle": 0.0017532573202494461,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 218,
+      "episode_seed": 299,
+      "reset_kwargs": {
+        "seed": 299
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0002929620968643576,
+        "obj_to_goal_angle": 0.0009555174079194373,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 219,
+      "episode_seed": 300,
+      "reset_kwargs": {
+        "seed": 300
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0004986514104530215,
+        "obj_to_goal_angle": 0.002630584372955269,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 220,
+      "episode_seed": 301,
+      "reset_kwargs": {
+        "seed": 301
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0001912871521199122,
+        "obj_to_goal_angle": 0.0011222334913787435,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 221,
+      "episode_seed": 302,
+      "reset_kwargs": {
+        "seed": 302
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0001257685071323067,
+        "obj_to_goal_angle": 0.0013059848528413909,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 222,
+      "episode_seed": 303,
+      "reset_kwargs": {
+        "seed": 303
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.00028261839179322124,
+        "obj_to_goal_angle": 0.0029889624355998734,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 223,
+      "episode_seed": 304,
+      "reset_kwargs": {
+        "seed": 304
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 9.977156878449023e-05,
+        "obj_to_goal_angle": 0.0022798107403971812,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 224,
+      "episode_seed": 305,
+      "reset_kwargs": {
+        "seed": 305
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.00028636379283852875,
+        "obj_to_goal_angle": 0.0011812952469627547,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 225,
+      "episode_seed": 306,
+      "reset_kwargs": {
+        "seed": 306
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0004998465883545578,
+        "obj_to_goal_angle": 0.0007543335297901521,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 226,
+      "episode_seed": 311,
+      "reset_kwargs": {
+        "seed": 311
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.00034851630334742367,
+        "obj_to_goal_angle": 0.0011528685067299094,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 227,
+      "episode_seed": 312,
+      "reset_kwargs": {
+        "seed": 312
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "info": {
+        "elapsed_steps": 135,
+        "obj_to_goal_dist": 0.00021905667381361127,
+        "obj_to_goal_angle": 0.0027820523883903547,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 228,
+      "episode_seed": 313,
+      "reset_kwargs": {
+        "seed": 313
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0004418142489157617,
+        "obj_to_goal_angle": 0.001008949083050048,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 229,
+      "episode_seed": 314,
+      "reset_kwargs": {
+        "seed": 314
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 189,
+      "info": {
+        "elapsed_steps": 189,
+        "obj_to_goal_dist": 0.000516079249791801,
+        "obj_to_goal_angle": 0.002220592037293301,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 230,
+      "episode_seed": 315,
+      "reset_kwargs": {
+        "seed": 315
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.00033959149732254446,
+        "obj_to_goal_angle": 0.001539218632011341,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 231,
+      "episode_seed": 317,
+      "reset_kwargs": {
+        "seed": 317
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0005464247078634799,
+        "obj_to_goal_angle": 0.003786756844500694,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 232,
+      "episode_seed": 318,
+      "reset_kwargs": {
+        "seed": 318
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.00030306060216389596,
+        "obj_to_goal_angle": 0.004092150776777714,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 233,
+      "episode_seed": 322,
+      "reset_kwargs": {
+        "seed": 322
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0003483855980448425,
+        "obj_to_goal_angle": 0.0035595866315398794,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 234,
+      "episode_seed": 324,
+      "reset_kwargs": {
+        "seed": 324
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 185,
+      "info": {
+        "elapsed_steps": 185,
+        "obj_to_goal_dist": 0.0004139509692322463,
+        "obj_to_goal_angle": 0.0016712056131940045,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 235,
+      "episode_seed": 325,
+      "reset_kwargs": {
+        "seed": 325
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.0005861336248926818,
+        "obj_to_goal_angle": 0.0014769513414352176,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 236,
+      "episode_seed": 326,
+      "reset_kwargs": {
+        "seed": 326
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.00021810669568367302,
+        "obj_to_goal_angle": 0.006150723863131979,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 237,
+      "episode_seed": 327,
+      "reset_kwargs": {
+        "seed": 327
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.0002021456166403368,
+        "obj_to_goal_angle": 0.001687649382019707,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 238,
+      "episode_seed": 328,
+      "reset_kwargs": {
+        "seed": 328
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.0004196753725409508,
+        "obj_to_goal_angle": 0.001997980652257425,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 239,
+      "episode_seed": 329,
+      "reset_kwargs": {
+        "seed": 329
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.0004560884553939104,
+        "obj_to_goal_angle": 0.002208647076657577,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 240,
+      "episode_seed": 330,
+      "reset_kwargs": {
+        "seed": 330
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.000321756349876523,
+        "obj_to_goal_angle": 0.0013959460542753988,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 241,
+      "episode_seed": 333,
+      "reset_kwargs": {
+        "seed": 333
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 195,
+      "info": {
+        "elapsed_steps": 195,
+        "obj_to_goal_dist": 0.0010314298560842872,
+        "obj_to_goal_angle": 0.008691883675282952,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 242,
+      "episode_seed": 334,
+      "reset_kwargs": {
+        "seed": 334
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0005171989905647933,
+        "obj_to_goal_angle": 0.002176419659140727,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 243,
+      "episode_seed": 336,
+      "reset_kwargs": {
+        "seed": 336
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "info": {
+        "elapsed_steps": 135,
+        "obj_to_goal_dist": 0.0004330116789788008,
+        "obj_to_goal_angle": 0.002034535119529224,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 244,
+      "episode_seed": 338,
+      "reset_kwargs": {
+        "seed": 338
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0005537653341889381,
+        "obj_to_goal_angle": 0.0033242989788941912,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 245,
+      "episode_seed": 340,
+      "reset_kwargs": {
+        "seed": 340
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "info": {
+        "elapsed_steps": 135,
+        "obj_to_goal_dist": 0.0004004901566077024,
+        "obj_to_goal_angle": 0.0021502468597809354,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 246,
+      "episode_seed": 341,
+      "reset_kwargs": {
+        "seed": 341
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0003961024049203843,
+        "obj_to_goal_angle": 0.0013663390919296248,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 247,
+      "episode_seed": 343,
+      "reset_kwargs": {
+        "seed": 343
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.0005518712569028139,
+        "obj_to_goal_angle": 0.0032190607552289308,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 248,
+      "episode_seed": 344,
+      "reset_kwargs": {
+        "seed": 344
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.00020531058544293046,
+        "obj_to_goal_angle": 0.002513393709335787,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 249,
+      "episode_seed": 345,
+      "reset_kwargs": {
+        "seed": 345
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0002054880023933947,
+        "obj_to_goal_angle": 0.0009459084849101629,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 250,
+      "episode_seed": 346,
+      "reset_kwargs": {
+        "seed": 346
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 6.279965600697324e-05,
+        "obj_to_goal_angle": 0.002997619068371371,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 251,
+      "episode_seed": 348,
+      "reset_kwargs": {
+        "seed": 348
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.00035545599530451,
+        "obj_to_goal_angle": 0.001082915617884872,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 252,
+      "episode_seed": 350,
+      "reset_kwargs": {
+        "seed": 350
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 189,
+      "info": {
+        "elapsed_steps": 189,
+        "obj_to_goal_dist": 0.0005169137730263174,
+        "obj_to_goal_angle": 0.0016553037178175245,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 253,
+      "episode_seed": 351,
+      "reset_kwargs": {
+        "seed": 351
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0006307632429525256,
+        "obj_to_goal_angle": 0.0016699009638942997,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 254,
+      "episode_seed": 353,
+      "reset_kwargs": {
+        "seed": 353
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 199,
+      "info": {
+        "elapsed_steps": 199,
+        "obj_to_goal_dist": 0.0006404788000509143,
+        "obj_to_goal_angle": 0.0009957107422549072,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 255,
+      "episode_seed": 354,
+      "reset_kwargs": {
+        "seed": 354
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.00017416519403923303,
+        "obj_to_goal_angle": 0.0024160669805608492,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 256,
+      "episode_seed": 356,
+      "reset_kwargs": {
+        "seed": 356
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 180,
+      "info": {
+        "elapsed_steps": 180,
+        "obj_to_goal_dist": 0.00026701611932367086,
+        "obj_to_goal_angle": 0.0017815270708299025,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 257,
+      "episode_seed": 358,
+      "reset_kwargs": {
+        "seed": 358
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.00017928829765878618,
+        "obj_to_goal_angle": 0.0029919244974889736,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 258,
+      "episode_seed": 361,
+      "reset_kwargs": {
+        "seed": 361
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.00037384999450296164,
+        "obj_to_goal_angle": 0.0014806472507542523,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 259,
+      "episode_seed": 362,
+      "reset_kwargs": {
+        "seed": 362
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.0002545056922826916,
+        "obj_to_goal_angle": 0.0012187654270263693,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 260,
+      "episode_seed": 363,
+      "reset_kwargs": {
+        "seed": 363
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00037009091465733945,
+        "obj_to_goal_angle": 0.0009379827899742565,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 261,
+      "episode_seed": 364,
+      "reset_kwargs": {
+        "seed": 364
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.0002037903032032773,
+        "obj_to_goal_angle": 0.000826831616972612,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 262,
+      "episode_seed": 365,
+      "reset_kwargs": {
+        "seed": 365
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0005055026849731803,
+        "obj_to_goal_angle": 0.0020095667254746985,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 263,
+      "episode_seed": 366,
+      "reset_kwargs": {
+        "seed": 366
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00045435878564603627,
+        "obj_to_goal_angle": 0.0012204382157596783,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 264,
+      "episode_seed": 367,
+      "reset_kwargs": {
+        "seed": 367
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.0005214729462750256,
+        "obj_to_goal_angle": 0.0029288345952647177,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 265,
+      "episode_seed": 370,
+      "reset_kwargs": {
+        "seed": 370
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.0008078342652879655,
+        "obj_to_goal_angle": 0.029194681740457362,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 266,
+      "episode_seed": 371,
+      "reset_kwargs": {
+        "seed": 371
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.0005294100265018642,
+        "obj_to_goal_angle": 0.0024594354931455342,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 267,
+      "episode_seed": 372,
+      "reset_kwargs": {
+        "seed": 372
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.000451679399702698,
+        "obj_to_goal_angle": 0.0012669905650453117,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 268,
+      "episode_seed": 373,
+      "reset_kwargs": {
+        "seed": 373
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.00020888586004730314,
+        "obj_to_goal_angle": 0.002972834424705084,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 269,
+      "episode_seed": 374,
+      "reset_kwargs": {
+        "seed": 374
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.0004844540962949395,
+        "obj_to_goal_angle": 0.001076095852513781,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 270,
+      "episode_seed": 375,
+      "reset_kwargs": {
+        "seed": 375
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.00033621626789681613,
+        "obj_to_goal_angle": 0.0016268498916875984,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 271,
+      "episode_seed": 377,
+      "reset_kwargs": {
+        "seed": 377
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00046359450789168477,
+        "obj_to_goal_angle": 0.0012428609207706387,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 272,
+      "episode_seed": 378,
+      "reset_kwargs": {
+        "seed": 378
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0006093202973715961,
+        "obj_to_goal_angle": 0.012478401056321253,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 273,
+      "episode_seed": 379,
+      "reset_kwargs": {
+        "seed": 379
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.0006614876328967512,
+        "obj_to_goal_angle": 0.0019158688576856875,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 274,
+      "episode_seed": 380,
+      "reset_kwargs": {
+        "seed": 380
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.00031394182587973773,
+        "obj_to_goal_angle": 0.0014383812607094981,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 275,
+      "episode_seed": 381,
+      "reset_kwargs": {
+        "seed": 381
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.00013291706272866577,
+        "obj_to_goal_angle": 0.003098476226492508,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 276,
+      "episode_seed": 382,
+      "reset_kwargs": {
+        "seed": 382
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0006673336611129344,
+        "obj_to_goal_angle": 0.0013536341870796775,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 277,
+      "episode_seed": 383,
+      "reset_kwargs": {
+        "seed": 383
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.00020039459923282266,
+        "obj_to_goal_angle": 0.0009517026204663992,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 278,
+      "episode_seed": 384,
+      "reset_kwargs": {
+        "seed": 384
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 193,
+      "info": {
+        "elapsed_steps": 193,
+        "obj_to_goal_dist": 0.0003855176910292357,
+        "obj_to_goal_angle": 0.007600307472474199,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 279,
+      "episode_seed": 385,
+      "reset_kwargs": {
+        "seed": 385
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "info": {
+        "elapsed_steps": 129,
+        "obj_to_goal_dist": 0.0006071011885069311,
+        "obj_to_goal_angle": 0.0024880549079417946,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 280,
+      "episode_seed": 386,
+      "reset_kwargs": {
+        "seed": 386
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.0020173892844468355,
+        "obj_to_goal_angle": 0.02327917091258147,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 281,
+      "episode_seed": 387,
+      "reset_kwargs": {
+        "seed": 387
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.00045951749780215323,
+        "obj_to_goal_angle": 0.0015151687814149994,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 282,
+      "episode_seed": 388,
+      "reset_kwargs": {
+        "seed": 388
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0002708561660256237,
+        "obj_to_goal_angle": 0.0026610634676078604,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 283,
+      "episode_seed": 389,
+      "reset_kwargs": {
+        "seed": 389
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 191,
+      "info": {
+        "elapsed_steps": 191,
+        "obj_to_goal_dist": 0.0006627406110055745,
+        "obj_to_goal_angle": 0.0014180690803602403,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 284,
+      "episode_seed": 391,
+      "reset_kwargs": {
+        "seed": 391
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "info": {
+        "elapsed_steps": 135,
+        "obj_to_goal_dist": 0.00037292647175490856,
+        "obj_to_goal_angle": 0.001064225146166109,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 285,
+      "episode_seed": 393,
+      "reset_kwargs": {
+        "seed": 393
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0007441415218636394,
+        "obj_to_goal_angle": 0.001695849510070957,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 286,
+      "episode_seed": 394,
+      "reset_kwargs": {
+        "seed": 394
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.0004021720087621361,
+        "obj_to_goal_angle": 0.001825447770523958,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 287,
+      "episode_seed": 395,
+      "reset_kwargs": {
+        "seed": 395
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.00027321718516759574,
+        "obj_to_goal_angle": 0.0016684129351665078,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 288,
+      "episode_seed": 396,
+      "reset_kwargs": {
+        "seed": 396
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.0003899378061760217,
+        "obj_to_goal_angle": 0.0012792542910728955,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 289,
+      "episode_seed": 397,
+      "reset_kwargs": {
+        "seed": 397
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0005515480297617614,
+        "obj_to_goal_angle": 0.0029756719482803007,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 290,
+      "episode_seed": 401,
+      "reset_kwargs": {
+        "seed": 401
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.0006008269847370684,
+        "obj_to_goal_angle": 0.0008486673373333531,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 291,
+      "episode_seed": 402,
+      "reset_kwargs": {
+        "seed": 402
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00044060658547095954,
+        "obj_to_goal_angle": 0.0009399423392109085,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 292,
+      "episode_seed": 403,
+      "reset_kwargs": {
+        "seed": 403
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0002766884572338313,
+        "obj_to_goal_angle": 0.0018836945756550705,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 293,
+      "episode_seed": 405,
+      "reset_kwargs": {
+        "seed": 405
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.0007359788287431002,
+        "obj_to_goal_angle": 0.0019325917493482336,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 294,
+      "episode_seed": 408,
+      "reset_kwargs": {
+        "seed": 408
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.0002581232110969722,
+        "obj_to_goal_angle": 0.0022278777759803248,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 295,
+      "episode_seed": 410,
+      "reset_kwargs": {
+        "seed": 410
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.00147601671051234,
+        "obj_to_goal_angle": 0.002628248795289778,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 296,
+      "episode_seed": 411,
+      "reset_kwargs": {
+        "seed": 411
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.001037778565660119,
+        "obj_to_goal_angle": 0.002648631926430056,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 297,
+      "episode_seed": 413,
+      "reset_kwargs": {
+        "seed": 413
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 194,
+      "info": {
+        "elapsed_steps": 194,
+        "obj_to_goal_dist": 0.0004048661212436855,
+        "obj_to_goal_angle": 0.0014821543909286916,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 298,
+      "episode_seed": 414,
+      "reset_kwargs": {
+        "seed": 414
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0006120541947893798,
+        "obj_to_goal_angle": 0.0012655028897787801,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 299,
+      "episode_seed": 415,
+      "reset_kwargs": {
+        "seed": 415
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0007189473253674805,
+        "obj_to_goal_angle": 0.0015829703497187708,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 300,
+      "episode_seed": 416,
+      "reset_kwargs": {
+        "seed": 416
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0005448790616355836,
+        "obj_to_goal_angle": 0.0025711147636533482,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 301,
+      "episode_seed": 418,
+      "reset_kwargs": {
+        "seed": 418
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.0006876788684166968,
+        "obj_to_goal_angle": 0.0007929112582560904,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 302,
+      "episode_seed": 420,
+      "reset_kwargs": {
+        "seed": 420
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.00020200471044518054,
+        "obj_to_goal_angle": 0.0022663853870401596,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 303,
+      "episode_seed": 422,
+      "reset_kwargs": {
+        "seed": 422
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0003000781580340117,
+        "obj_to_goal_angle": 0.0009997691142764609,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 304,
+      "episode_seed": 423,
+      "reset_kwargs": {
+        "seed": 423
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.00035493288305588067,
+        "obj_to_goal_angle": 0.001260049470576341,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 305,
+      "episode_seed": 424,
+      "reset_kwargs": {
+        "seed": 424
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.000665142375510186,
+        "obj_to_goal_angle": 0.001680964823756348,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 306,
+      "episode_seed": 425,
+      "reset_kwargs": {
+        "seed": 425
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.0009212822769768536,
+        "obj_to_goal_angle": 0.0024582687120089375,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 307,
+      "episode_seed": 427,
+      "reset_kwargs": {
+        "seed": 427
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.0020126865711063147,
+        "obj_to_goal_angle": 0.01941177407731054,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 308,
+      "episode_seed": 428,
+      "reset_kwargs": {
+        "seed": 428
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.003567737527191639,
+        "obj_to_goal_angle": 0.05650356351507124,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 309,
+      "episode_seed": 429,
+      "reset_kwargs": {
+        "seed": 429
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.0005067611928097904,
+        "obj_to_goal_angle": 0.0013250339984818282,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 310,
+      "episode_seed": 430,
+      "reset_kwargs": {
+        "seed": 430
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.0005430468008853495,
+        "obj_to_goal_angle": 0.0013742807033025883,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 311,
+      "episode_seed": 433,
+      "reset_kwargs": {
+        "seed": 433
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.0005101287388242781,
+        "obj_to_goal_angle": 0.0028613002732740256,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 312,
+      "episode_seed": 434,
+      "reset_kwargs": {
+        "seed": 434
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.00026171517674811184,
+        "obj_to_goal_angle": 0.0009243558042388855,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 313,
+      "episode_seed": 435,
+      "reset_kwargs": {
+        "seed": 435
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.0006679044454358518,
+        "obj_to_goal_angle": 0.0029605644691130806,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 314,
+      "episode_seed": 436,
+      "reset_kwargs": {
+        "seed": 436
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.00029188432381488383,
+        "obj_to_goal_angle": 0.001372369730501255,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 315,
+      "episode_seed": 437,
+      "reset_kwargs": {
+        "seed": 437
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0010720121208578348,
+        "obj_to_goal_angle": 0.013628052955804826,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 316,
+      "episode_seed": 438,
+      "reset_kwargs": {
+        "seed": 438
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.0002701877092476934,
+        "obj_to_goal_angle": 0.001983667675361289,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 317,
+      "episode_seed": 440,
+      "reset_kwargs": {
+        "seed": 440
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 124,
+      "info": {
+        "elapsed_steps": 124,
+        "obj_to_goal_dist": 0.00024663066142238677,
+        "obj_to_goal_angle": 0.0018066633880975402,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 318,
+      "episode_seed": 444,
+      "reset_kwargs": {
+        "seed": 444
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.000653690891340375,
+        "obj_to_goal_angle": 0.0016538650998354498,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 319,
+      "episode_seed": 445,
+      "reset_kwargs": {
+        "seed": 445
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.00046658117207698524,
+        "obj_to_goal_angle": 0.002627193574555875,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 320,
+      "episode_seed": 446,
+      "reset_kwargs": {
+        "seed": 446
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.004443259444087744,
+        "obj_to_goal_angle": 0.0029578896995765547,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 321,
+      "episode_seed": 448,
+      "reset_kwargs": {
+        "seed": 448
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.00024836769443936646,
+        "obj_to_goal_angle": 0.002253379201063943,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 322,
+      "episode_seed": 449,
+      "reset_kwargs": {
+        "seed": 449
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 7.067689875839278e-05,
+        "obj_to_goal_angle": 0.0013067419034475947,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 323,
+      "episode_seed": 450,
+      "reset_kwargs": {
+        "seed": 450
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.0006345409783534706,
+        "obj_to_goal_angle": 0.003081800236966359,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 324,
+      "episode_seed": 451,
+      "reset_kwargs": {
+        "seed": 451
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00046314881183207035,
+        "obj_to_goal_angle": 0.004689108381659146,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 325,
+      "episode_seed": 452,
+      "reset_kwargs": {
+        "seed": 452
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 195,
+      "info": {
+        "elapsed_steps": 195,
+        "obj_to_goal_dist": 0.001614958280697465,
+        "obj_to_goal_angle": 0.001922972260072875,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 326,
+      "episode_seed": 454,
+      "reset_kwargs": {
+        "seed": 454
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.0003597337636165321,
+        "obj_to_goal_angle": 0.0019345053725992045,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 327,
+      "episode_seed": 455,
+      "reset_kwargs": {
+        "seed": 455
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0003337425587233156,
+        "obj_to_goal_angle": 0.002678374598469091,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 328,
+      "episode_seed": 456,
+      "reset_kwargs": {
+        "seed": 456
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0006917300634086132,
+        "obj_to_goal_angle": 0.0010714849827566653,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 329,
+      "episode_seed": 459,
+      "reset_kwargs": {
+        "seed": 459
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.00045766468974761665,
+        "obj_to_goal_angle": 0.0010786923926078273,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 330,
+      "episode_seed": 462,
+      "reset_kwargs": {
+        "seed": 462
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0003561857156455517,
+        "obj_to_goal_angle": 0.0016379724226380787,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 331,
+      "episode_seed": 464,
+      "reset_kwargs": {
+        "seed": 464
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 167,
+      "info": {
+        "elapsed_steps": 167,
+        "obj_to_goal_dist": 0.004288660362362862,
+        "obj_to_goal_angle": 0.0014216831269040497,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 332,
+      "episode_seed": 465,
+      "reset_kwargs": {
+        "seed": 465
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.00044194262591190636,
+        "obj_to_goal_angle": 0.0021898557360531257,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 333,
+      "episode_seed": 468,
+      "reset_kwargs": {
+        "seed": 468
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0004643190186470747,
+        "obj_to_goal_angle": 0.0019137678816818493,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 334,
+      "episode_seed": 469,
+      "reset_kwargs": {
+        "seed": 469
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.00028558613848872483,
+        "obj_to_goal_angle": 0.008204566714842265,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 335,
+      "episode_seed": 470,
+      "reset_kwargs": {
+        "seed": 470
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.00041894076275639236,
+        "obj_to_goal_angle": 0.0010034224707187178,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 336,
+      "episode_seed": 472,
+      "reset_kwargs": {
+        "seed": 472
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.00015647349937353283,
+        "obj_to_goal_angle": 0.0033948363762963396,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 337,
+      "episode_seed": 474,
+      "reset_kwargs": {
+        "seed": 474
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0026020994409918785,
+        "obj_to_goal_angle": 0.0456150195155951,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 338,
+      "episode_seed": 475,
+      "reset_kwargs": {
+        "seed": 475
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0005584863247349858,
+        "obj_to_goal_angle": 0.0016411574327959144,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 339,
+      "episode_seed": 476,
+      "reset_kwargs": {
+        "seed": 476
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 196,
+      "info": {
+        "elapsed_steps": 196,
+        "obj_to_goal_dist": 0.0004864582442678511,
+        "obj_to_goal_angle": 0.0016150349776431483,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 340,
+      "episode_seed": 477,
+      "reset_kwargs": {
+        "seed": 477
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0004804846248589456,
+        "obj_to_goal_angle": 0.0018808274638386635,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 341,
+      "episode_seed": 478,
+      "reset_kwargs": {
+        "seed": 478
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.0005099151749163866,
+        "obj_to_goal_angle": 0.0019991286053429036,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 342,
+      "episode_seed": 479,
+      "reset_kwargs": {
+        "seed": 479
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.0004993162583559752,
+        "obj_to_goal_angle": 0.0020361970365083693,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 343,
+      "episode_seed": 480,
+      "reset_kwargs": {
+        "seed": 480
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.0011113350046798587,
+        "obj_to_goal_angle": 0.002062582787318412,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 344,
+      "episode_seed": 481,
+      "reset_kwargs": {
+        "seed": 481
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 172,
+      "info": {
+        "elapsed_steps": 172,
+        "obj_to_goal_dist": 0.0004565561830531806,
+        "obj_to_goal_angle": 0.002103855806327104,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 345,
+      "episode_seed": 483,
+      "reset_kwargs": {
+        "seed": 483
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 180,
+      "info": {
+        "elapsed_steps": 180,
+        "obj_to_goal_dist": 0.00019218730449210852,
+        "obj_to_goal_angle": 0.0019295637851861613,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 346,
+      "episode_seed": 485,
+      "reset_kwargs": {
+        "seed": 485
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0009887455962598324,
+        "obj_to_goal_angle": 0.0017365843661947267,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 347,
+      "episode_seed": 486,
+      "reset_kwargs": {
+        "seed": 486
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0005060198018327355,
+        "obj_to_goal_angle": 0.0015800414761937276,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 348,
+      "episode_seed": 487,
+      "reset_kwargs": {
+        "seed": 487
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.0005092621431685984,
+        "obj_to_goal_angle": 0.0010459183283790807,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 349,
+      "episode_seed": 488,
+      "reset_kwargs": {
+        "seed": 488
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.0004301448352634907,
+        "obj_to_goal_angle": 0.0018749389226178081,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 350,
+      "episode_seed": 490,
+      "reset_kwargs": {
+        "seed": 490
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0004964156541973352,
+        "obj_to_goal_angle": 0.004586639408713289,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 351,
+      "episode_seed": 492,
+      "reset_kwargs": {
+        "seed": 492
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.0002507362514734268,
+        "obj_to_goal_angle": 0.0009799171603095402,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 352,
+      "episode_seed": 494,
+      "reset_kwargs": {
+        "seed": 494
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 172,
+      "info": {
+        "elapsed_steps": 172,
+        "obj_to_goal_dist": 0.0005832777824252844,
+        "obj_to_goal_angle": 0.0008239132792899895,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 353,
+      "episode_seed": 495,
+      "reset_kwargs": {
+        "seed": 495
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.00022176030324772,
+        "obj_to_goal_angle": 0.0010878917023662282,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 354,
+      "episode_seed": 496,
+      "reset_kwargs": {
+        "seed": 496
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.0004869837430305779,
+        "obj_to_goal_angle": 0.0010535898619581374,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 355,
+      "episode_seed": 498,
+      "reset_kwargs": {
+        "seed": 498
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0005843422841280699,
+        "obj_to_goal_angle": 0.009329876787168345,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 356,
+      "episode_seed": 500,
+      "reset_kwargs": {
+        "seed": 500
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.0003924557822756469,
+        "obj_to_goal_angle": 0.00047024440352494423,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 357,
+      "episode_seed": 501,
+      "reset_kwargs": {
+        "seed": 501
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.000249789678491652,
+        "obj_to_goal_angle": 0.001487264306844871,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 358,
+      "episode_seed": 502,
+      "reset_kwargs": {
+        "seed": 502
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 185,
+      "info": {
+        "elapsed_steps": 185,
+        "obj_to_goal_dist": 0.00041727288044057786,
+        "obj_to_goal_angle": 0.0016435934002432262,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 359,
+      "episode_seed": 504,
+      "reset_kwargs": {
+        "seed": 504
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.0006752628250978887,
+        "obj_to_goal_angle": 0.002830323230517351,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 360,
+      "episode_seed": 505,
+      "reset_kwargs": {
+        "seed": 505
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0009275085176341236,
+        "obj_to_goal_angle": 0.010210945720309894,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 361,
+      "episode_seed": 507,
+      "reset_kwargs": {
+        "seed": 507
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 123,
+      "info": {
+        "elapsed_steps": 123,
+        "obj_to_goal_dist": 0.00029848882695659995,
+        "obj_to_goal_angle": 0.0011649009155298984,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 362,
+      "episode_seed": 508,
+      "reset_kwargs": {
+        "seed": 508
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 172,
+      "info": {
+        "elapsed_steps": 172,
+        "obj_to_goal_dist": 0.0005785247194580734,
+        "obj_to_goal_angle": 0.0015789804417192244,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 363,
+      "episode_seed": 509,
+      "reset_kwargs": {
+        "seed": 509
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 180,
+      "info": {
+        "elapsed_steps": 180,
+        "obj_to_goal_dist": 0.0003470017109066248,
+        "obj_to_goal_angle": 0.0016210222771384508,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 364,
+      "episode_seed": 510,
+      "reset_kwargs": {
+        "seed": 510
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.00043474993435665965,
+        "obj_to_goal_angle": 0.0025232063637856683,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 365,
+      "episode_seed": 511,
+      "reset_kwargs": {
+        "seed": 511
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 180,
+      "info": {
+        "elapsed_steps": 180,
+        "obj_to_goal_dist": 0.0006187164108268917,
+        "obj_to_goal_angle": 0.0012448658707802096,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 366,
+      "episode_seed": 513,
+      "reset_kwargs": {
+        "seed": 513
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 174,
+      "info": {
+        "elapsed_steps": 174,
+        "obj_to_goal_dist": 0.0005160002619959414,
+        "obj_to_goal_angle": 0.0012840866715837507,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 367,
+      "episode_seed": 515,
+      "reset_kwargs": {
+        "seed": 515
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.00028022093465551734,
+        "obj_to_goal_angle": 0.0013389817565716555,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 368,
+      "episode_seed": 517,
+      "reset_kwargs": {
+        "seed": 517
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.00030813939520157874,
+        "obj_to_goal_angle": 0.002290228018342333,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 369,
+      "episode_seed": 519,
+      "reset_kwargs": {
+        "seed": 519
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.0004899579798802733,
+        "obj_to_goal_angle": 0.0017270256421459962,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 370,
+      "episode_seed": 520,
+      "reset_kwargs": {
+        "seed": 520
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0003810980124399066,
+        "obj_to_goal_angle": 0.0029212153870377122,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 371,
+      "episode_seed": 521,
+      "reset_kwargs": {
+        "seed": 521
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.0007199972751550376,
+        "obj_to_goal_angle": 0.003427990077824461,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 372,
+      "episode_seed": 522,
+      "reset_kwargs": {
+        "seed": 522
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.0003993223363067955,
+        "obj_to_goal_angle": 0.0014704593306600344,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 373,
+      "episode_seed": 523,
+      "reset_kwargs": {
+        "seed": 523
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.0005911289481446147,
+        "obj_to_goal_angle": 0.010292822675214808,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 374,
+      "episode_seed": 524,
+      "reset_kwargs": {
+        "seed": 524
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.00012245768448337913,
+        "obj_to_goal_angle": 0.0020071094721529903,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 375,
+      "episode_seed": 525,
+      "reset_kwargs": {
+        "seed": 525
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.000611481664236635,
+        "obj_to_goal_angle": 0.0022983069738096162,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 376,
+      "episode_seed": 526,
+      "reset_kwargs": {
+        "seed": 526
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.0008434641058556736,
+        "obj_to_goal_angle": 0.001491553969798609,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 377,
+      "episode_seed": 528,
+      "reset_kwargs": {
+        "seed": 528
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.0004767927748616785,
+        "obj_to_goal_angle": 0.0027844831392114244,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 378,
+      "episode_seed": 529,
+      "reset_kwargs": {
+        "seed": 529
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 167,
+      "info": {
+        "elapsed_steps": 167,
+        "obj_to_goal_dist": 0.00036321463994681835,
+        "obj_to_goal_angle": 0.0019291496945283981,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 379,
+      "episode_seed": 530,
+      "reset_kwargs": {
+        "seed": 530
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0003358196699991822,
+        "obj_to_goal_angle": 0.0025094733905035582,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 380,
+      "episode_seed": 532,
+      "reset_kwargs": {
+        "seed": 532
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00020608677004929632,
+        "obj_to_goal_angle": 0.0025259293186570275,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 381,
+      "episode_seed": 533,
+      "reset_kwargs": {
+        "seed": 533
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.0006067662034183741,
+        "obj_to_goal_angle": 0.005365437905335391,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 382,
+      "episode_seed": 535,
+      "reset_kwargs": {
+        "seed": 535
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.0006347228190861642,
+        "obj_to_goal_angle": 0.0011591982934264777,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 383,
+      "episode_seed": 537,
+      "reset_kwargs": {
+        "seed": 537
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.00025430149980820715,
+        "obj_to_goal_angle": 0.0024251042608618434,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 384,
+      "episode_seed": 538,
+      "reset_kwargs": {
+        "seed": 538
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0004132542235311121,
+        "obj_to_goal_angle": 0.001618520498138487,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 385,
+      "episode_seed": 539,
+      "reset_kwargs": {
+        "seed": 539
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "info": {
+        "elapsed_steps": 198,
+        "obj_to_goal_dist": 0.0008256463333964348,
+        "obj_to_goal_angle": 0.0014253595557933707,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 386,
+      "episode_seed": 540,
+      "reset_kwargs": {
+        "seed": 540
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.0008126692264340818,
+        "obj_to_goal_angle": 0.001886826587998769,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 387,
+      "episode_seed": 541,
+      "reset_kwargs": {
+        "seed": 541
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.00019835299463011324,
+        "obj_to_goal_angle": 0.002556810313103064,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 388,
+      "episode_seed": 542,
+      "reset_kwargs": {
+        "seed": 542
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.00044933625031262636,
+        "obj_to_goal_angle": 0.0009288464968735255,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 389,
+      "episode_seed": 543,
+      "reset_kwargs": {
+        "seed": 543
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 191,
+      "info": {
+        "elapsed_steps": 191,
+        "obj_to_goal_dist": 0.0012830725172534585,
+        "obj_to_goal_angle": 0.002030854002527782,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 390,
+      "episode_seed": 544,
+      "reset_kwargs": {
+        "seed": 544
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0002808741119224578,
+        "obj_to_goal_angle": 0.0022204467128625893,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 391,
+      "episode_seed": 548,
+      "reset_kwargs": {
+        "seed": 548
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0001995709171751514,
+        "obj_to_goal_angle": 0.0028066934814185984,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 392,
+      "episode_seed": 549,
+      "reset_kwargs": {
+        "seed": 549
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.0006926796631887555,
+        "obj_to_goal_angle": 0.0016767290175616623,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 393,
+      "episode_seed": 550,
+      "reset_kwargs": {
+        "seed": 550
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.0005741905770264566,
+        "obj_to_goal_angle": 0.0030107776525145624,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 394,
+      "episode_seed": 551,
+      "reset_kwargs": {
+        "seed": 551
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.00019490376871544868,
+        "obj_to_goal_angle": 0.001386992819606192,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 395,
+      "episode_seed": 552,
+      "reset_kwargs": {
+        "seed": 552
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00037540262565016747,
+        "obj_to_goal_angle": 0.0010458511463236064,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 396,
+      "episode_seed": 554,
+      "reset_kwargs": {
+        "seed": 554
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 191,
+      "info": {
+        "elapsed_steps": 191,
+        "obj_to_goal_dist": 0.00037289480678737164,
+        "obj_to_goal_angle": 0.0019093976504436228,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 397,
+      "episode_seed": 556,
+      "reset_kwargs": {
+        "seed": 556
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 191,
+      "info": {
+        "elapsed_steps": 191,
+        "obj_to_goal_dist": 0.0009027416235767305,
+        "obj_to_goal_angle": 0.001557358207789683,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 398,
+      "episode_seed": 557,
+      "reset_kwargs": {
+        "seed": 557
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0006927771028131247,
+        "obj_to_goal_angle": 0.0025598397427382125,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 399,
+      "episode_seed": 559,
+      "reset_kwargs": {
+        "seed": 559
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.000638332508970052,
+        "obj_to_goal_angle": 0.0010820950081900094,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 400,
+      "episode_seed": 564,
+      "reset_kwargs": {
+        "seed": 564
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 172,
+      "info": {
+        "elapsed_steps": 172,
+        "obj_to_goal_dist": 0.0004630312614608556,
+        "obj_to_goal_angle": 0.0021087626887252853,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 401,
+      "episode_seed": 565,
+      "reset_kwargs": {
+        "seed": 565
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.0006258818903006613,
+        "obj_to_goal_angle": 0.0014039814292212682,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 402,
+      "episode_seed": 566,
+      "reset_kwargs": {
+        "seed": 566
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.0004593490157276392,
+        "obj_to_goal_angle": 0.001572777687270488,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 403,
+      "episode_seed": 567,
+      "reset_kwargs": {
+        "seed": 567
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.00044843211071565747,
+        "obj_to_goal_angle": 0.0012193616598832335,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 404,
+      "episode_seed": 568,
+      "reset_kwargs": {
+        "seed": 568
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.00044505795813165605,
+        "obj_to_goal_angle": 0.0010328344975203407,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 405,
+      "episode_seed": 570,
+      "reset_kwargs": {
+        "seed": 570
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.00044183508725836873,
+        "obj_to_goal_angle": 0.0024090590253056376,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 406,
+      "episode_seed": 571,
+      "reset_kwargs": {
+        "seed": 571
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.0012955087004229426,
+        "obj_to_goal_angle": 0.01820858484800425,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 407,
+      "episode_seed": 572,
+      "reset_kwargs": {
+        "seed": 572
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 6.545514770550653e-05,
+        "obj_to_goal_angle": 0.0024866716731866134,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 408,
+      "episode_seed": 573,
+      "reset_kwargs": {
+        "seed": 573
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0005276068695820868,
+        "obj_to_goal_angle": 0.0020757257004326846,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 409,
+      "episode_seed": 574,
+      "reset_kwargs": {
+        "seed": 574
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00026120009715668857,
+        "obj_to_goal_angle": 0.003797480795012298,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 410,
+      "episode_seed": 575,
+      "reset_kwargs": {
+        "seed": 575
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.000293213059194386,
+        "obj_to_goal_angle": 0.0017497581554399844,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 411,
+      "episode_seed": 576,
+      "reset_kwargs": {
+        "seed": 576
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.0002713607100304216,
+        "obj_to_goal_angle": 0.00328994290695217,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 412,
+      "episode_seed": 579,
+      "reset_kwargs": {
+        "seed": 579
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.00031370867509394884,
+        "obj_to_goal_angle": 0.0011826578352112094,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 413,
+      "episode_seed": 580,
+      "reset_kwargs": {
+        "seed": 580
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 197,
+      "info": {
+        "elapsed_steps": 197,
+        "obj_to_goal_dist": 0.0005570551729761064,
+        "obj_to_goal_angle": 0.0013235868815639762,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 414,
+      "episode_seed": 581,
+      "reset_kwargs": {
+        "seed": 581
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.00029947818256914616,
+        "obj_to_goal_angle": 0.001105895682555591,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 415,
+      "episode_seed": 583,
+      "reset_kwargs": {
+        "seed": 583
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.0004502685333136469,
+        "obj_to_goal_angle": 0.0014109300627218602,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 416,
+      "episode_seed": 584,
+      "reset_kwargs": {
+        "seed": 584
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.00040924284257926047,
+        "obj_to_goal_angle": 0.0017147648010364946,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 417,
+      "episode_seed": 585,
+      "reset_kwargs": {
+        "seed": 585
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.00022326153703033924,
+        "obj_to_goal_angle": 0.0017732357437632018,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 418,
+      "episode_seed": 586,
+      "reset_kwargs": {
+        "seed": 586
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.0005556222749873996,
+        "obj_to_goal_angle": 0.0012256644412600437,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 419,
+      "episode_seed": 587,
+      "reset_kwargs": {
+        "seed": 587
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.0003894705732818693,
+        "obj_to_goal_angle": 0.00263796515367698,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 420,
+      "episode_seed": 588,
+      "reset_kwargs": {
+        "seed": 588
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0003610994899645448,
+        "obj_to_goal_angle": 0.0011304926454558384,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 421,
+      "episode_seed": 589,
+      "reset_kwargs": {
+        "seed": 589
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.0005432557663880289,
+        "obj_to_goal_angle": 0.0013173007364990497,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 422,
+      "episode_seed": 590,
+      "reset_kwargs": {
+        "seed": 590
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00037615280598402023,
+        "obj_to_goal_angle": 0.007996819753256723,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 423,
+      "episode_seed": 591,
+      "reset_kwargs": {
+        "seed": 591
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.00042930839117616415,
+        "obj_to_goal_angle": 0.002766776761563783,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 424,
+      "episode_seed": 592,
+      "reset_kwargs": {
+        "seed": 592
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.00039603220648132265,
+        "obj_to_goal_angle": 0.0017705136201131566,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 425,
+      "episode_seed": 593,
+      "reset_kwargs": {
+        "seed": 593
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.0004058922058902681,
+        "obj_to_goal_angle": 0.0011682147255971387,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 426,
+      "episode_seed": 594,
+      "reset_kwargs": {
+        "seed": 594
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0004802980402018875,
+        "obj_to_goal_angle": 0.002269406765475601,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 427,
+      "episode_seed": 595,
+      "reset_kwargs": {
+        "seed": 595
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.0002781998773571104,
+        "obj_to_goal_angle": 0.0016690022528003112,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 428,
+      "episode_seed": 597,
+      "reset_kwargs": {
+        "seed": 597
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.0006662962841801345,
+        "obj_to_goal_angle": 0.004083907786846197,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 429,
+      "episode_seed": 598,
+      "reset_kwargs": {
+        "seed": 598
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0005222616600804031,
+        "obj_to_goal_angle": 0.0012928426036156182,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 430,
+      "episode_seed": 599,
+      "reset_kwargs": {
+        "seed": 599
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0001324047043453902,
+        "obj_to_goal_angle": 0.002122739547568031,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 431,
+      "episode_seed": 600,
+      "reset_kwargs": {
+        "seed": 600
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0003780125407502055,
+        "obj_to_goal_angle": 0.001979661924034204,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 432,
+      "episode_seed": 602,
+      "reset_kwargs": {
+        "seed": 602
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00019936385797336698,
+        "obj_to_goal_angle": 0.002499522548878197,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 433,
+      "episode_seed": 603,
+      "reset_kwargs": {
+        "seed": 603
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0005177553393878043,
+        "obj_to_goal_angle": 0.0014769865887904743,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 434,
+      "episode_seed": 604,
+      "reset_kwargs": {
+        "seed": 604
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0003554624563548714,
+        "obj_to_goal_angle": 0.001453666845838697,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 435,
+      "episode_seed": 605,
+      "reset_kwargs": {
+        "seed": 605
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00021529593504965305,
+        "obj_to_goal_angle": 0.0009062074972074896,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 436,
+      "episode_seed": 606,
+      "reset_kwargs": {
+        "seed": 606
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.00023919079103507102,
+        "obj_to_goal_angle": 0.0012055292588595279,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 437,
+      "episode_seed": 608,
+      "reset_kwargs": {
+        "seed": 608
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0003172579745296389,
+        "obj_to_goal_angle": 0.001265451552068697,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 438,
+      "episode_seed": 609,
+      "reset_kwargs": {
+        "seed": 609
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.00031402232707478106,
+        "obj_to_goal_angle": 0.0016561814824358478,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 439,
+      "episode_seed": 610,
+      "reset_kwargs": {
+        "seed": 610
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00016679165128152817,
+        "obj_to_goal_angle": 0.0011961100592028373,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 440,
+      "episode_seed": 611,
+      "reset_kwargs": {
+        "seed": 611
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.0005356014589779079,
+        "obj_to_goal_angle": 0.0006142386393221955,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 441,
+      "episode_seed": 612,
+      "reset_kwargs": {
+        "seed": 612
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.00028194900369271636,
+        "obj_to_goal_angle": 0.001371407324833207,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 442,
+      "episode_seed": 618,
+      "reset_kwargs": {
+        "seed": 618
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.0005308081163093448,
+        "obj_to_goal_angle": 0.0007779102353593359,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 443,
+      "episode_seed": 619,
+      "reset_kwargs": {
+        "seed": 619
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.00025034023565240204,
+        "obj_to_goal_angle": 0.002289515672028841,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 444,
+      "episode_seed": 621,
+      "reset_kwargs": {
+        "seed": 621
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00044220100971870124,
+        "obj_to_goal_angle": 0.0009535794408339626,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 445,
+      "episode_seed": 622,
+      "reset_kwargs": {
+        "seed": 622
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 197,
+      "info": {
+        "elapsed_steps": 197,
+        "obj_to_goal_dist": 2.341257822990883e-05,
+        "obj_to_goal_angle": 0.002183154229130402,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 446,
+      "episode_seed": 624,
+      "reset_kwargs": {
+        "seed": 624
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.0006621434004046023,
+        "obj_to_goal_angle": 0.0012952030112955981,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 447,
+      "episode_seed": 626,
+      "reset_kwargs": {
+        "seed": 626
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00044393097050487995,
+        "obj_to_goal_angle": 0.0013906116023925108,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 448,
+      "episode_seed": 627,
+      "reset_kwargs": {
+        "seed": 627
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0005409885197877884,
+        "obj_to_goal_angle": 0.0023327502146273105,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 449,
+      "episode_seed": 628,
+      "reset_kwargs": {
+        "seed": 628
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0004631983465515077,
+        "obj_to_goal_angle": 0.0011185985953670041,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 450,
+      "episode_seed": 630,
+      "reset_kwargs": {
+        "seed": 630
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.00045376140042208135,
+        "obj_to_goal_angle": 0.002932978280893117,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 451,
+      "episode_seed": 631,
+      "reset_kwargs": {
+        "seed": 631
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00018723194079939276,
+        "obj_to_goal_angle": 0.0034636601229562913,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 452,
+      "episode_seed": 632,
+      "reset_kwargs": {
+        "seed": 632
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.002040366642177105,
+        "obj_to_goal_angle": 0.02707690320318701,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 453,
+      "episode_seed": 633,
+      "reset_kwargs": {
+        "seed": 633
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 174,
+      "info": {
+        "elapsed_steps": 174,
+        "obj_to_goal_dist": 0.0005715548759326339,
+        "obj_to_goal_angle": 0.0017915732541009532,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 454,
+      "episode_seed": 634,
+      "reset_kwargs": {
+        "seed": 634
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0005706318188458681,
+        "obj_to_goal_angle": 0.0008618734224805635,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 455,
+      "episode_seed": 635,
+      "reset_kwargs": {
+        "seed": 635
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.0012100067688152194,
+        "obj_to_goal_angle": 0.0022586587336270725,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 456,
+      "episode_seed": 637,
+      "reset_kwargs": {
+        "seed": 637
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00014343317889142781,
+        "obj_to_goal_angle": 0.0031648083442110675,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 457,
+      "episode_seed": 638,
+      "reset_kwargs": {
+        "seed": 638
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0004690468485932797,
+        "obj_to_goal_angle": 0.006587853895083207,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 458,
+      "episode_seed": 640,
+      "reset_kwargs": {
+        "seed": 640
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0005030285101383924,
+        "obj_to_goal_angle": 0.003056557853583719,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 459,
+      "episode_seed": 641,
+      "reset_kwargs": {
+        "seed": 641
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.0005807834095321596,
+        "obj_to_goal_angle": 0.0019477973205290766,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 460,
+      "episode_seed": 643,
+      "reset_kwargs": {
+        "seed": 643
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0005746267270296812,
+        "obj_to_goal_angle": 0.0015066752044576859,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 461,
+      "episode_seed": 644,
+      "reset_kwargs": {
+        "seed": 644
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.00020996255625505,
+        "obj_to_goal_angle": 0.001180409178433095,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 462,
+      "episode_seed": 645,
+      "reset_kwargs": {
+        "seed": 645
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.000389827269827947,
+        "obj_to_goal_angle": 0.0017535387053451146,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 463,
+      "episode_seed": 647,
+      "reset_kwargs": {
+        "seed": 647
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00020189564384054393,
+        "obj_to_goal_angle": 0.00371037096780924,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 464,
+      "episode_seed": 648,
+      "reset_kwargs": {
+        "seed": 648
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 199,
+      "info": {
+        "elapsed_steps": 199,
+        "obj_to_goal_dist": 0.00029961561085656285,
+        "obj_to_goal_angle": 0.0010047375812618498,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 465,
+      "episode_seed": 649,
+      "reset_kwargs": {
+        "seed": 649
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.0007473679143004119,
+        "obj_to_goal_angle": 0.0006488742301629102,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 466,
+      "episode_seed": 650,
+      "reset_kwargs": {
+        "seed": 650
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.0006425586179830134,
+        "obj_to_goal_angle": 0.0016797009645905803,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 467,
+      "episode_seed": 651,
+      "reset_kwargs": {
+        "seed": 651
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 174,
+      "info": {
+        "elapsed_steps": 174,
+        "obj_to_goal_dist": 0.0003249460714869201,
+        "obj_to_goal_angle": 0.00220911874781482,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 468,
+      "episode_seed": 652,
+      "reset_kwargs": {
+        "seed": 652
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.0004428178654052317,
+        "obj_to_goal_angle": 0.0010595896040097585,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 469,
+      "episode_seed": 654,
+      "reset_kwargs": {
+        "seed": 654
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00024010274501051754,
+        "obj_to_goal_angle": 0.001265623265475746,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 470,
+      "episode_seed": 655,
+      "reset_kwargs": {
+        "seed": 655
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0005423222319222987,
+        "obj_to_goal_angle": 0.001224860621321433,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 471,
+      "episode_seed": 656,
+      "reset_kwargs": {
+        "seed": 656
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.0005366561817936599,
+        "obj_to_goal_angle": 0.0009122553842590975,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 472,
+      "episode_seed": 657,
+      "reset_kwargs": {
+        "seed": 657
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.00018235990137327462,
+        "obj_to_goal_angle": 0.00294683103718274,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 473,
+      "episode_seed": 658,
+      "reset_kwargs": {
+        "seed": 658
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 5.609424624708481e-05,
+        "obj_to_goal_angle": 0.0009865539525968359,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 474,
+      "episode_seed": 659,
+      "reset_kwargs": {
+        "seed": 659
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.0005190440570004284,
+        "obj_to_goal_angle": 0.0029065546761275485,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 475,
+      "episode_seed": 660,
+      "reset_kwargs": {
+        "seed": 660
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 193,
+      "info": {
+        "elapsed_steps": 193,
+        "obj_to_goal_dist": 0.00029323386843316257,
+        "obj_to_goal_angle": 0.0010199533004708883,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 476,
+      "episode_seed": 661,
+      "reset_kwargs": {
+        "seed": 661
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00023548005265183747,
+        "obj_to_goal_angle": 0.001977281146105625,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 477,
+      "episode_seed": 662,
+      "reset_kwargs": {
+        "seed": 662
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.00035506871063262224,
+        "obj_to_goal_angle": 0.0010533710730324941,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 478,
+      "episode_seed": 663,
+      "reset_kwargs": {
+        "seed": 663
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.0002007852599490434,
+        "obj_to_goal_angle": 0.00351668929071991,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 479,
+      "episode_seed": 664,
+      "reset_kwargs": {
+        "seed": 664
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00025685696164146066,
+        "obj_to_goal_angle": 0.0016650436404717084,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 480,
+      "episode_seed": 665,
+      "reset_kwargs": {
+        "seed": 665
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.00024187886447180063,
+        "obj_to_goal_angle": 0.003277096841401317,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 481,
+      "episode_seed": 667,
+      "reset_kwargs": {
+        "seed": 667
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.00045067036990076303,
+        "obj_to_goal_angle": 0.0018125733709579706,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 482,
+      "episode_seed": 668,
+      "reset_kwargs": {
+        "seed": 668
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.0004877746687270701,
+        "obj_to_goal_angle": 0.00311620895962772,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 483,
+      "episode_seed": 669,
+      "reset_kwargs": {
+        "seed": 669
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.00017822526569943875,
+        "obj_to_goal_angle": 0.003502975212802184,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 484,
+      "episode_seed": 670,
+      "reset_kwargs": {
+        "seed": 670
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "info": {
+        "elapsed_steps": 127,
+        "obj_to_goal_dist": 0.0002471944026183337,
+        "obj_to_goal_angle": 0.0019171536193178795,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 485,
+      "episode_seed": 672,
+      "reset_kwargs": {
+        "seed": 672
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.0002961336576845497,
+        "obj_to_goal_angle": 0.0034710926537986353,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 486,
+      "episode_seed": 673,
+      "reset_kwargs": {
+        "seed": 673
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00023139633412938565,
+        "obj_to_goal_angle": 0.0019248955604718176,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 487,
+      "episode_seed": 677,
+      "reset_kwargs": {
+        "seed": 677
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.00018313140026293695,
+        "obj_to_goal_angle": 0.0028394729254301865,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 488,
+      "episode_seed": 678,
+      "reset_kwargs": {
+        "seed": 678
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0004781501484103501,
+        "obj_to_goal_angle": 0.0036603082609287796,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 489,
+      "episode_seed": 680,
+      "reset_kwargs": {
+        "seed": 680
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.0002247230295324698,
+        "obj_to_goal_angle": 0.0031743013652256735,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 490,
+      "episode_seed": 681,
+      "reset_kwargs": {
+        "seed": 681
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 167,
+      "info": {
+        "elapsed_steps": 167,
+        "obj_to_goal_dist": 0.00044171104673296213,
+        "obj_to_goal_angle": 0.0012002147807415042,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 491,
+      "episode_seed": 682,
+      "reset_kwargs": {
+        "seed": 682
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0003518843150231987,
+        "obj_to_goal_angle": 0.0029942164745415667,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 492,
+      "episode_seed": 684,
+      "reset_kwargs": {
+        "seed": 684
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.00031354554812423885,
+        "obj_to_goal_angle": 0.003434344448431048,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 493,
+      "episode_seed": 686,
+      "reset_kwargs": {
+        "seed": 686
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.0003115511208306998,
+        "obj_to_goal_angle": 0.001914357312497117,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 494,
+      "episode_seed": 687,
+      "reset_kwargs": {
+        "seed": 687
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0002569012576714158,
+        "obj_to_goal_angle": 0.0031245349749884355,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 495,
+      "episode_seed": 688,
+      "reset_kwargs": {
+        "seed": 688
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 3.6287550756242126e-05,
+        "obj_to_goal_angle": 0.002547403618606836,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 496,
+      "episode_seed": 692,
+      "reset_kwargs": {
+        "seed": 692
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.0006148917018435895,
+        "obj_to_goal_angle": 0.0012457275891080144,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 497,
+      "episode_seed": 694,
+      "reset_kwargs": {
+        "seed": 694
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.0027289269492030144,
+        "obj_to_goal_angle": 0.0021343857297928537,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 498,
+      "episode_seed": 695,
+      "reset_kwargs": {
+        "seed": 695
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00019011882250197232,
+        "obj_to_goal_angle": 0.003249975724876286,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 499,
+      "episode_seed": 696,
+      "reset_kwargs": {
+        "seed": 696
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.001267694984562695,
+        "obj_to_goal_angle": 0.0025696565179362807,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 500,
+      "episode_seed": 698,
+      "reset_kwargs": {
+        "seed": 698
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.00036645960062742233,
+        "obj_to_goal_angle": 0.0021421958637821703,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 501,
+      "episode_seed": 699,
+      "reset_kwargs": {
+        "seed": 699
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.00035816692980006337,
+        "obj_to_goal_angle": 0.0013150502110903517,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 502,
+      "episode_seed": 700,
+      "reset_kwargs": {
+        "seed": 700
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.0006747227744199336,
+        "obj_to_goal_angle": 0.0017600224368692352,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 503,
+      "episode_seed": 701,
+      "reset_kwargs": {
+        "seed": 701
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0004662222054321319,
+        "obj_to_goal_angle": 0.0008480025563990523,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 504,
+      "episode_seed": 702,
+      "reset_kwargs": {
+        "seed": 702
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.004474019166082144,
+        "obj_to_goal_angle": 0.08261822324624557,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 505,
+      "episode_seed": 704,
+      "reset_kwargs": {
+        "seed": 704
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.0005690391990356147,
+        "obj_to_goal_angle": 0.0007677307367215391,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 506,
+      "episode_seed": 705,
+      "reset_kwargs": {
+        "seed": 705
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.000334360811393708,
+        "obj_to_goal_angle": 0.0007112117910104132,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 507,
+      "episode_seed": 706,
+      "reset_kwargs": {
+        "seed": 706
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.00032712685060687363,
+        "obj_to_goal_angle": 0.0010202604230462597,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 508,
+      "episode_seed": 707,
+      "reset_kwargs": {
+        "seed": 707
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.00046496084542013705,
+        "obj_to_goal_angle": 0.0015649485742921243,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 509,
+      "episode_seed": 709,
+      "reset_kwargs": {
+        "seed": 709
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 180,
+      "info": {
+        "elapsed_steps": 180,
+        "obj_to_goal_dist": 0.0011997321853414178,
+        "obj_to_goal_angle": 0.0020210819825603465,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 510,
+      "episode_seed": 714,
+      "reset_kwargs": {
+        "seed": 714
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.0003809233312495053,
+        "obj_to_goal_angle": 0.001283928076951213,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 511,
+      "episode_seed": 715,
+      "reset_kwargs": {
+        "seed": 715
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00031179000507108867,
+        "obj_to_goal_angle": 0.001093484838584402,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 512,
+      "episode_seed": 716,
+      "reset_kwargs": {
+        "seed": 716
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.00023199740098789334,
+        "obj_to_goal_angle": 0.0026544960226129177,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 513,
+      "episode_seed": 717,
+      "reset_kwargs": {
+        "seed": 717
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 197,
+      "info": {
+        "elapsed_steps": 197,
+        "obj_to_goal_dist": 0.00037830008659511805,
+        "obj_to_goal_angle": 0.001953108356930855,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 514,
+      "episode_seed": 719,
+      "reset_kwargs": {
+        "seed": 719
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0002519233385100961,
+        "obj_to_goal_angle": 0.002030653700543894,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 515,
+      "episode_seed": 720,
+      "reset_kwargs": {
+        "seed": 720
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 197,
+      "info": {
+        "elapsed_steps": 197,
+        "obj_to_goal_dist": 0.00029549674945883453,
+        "obj_to_goal_angle": 0.002583374097381075,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 516,
+      "episode_seed": 721,
+      "reset_kwargs": {
+        "seed": 721
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.0008255240973085165,
+        "obj_to_goal_angle": 0.0012338441971984082,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 517,
+      "episode_seed": 722,
+      "reset_kwargs": {
+        "seed": 722
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0005928887403570116,
+        "obj_to_goal_angle": 0.0009895625664571028,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 518,
+      "episode_seed": 723,
+      "reset_kwargs": {
+        "seed": 723
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.000456878449767828,
+        "obj_to_goal_angle": 0.0009463631623027879,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 519,
+      "episode_seed": 724,
+      "reset_kwargs": {
+        "seed": 724
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.0004801501927431673,
+        "obj_to_goal_angle": 0.0014341210585584463,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 520,
+      "episode_seed": 725,
+      "reset_kwargs": {
+        "seed": 725
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00015689199790358543,
+        "obj_to_goal_angle": 0.0026628376776729468,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 521,
+      "episode_seed": 726,
+      "reset_kwargs": {
+        "seed": 726
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 174,
+      "info": {
+        "elapsed_steps": 174,
+        "obj_to_goal_dist": 0.0006197206676006317,
+        "obj_to_goal_angle": 0.0018582618038589516,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 522,
+      "episode_seed": 727,
+      "reset_kwargs": {
+        "seed": 727
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0004799792659468949,
+        "obj_to_goal_angle": 0.0011854565581659315,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 523,
+      "episode_seed": 728,
+      "reset_kwargs": {
+        "seed": 728
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.0008828574791550636,
+        "obj_to_goal_angle": 0.0023000921218176984,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 524,
+      "episode_seed": 729,
+      "reset_kwargs": {
+        "seed": 729
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.0003547269734553993,
+        "obj_to_goal_angle": 0.0011028203377669854,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 525,
+      "episode_seed": 735,
+      "reset_kwargs": {
+        "seed": 735
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.00048449449241161346,
+        "obj_to_goal_angle": 0.000498031938573007,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 526,
+      "episode_seed": 738,
+      "reset_kwargs": {
+        "seed": 738
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.0004760918964166194,
+        "obj_to_goal_angle": 0.0010942246214238338,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 527,
+      "episode_seed": 739,
+      "reset_kwargs": {
+        "seed": 739
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 197,
+      "info": {
+        "elapsed_steps": 197,
+        "obj_to_goal_dist": 0.0005799952195957303,
+        "obj_to_goal_angle": 0.0018770915845545133,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 528,
+      "episode_seed": 740,
+      "reset_kwargs": {
+        "seed": 740
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.0002701997000258416,
+        "obj_to_goal_angle": 0.0033927364464698684,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 529,
+      "episode_seed": 741,
+      "reset_kwargs": {
+        "seed": 741
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.00039509389898739755,
+        "obj_to_goal_angle": 0.00125525708768226,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 530,
+      "episode_seed": 742,
+      "reset_kwargs": {
+        "seed": 742
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 126,
+      "info": {
+        "elapsed_steps": 126,
+        "obj_to_goal_dist": 0.00030088357743807137,
+        "obj_to_goal_angle": 0.0010135570416949236,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 531,
+      "episode_seed": 743,
+      "reset_kwargs": {
+        "seed": 743
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.004584381822496653,
+        "obj_to_goal_angle": 0.002338213436615888,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 532,
+      "episode_seed": 744,
+      "reset_kwargs": {
+        "seed": 744
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0004855467996094376,
+        "obj_to_goal_angle": 0.0015197156854203087,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 533,
+      "episode_seed": 746,
+      "reset_kwargs": {
+        "seed": 746
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.0005048747989349067,
+        "obj_to_goal_angle": 0.001489405830919388,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 534,
+      "episode_seed": 747,
+      "reset_kwargs": {
+        "seed": 747
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.00022793015523348004,
+        "obj_to_goal_angle": 0.003103483984268074,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 535,
+      "episode_seed": 749,
+      "reset_kwargs": {
+        "seed": 749
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0005382683011703193,
+        "obj_to_goal_angle": 0.00199963988842633,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 536,
+      "episode_seed": 750,
+      "reset_kwargs": {
+        "seed": 750
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.003878957126289606,
+        "obj_to_goal_angle": 0.00165643453219122,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 537,
+      "episode_seed": 751,
+      "reset_kwargs": {
+        "seed": 751
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 194,
+      "info": {
+        "elapsed_steps": 194,
+        "obj_to_goal_dist": 0.0002414278860669583,
+        "obj_to_goal_angle": 0.001544951604297573,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 538,
+      "episode_seed": 753,
+      "reset_kwargs": {
+        "seed": 753
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0004835948348045349,
+        "obj_to_goal_angle": 0.0022489454005176768,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 539,
+      "episode_seed": 754,
+      "reset_kwargs": {
+        "seed": 754
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.00036571756936609745,
+        "obj_to_goal_angle": 0.004202992422713159,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 540,
+      "episode_seed": 756,
+      "reset_kwargs": {
+        "seed": 756
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.001557776122353971,
+        "obj_to_goal_angle": 0.001623072559509886,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 541,
+      "episode_seed": 758,
+      "reset_kwargs": {
+        "seed": 758
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.0004905719542875886,
+        "obj_to_goal_angle": 0.0020431495781325637,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 542,
+      "episode_seed": 759,
+      "reset_kwargs": {
+        "seed": 759
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.00039111453224904835,
+        "obj_to_goal_angle": 0.0019818471237229573,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 543,
+      "episode_seed": 760,
+      "reset_kwargs": {
+        "seed": 760
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0004693970549851656,
+        "obj_to_goal_angle": 0.0034898138861274575,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 544,
+      "episode_seed": 762,
+      "reset_kwargs": {
+        "seed": 762
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.004328638315200806,
+        "obj_to_goal_angle": 0.0016546662969085801,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 545,
+      "episode_seed": 763,
+      "reset_kwargs": {
+        "seed": 763
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 126,
+      "info": {
+        "elapsed_steps": 126,
+        "obj_to_goal_dist": 0.00027310612495057285,
+        "obj_to_goal_angle": 0.001213186035601943,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 546,
+      "episode_seed": 765,
+      "reset_kwargs": {
+        "seed": 765
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.0004046502581331879,
+        "obj_to_goal_angle": 0.0015524774063253588,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 547,
+      "episode_seed": 766,
+      "reset_kwargs": {
+        "seed": 766
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.0004867504758294672,
+        "obj_to_goal_angle": 0.003209646908251429,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 548,
+      "episode_seed": 767,
+      "reset_kwargs": {
+        "seed": 767
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0004419840406626463,
+        "obj_to_goal_angle": 0.0011594210912049263,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 549,
+      "episode_seed": 768,
+      "reset_kwargs": {
+        "seed": 768
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 199,
+      "info": {
+        "elapsed_steps": 199,
+        "obj_to_goal_dist": 0.0006147990934550762,
+        "obj_to_goal_angle": 0.001354236418581678,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 550,
+      "episode_seed": 769,
+      "reset_kwargs": {
+        "seed": 769
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 193,
+      "info": {
+        "elapsed_steps": 193,
+        "obj_to_goal_dist": 0.000733833119738847,
+        "obj_to_goal_angle": 0.0011782837990939043,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 551,
+      "episode_seed": 771,
+      "reset_kwargs": {
+        "seed": 771
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.0005688242381438613,
+        "obj_to_goal_angle": 0.0012911617554847155,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 552,
+      "episode_seed": 772,
+      "reset_kwargs": {
+        "seed": 772
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0003658024361357093,
+        "obj_to_goal_angle": 0.0011777586756789304,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 553,
+      "episode_seed": 773,
+      "reset_kwargs": {
+        "seed": 773
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.003145878203213215,
+        "obj_to_goal_angle": 0.012126102468338118,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 554,
+      "episode_seed": 775,
+      "reset_kwargs": {
+        "seed": 775
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.0010642829583957791,
+        "obj_to_goal_angle": 0.03604932314368359,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 555,
+      "episode_seed": 777,
+      "reset_kwargs": {
+        "seed": 777
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.00046557432506233454,
+        "obj_to_goal_angle": 0.0016652336039078008,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 556,
+      "episode_seed": 779,
+      "reset_kwargs": {
+        "seed": 779
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.0002971013600472361,
+        "obj_to_goal_angle": 0.001378157546597869,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 557,
+      "episode_seed": 783,
+      "reset_kwargs": {
+        "seed": 783
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.0004441255296114832,
+        "obj_to_goal_angle": 0.0008582742106195695,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 558,
+      "episode_seed": 788,
+      "reset_kwargs": {
+        "seed": 788
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0011184093309566379,
+        "obj_to_goal_angle": 0.028322726492388206,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 559,
+      "episode_seed": 789,
+      "reset_kwargs": {
+        "seed": 789
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.0005885540158487856,
+        "obj_to_goal_angle": 0.0012025171603262663,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 560,
+      "episode_seed": 790,
+      "reset_kwargs": {
+        "seed": 790
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.00012339460954535753,
+        "obj_to_goal_angle": 0.002468839770220832,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 561,
+      "episode_seed": 791,
+      "reset_kwargs": {
+        "seed": 791
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.00042002758709713817,
+        "obj_to_goal_angle": 0.0031141652310351375,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 562,
+      "episode_seed": 793,
+      "reset_kwargs": {
+        "seed": 793
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.004825289361178875,
+        "obj_to_goal_angle": 0.0018877930603444781,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 563,
+      "episode_seed": 794,
+      "reset_kwargs": {
+        "seed": 794
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.0004443145589902997,
+        "obj_to_goal_angle": 0.0032597838905301657,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 564,
+      "episode_seed": 795,
+      "reset_kwargs": {
+        "seed": 795
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.0005570126813836396,
+        "obj_to_goal_angle": 0.0038940729664256324,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 565,
+      "episode_seed": 796,
+      "reset_kwargs": {
+        "seed": 796
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0002975720854010433,
+        "obj_to_goal_angle": 0.00287256075090081,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 566,
+      "episode_seed": 797,
+      "reset_kwargs": {
+        "seed": 797
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0005281678750179708,
+        "obj_to_goal_angle": 0.0021665581905452314,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 567,
+      "episode_seed": 798,
+      "reset_kwargs": {
+        "seed": 798
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.0005123475566506386,
+        "obj_to_goal_angle": 0.0018770037006428097,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 568,
+      "episode_seed": 800,
+      "reset_kwargs": {
+        "seed": 800
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.0005035417852923274,
+        "obj_to_goal_angle": 0.0018195158182487958,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 569,
+      "episode_seed": 801,
+      "reset_kwargs": {
+        "seed": 801
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00034973176661878824,
+        "obj_to_goal_angle": 0.0030718225390353737,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 570,
+      "episode_seed": 802,
+      "reset_kwargs": {
+        "seed": 802
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.00034863126347772777,
+        "obj_to_goal_angle": 0.0020343910796292164,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 571,
+      "episode_seed": 803,
+      "reset_kwargs": {
+        "seed": 803
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.0003101013717241585,
+        "obj_to_goal_angle": 0.002728576599297483,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 572,
+      "episode_seed": 804,
+      "reset_kwargs": {
+        "seed": 804
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0003710496239364147,
+        "obj_to_goal_angle": 0.0013658827710454347,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 573,
+      "episode_seed": 805,
+      "reset_kwargs": {
+        "seed": 805
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.00030934304231777787,
+        "obj_to_goal_angle": 0.0016836690032011603,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 574,
+      "episode_seed": 808,
+      "reset_kwargs": {
+        "seed": 808
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.00325456983409822,
+        "obj_to_goal_angle": 0.0026248938334552108,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 575,
+      "episode_seed": 809,
+      "reset_kwargs": {
+        "seed": 809
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0005094205844216049,
+        "obj_to_goal_angle": 0.0012480807054116028,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 576,
+      "episode_seed": 810,
+      "reset_kwargs": {
+        "seed": 810
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0003642867086455226,
+        "obj_to_goal_angle": 0.0021347561763729317,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 577,
+      "episode_seed": 812,
+      "reset_kwargs": {
+        "seed": 812
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.00038148273597471416,
+        "obj_to_goal_angle": 0.002121393152157758,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 578,
+      "episode_seed": 814,
+      "reset_kwargs": {
+        "seed": 814
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.0004276659747119993,
+        "obj_to_goal_angle": 0.0020876506523048732,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 579,
+      "episode_seed": 815,
+      "reset_kwargs": {
+        "seed": 815
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 196,
+      "info": {
+        "elapsed_steps": 196,
+        "obj_to_goal_dist": 0.0008956550154834986,
+        "obj_to_goal_angle": 0.0015521805555236412,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 580,
+      "episode_seed": 816,
+      "reset_kwargs": {
+        "seed": 816
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 185,
+      "info": {
+        "elapsed_steps": 185,
+        "obj_to_goal_dist": 0.000416347204009071,
+        "obj_to_goal_angle": 0.0014267052355405596,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 581,
+      "episode_seed": 817,
+      "reset_kwargs": {
+        "seed": 817
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 8.951390191214159e-05,
+        "obj_to_goal_angle": 0.0027398158159330777,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 582,
+      "episode_seed": 819,
+      "reset_kwargs": {
+        "seed": 819
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.0004645989101845771,
+        "obj_to_goal_angle": 0.0020642981235692304,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 583,
+      "episode_seed": 820,
+      "reset_kwargs": {
+        "seed": 820
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.0004214154905639589,
+        "obj_to_goal_angle": 0.0011317535649641997,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 584,
+      "episode_seed": 821,
+      "reset_kwargs": {
+        "seed": 821
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.00024610295076854527,
+        "obj_to_goal_angle": 0.0012048339409096442,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 585,
+      "episode_seed": 823,
+      "reset_kwargs": {
+        "seed": 823
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.0007038335897959769,
+        "obj_to_goal_angle": 0.0013174395760184865,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 586,
+      "episode_seed": 824,
+      "reset_kwargs": {
+        "seed": 824
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "info": {
+        "elapsed_steps": 198,
+        "obj_to_goal_dist": 0.00033131957752630115,
+        "obj_to_goal_angle": 0.0013262559863456147,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 587,
+      "episode_seed": 825,
+      "reset_kwargs": {
+        "seed": 825
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.00048477036762051284,
+        "obj_to_goal_angle": 0.0031293851527518513,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 588,
+      "episode_seed": 827,
+      "reset_kwargs": {
+        "seed": 827
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 193,
+      "info": {
+        "elapsed_steps": 193,
+        "obj_to_goal_dist": 0.00046691641910001636,
+        "obj_to_goal_angle": 0.002129272874080712,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 589,
+      "episode_seed": 828,
+      "reset_kwargs": {
+        "seed": 828
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.00037985367816872895,
+        "obj_to_goal_angle": 0.003739363431836118,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 590,
+      "episode_seed": 829,
+      "reset_kwargs": {
+        "seed": 829
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.0006602071807719767,
+        "obj_to_goal_angle": 0.0028189302553185414,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 591,
+      "episode_seed": 830,
+      "reset_kwargs": {
+        "seed": 830
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00034659792436286807,
+        "obj_to_goal_angle": 0.0011611195897440751,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 592,
+      "episode_seed": 831,
+      "reset_kwargs": {
+        "seed": 831
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.0008239845628850162,
+        "obj_to_goal_angle": 0.0028308031329986605,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 593,
+      "episode_seed": 832,
+      "reset_kwargs": {
+        "seed": 832
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.00047863085637800395,
+        "obj_to_goal_angle": 0.0028893899634008235,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 594,
+      "episode_seed": 833,
+      "reset_kwargs": {
+        "seed": 833
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.0002737453323788941,
+        "obj_to_goal_angle": 0.0015832591394140394,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 595,
+      "episode_seed": 834,
+      "reset_kwargs": {
+        "seed": 834
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.0003445060283411294,
+        "obj_to_goal_angle": 0.0010488442130274223,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 596,
+      "episode_seed": 835,
+      "reset_kwargs": {
+        "seed": 835
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.00039232231210917234,
+        "obj_to_goal_angle": 0.0012133090601906815,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 597,
+      "episode_seed": 838,
+      "reset_kwargs": {
+        "seed": 838
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.000324750755680725,
+        "obj_to_goal_angle": 0.0019700993208404682,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 598,
+      "episode_seed": 839,
+      "reset_kwargs": {
+        "seed": 839
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.0005419556982815266,
+        "obj_to_goal_angle": 0.0029033582221531518,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 599,
+      "episode_seed": 840,
+      "reset_kwargs": {
+        "seed": 840
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.00037458905717357993,
+        "obj_to_goal_angle": 0.0022561372393656853,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 600,
+      "episode_seed": 841,
+      "reset_kwargs": {
+        "seed": 841
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.00030578856240026653,
+        "obj_to_goal_angle": 0.0011210835261534768,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 601,
+      "episode_seed": 842,
+      "reset_kwargs": {
+        "seed": 842
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.0001284237951040268,
+        "obj_to_goal_angle": 0.003204220049108919,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 602,
+      "episode_seed": 845,
+      "reset_kwargs": {
+        "seed": 845
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0002622576430439949,
+        "obj_to_goal_angle": 0.0012477833252075854,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 603,
+      "episode_seed": 846,
+      "reset_kwargs": {
+        "seed": 846
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0005783270462416112,
+        "obj_to_goal_angle": 0.0010720320648474058,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 604,
+      "episode_seed": 847,
+      "reset_kwargs": {
+        "seed": 847
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 180,
+      "info": {
+        "elapsed_steps": 180,
+        "obj_to_goal_dist": 0.0007296609692275524,
+        "obj_to_goal_angle": 0.0031109137570801693,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 605,
+      "episode_seed": 851,
+      "reset_kwargs": {
+        "seed": 851
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.0001988114381674677,
+        "obj_to_goal_angle": 0.0015383149263668017,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 606,
+      "episode_seed": 855,
+      "reset_kwargs": {
+        "seed": 855
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.0003251473535783589,
+        "obj_to_goal_angle": 0.0019269293844219604,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 607,
+      "episode_seed": 856,
+      "reset_kwargs": {
+        "seed": 856
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 9.133095591096207e-05,
+        "obj_to_goal_angle": 0.003256983739451158,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 608,
+      "episode_seed": 857,
+      "reset_kwargs": {
+        "seed": 857
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.000392021203879267,
+        "obj_to_goal_angle": 0.001151827977109221,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 609,
+      "episode_seed": 858,
+      "reset_kwargs": {
+        "seed": 858
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 195,
+      "info": {
+        "elapsed_steps": 195,
+        "obj_to_goal_dist": 0.0004886316019110382,
+        "obj_to_goal_angle": 0.0026584664918480883,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 610,
+      "episode_seed": 859,
+      "reset_kwargs": {
+        "seed": 859
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 195,
+      "info": {
+        "elapsed_steps": 195,
+        "obj_to_goal_dist": 0.0006946002249605954,
+        "obj_to_goal_angle": 0.0014612094452033375,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 611,
+      "episode_seed": 860,
+      "reset_kwargs": {
+        "seed": 860
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.00013322911399882287,
+        "obj_to_goal_angle": 0.0029355774115291666,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 612,
+      "episode_seed": 861,
+      "reset_kwargs": {
+        "seed": 861
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.00043206539703533053,
+        "obj_to_goal_angle": 0.0018121284502621293,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 613,
+      "episode_seed": 863,
+      "reset_kwargs": {
+        "seed": 863
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00032630801433697343,
+        "obj_to_goal_angle": 0.003432713086166217,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 614,
+      "episode_seed": 864,
+      "reset_kwargs": {
+        "seed": 864
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.0006378167308866978,
+        "obj_to_goal_angle": 0.0014412551677551733,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 615,
+      "episode_seed": 867,
+      "reset_kwargs": {
+        "seed": 867
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0005345939425751567,
+        "obj_to_goal_angle": 0.0014079331419329932,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 616,
+      "episode_seed": 868,
+      "reset_kwargs": {
+        "seed": 868
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.0006553084240294993,
+        "obj_to_goal_angle": 0.002369420054884941,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 617,
+      "episode_seed": 869,
+      "reset_kwargs": {
+        "seed": 869
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0003533670387696475,
+        "obj_to_goal_angle": 0.0011416111304738408,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 618,
+      "episode_seed": 870,
+      "reset_kwargs": {
+        "seed": 870
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.000422223296482116,
+        "obj_to_goal_angle": 0.0010970405939332295,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 619,
+      "episode_seed": 871,
+      "reset_kwargs": {
+        "seed": 871
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "info": {
+        "elapsed_steps": 198,
+        "obj_to_goal_dist": 0.001183100393973291,
+        "obj_to_goal_angle": 0.0017624053296838582,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 620,
+      "episode_seed": 872,
+      "reset_kwargs": {
+        "seed": 872
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.00043521792395040393,
+        "obj_to_goal_angle": 0.001271992674786837,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 621,
+      "episode_seed": 873,
+      "reset_kwargs": {
+        "seed": 873
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.00026305275969207287,
+        "obj_to_goal_angle": 0.0020263192058243007,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 622,
+      "episode_seed": 875,
+      "reset_kwargs": {
+        "seed": 875
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 196,
+      "info": {
+        "elapsed_steps": 196,
+        "obj_to_goal_dist": 0.0010420141043141484,
+        "obj_to_goal_angle": 0.0015869442145559631,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 623,
+      "episode_seed": 876,
+      "reset_kwargs": {
+        "seed": 876
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.00040366992470808327,
+        "obj_to_goal_angle": 0.0008693442071843194,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 624,
+      "episode_seed": 878,
+      "reset_kwargs": {
+        "seed": 878
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.00040280804387293756,
+        "obj_to_goal_angle": 0.0012150000570692043,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 625,
+      "episode_seed": 879,
+      "reset_kwargs": {
+        "seed": 879
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 193,
+      "info": {
+        "elapsed_steps": 193,
+        "obj_to_goal_dist": 0.0004385730135254562,
+        "obj_to_goal_angle": 0.0016950735290430785,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 626,
+      "episode_seed": 880,
+      "reset_kwargs": {
+        "seed": 880
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.00039396554348059,
+        "obj_to_goal_angle": 0.0010951444159683632,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 627,
+      "episode_seed": 881,
+      "reset_kwargs": {
+        "seed": 881
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0002753619628492743,
+        "obj_to_goal_angle": 0.0029944900336555946,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 628,
+      "episode_seed": 882,
+      "reset_kwargs": {
+        "seed": 882
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.0005185112240724266,
+        "obj_to_goal_angle": 0.002539950656534451,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 629,
+      "episode_seed": 885,
+      "reset_kwargs": {
+        "seed": 885
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.0007282746373675764,
+        "obj_to_goal_angle": 0.0026831145908028375,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 630,
+      "episode_seed": 887,
+      "reset_kwargs": {
+        "seed": 887
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 167,
+      "info": {
+        "elapsed_steps": 167,
+        "obj_to_goal_dist": 0.00040843055467121303,
+        "obj_to_goal_angle": 0.001649792777758563,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 631,
+      "episode_seed": 889,
+      "reset_kwargs": {
+        "seed": 889
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00012208848784212023,
+        "obj_to_goal_angle": 0.0027437203322717707,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 632,
+      "episode_seed": 890,
+      "reset_kwargs": {
+        "seed": 890
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0010336294071748853,
+        "obj_to_goal_angle": 0.017837172633799803,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 633,
+      "episode_seed": 891,
+      "reset_kwargs": {
+        "seed": 891
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.000430731859523803,
+        "obj_to_goal_angle": 0.0069388927940963185,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 634,
+      "episode_seed": 896,
+      "reset_kwargs": {
+        "seed": 896
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.00021998975716996938,
+        "obj_to_goal_angle": 0.0023391571559763236,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 635,
+      "episode_seed": 897,
+      "reset_kwargs": {
+        "seed": 897
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.00028450688114389777,
+        "obj_to_goal_angle": 0.0010785895391736133,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 636,
+      "episode_seed": 898,
+      "reset_kwargs": {
+        "seed": 898
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.00011714636639226228,
+        "obj_to_goal_angle": 0.0020545420324529218,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 637,
+      "episode_seed": 899,
+      "reset_kwargs": {
+        "seed": 899
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00041217406396754086,
+        "obj_to_goal_angle": 0.001102088263481349,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 638,
+      "episode_seed": 900,
+      "reset_kwargs": {
+        "seed": 900
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "info": {
+        "elapsed_steps": 135,
+        "obj_to_goal_dist": 0.0002662928600329906,
+        "obj_to_goal_angle": 0.0032100829954115895,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 639,
+      "episode_seed": 901,
+      "reset_kwargs": {
+        "seed": 901
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0005188834038563073,
+        "obj_to_goal_angle": 0.00263836058172906,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 640,
+      "episode_seed": 904,
+      "reset_kwargs": {
+        "seed": 904
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.00042434420902282,
+        "obj_to_goal_angle": 0.0008846230514825137,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 641,
+      "episode_seed": 905,
+      "reset_kwargs": {
+        "seed": 905
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.0004220653499942273,
+        "obj_to_goal_angle": 0.009962518628436001,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 642,
+      "episode_seed": 906,
+      "reset_kwargs": {
+        "seed": 906
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0001564509148010984,
+        "obj_to_goal_angle": 0.002829806213738628,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 643,
+      "episode_seed": 908,
+      "reset_kwargs": {
+        "seed": 908
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0003141077177133411,
+        "obj_to_goal_angle": 0.002719697251872155,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 644,
+      "episode_seed": 909,
+      "reset_kwargs": {
+        "seed": 909
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00011721463670255616,
+        "obj_to_goal_angle": 0.0024104302132679223,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 645,
+      "episode_seed": 910,
+      "reset_kwargs": {
+        "seed": 910
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.0006502419710159302,
+        "obj_to_goal_angle": 0.0007671435778151547,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 646,
+      "episode_seed": 911,
+      "reset_kwargs": {
+        "seed": 911
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 194,
+      "info": {
+        "elapsed_steps": 194,
+        "obj_to_goal_dist": 0.0007379737216979265,
+        "obj_to_goal_angle": 0.0012800369211829477,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 647,
+      "episode_seed": 912,
+      "reset_kwargs": {
+        "seed": 912
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.0005684216157533228,
+        "obj_to_goal_angle": 0.005981941930112811,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 648,
+      "episode_seed": 914,
+      "reset_kwargs": {
+        "seed": 914
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 196,
+      "info": {
+        "elapsed_steps": 196,
+        "obj_to_goal_dist": 0.0004029518167953938,
+        "obj_to_goal_angle": 0.0011286118877835705,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 649,
+      "episode_seed": 915,
+      "reset_kwargs": {
+        "seed": 915
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 189,
+      "info": {
+        "elapsed_steps": 189,
+        "obj_to_goal_dist": 0.0009431975777260959,
+        "obj_to_goal_angle": 0.0016580858796944042,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 650,
+      "episode_seed": 916,
+      "reset_kwargs": {
+        "seed": 916
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0003963011549785733,
+        "obj_to_goal_angle": 0.003477052951152082,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 651,
+      "episode_seed": 917,
+      "reset_kwargs": {
+        "seed": 917
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00023419548233505338,
+        "obj_to_goal_angle": 0.0033914552481606464,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 652,
+      "episode_seed": 918,
+      "reset_kwargs": {
+        "seed": 918
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.0007497110636904836,
+        "obj_to_goal_angle": 0.0035165290144520966,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 653,
+      "episode_seed": 919,
+      "reset_kwargs": {
+        "seed": 919
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00030192791018635035,
+        "obj_to_goal_angle": 0.0009778443779184798,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 654,
+      "episode_seed": 920,
+      "reset_kwargs": {
+        "seed": 920
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.00011800478387158364,
+        "obj_to_goal_angle": 0.0007665677225281442,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 655,
+      "episode_seed": 922,
+      "reset_kwargs": {
+        "seed": 922
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 199,
+      "info": {
+        "elapsed_steps": 199,
+        "obj_to_goal_dist": 0.000717800750862807,
+        "obj_to_goal_angle": 0.0011029225143577293,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 656,
+      "episode_seed": 923,
+      "reset_kwargs": {
+        "seed": 923
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0013004295760765672,
+        "obj_to_goal_angle": 0.009658922116368096,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 657,
+      "episode_seed": 924,
+      "reset_kwargs": {
+        "seed": 924
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0004152605542913079,
+        "obj_to_goal_angle": 0.003945147734450316,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 658,
+      "episode_seed": 926,
+      "reset_kwargs": {
+        "seed": 926
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.0004927701083943248,
+        "obj_to_goal_angle": 0.003771700295185809,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 659,
+      "episode_seed": 927,
+      "reset_kwargs": {
+        "seed": 927
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 172,
+      "info": {
+        "elapsed_steps": 172,
+        "obj_to_goal_dist": 0.00028697989182546735,
+        "obj_to_goal_angle": 0.0009064012643120734,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 660,
+      "episode_seed": 930,
+      "reset_kwargs": {
+        "seed": 930
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.003664937801659107,
+        "obj_to_goal_angle": 0.001499933150747701,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 661,
+      "episode_seed": 934,
+      "reset_kwargs": {
+        "seed": 934
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.0004060112696606666,
+        "obj_to_goal_angle": 0.003024405467975555,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 662,
+      "episode_seed": 935,
+      "reset_kwargs": {
+        "seed": 935
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0001928199053509161,
+        "obj_to_goal_angle": 0.0012709285124810066,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 663,
+      "episode_seed": 936,
+      "reset_kwargs": {
+        "seed": 936
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0003845148312393576,
+        "obj_to_goal_angle": 0.00227084724387705,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 664,
+      "episode_seed": 938,
+      "reset_kwargs": {
+        "seed": 938
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.0008089921320788562,
+        "obj_to_goal_angle": 0.006762344584084978,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 665,
+      "episode_seed": 939,
+      "reset_kwargs": {
+        "seed": 939
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0005201141466386616,
+        "obj_to_goal_angle": 0.003445017618497914,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 666,
+      "episode_seed": 940,
+      "reset_kwargs": {
+        "seed": 940
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00032123399432748556,
+        "obj_to_goal_angle": 0.001117756110607715,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 667,
+      "episode_seed": 943,
+      "reset_kwargs": {
+        "seed": 943
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.00041587010491639376,
+        "obj_to_goal_angle": 0.0016169492263262697,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 668,
+      "episode_seed": 945,
+      "reset_kwargs": {
+        "seed": 945
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.00036977301351726055,
+        "obj_to_goal_angle": 0.0015767316260646425,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 669,
+      "episode_seed": 946,
+      "reset_kwargs": {
+        "seed": 946
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.0005023089470341802,
+        "obj_to_goal_angle": 0.003693879906641939,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 670,
+      "episode_seed": 948,
+      "reset_kwargs": {
+        "seed": 948
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.000545998162124306,
+        "obj_to_goal_angle": 0.002486394039139306,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 671,
+      "episode_seed": 949,
+      "reset_kwargs": {
+        "seed": 949
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "info": {
+        "elapsed_steps": 130,
+        "obj_to_goal_dist": 0.0005654406850226223,
+        "obj_to_goal_angle": 0.0012759209251136383,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 672,
+      "episode_seed": 950,
+      "reset_kwargs": {
+        "seed": 950
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.0008955076918937266,
+        "obj_to_goal_angle": 0.0020128493988016416,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 673,
+      "episode_seed": 951,
+      "reset_kwargs": {
+        "seed": 951
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.00040331014315597713,
+        "obj_to_goal_angle": 0.0029157682499505455,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 674,
+      "episode_seed": 952,
+      "reset_kwargs": {
+        "seed": 952
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 167,
+      "info": {
+        "elapsed_steps": 167,
+        "obj_to_goal_dist": 0.00045443361159414053,
+        "obj_to_goal_angle": 0.0012701201090159486,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 675,
+      "episode_seed": 954,
+      "reset_kwargs": {
+        "seed": 954
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "info": {
+        "elapsed_steps": 130,
+        "obj_to_goal_dist": 0.0003033921530004591,
+        "obj_to_goal_angle": 0.0011353822273854064,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 676,
+      "episode_seed": 955,
+      "reset_kwargs": {
+        "seed": 955
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.0006892780074849725,
+        "obj_to_goal_angle": 0.0013052068557488639,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 677,
+      "episode_seed": 956,
+      "reset_kwargs": {
+        "seed": 956
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.00024984663468785584,
+        "obj_to_goal_angle": 0.0014719895685049167,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 678,
+      "episode_seed": 958,
+      "reset_kwargs": {
+        "seed": 958
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.0006536775035783648,
+        "obj_to_goal_angle": 0.0026589627822968254,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 679,
+      "episode_seed": 959,
+      "reset_kwargs": {
+        "seed": 959
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00038986181607469916,
+        "obj_to_goal_angle": 0.004151021773750152,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 680,
+      "episode_seed": 963,
+      "reset_kwargs": {
+        "seed": 963
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.0006765213911421597,
+        "obj_to_goal_angle": 0.0007778820736046299,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 681,
+      "episode_seed": 964,
+      "reset_kwargs": {
+        "seed": 964
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.0004139563534408808,
+        "obj_to_goal_angle": 0.0014356170250726663,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 682,
+      "episode_seed": 965,
+      "reset_kwargs": {
+        "seed": 965
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.0006040001171641052,
+        "obj_to_goal_angle": 0.0028765334750842086,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 683,
+      "episode_seed": 966,
+      "reset_kwargs": {
+        "seed": 966
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.0002788419078569859,
+        "obj_to_goal_angle": 0.0011212076557516326,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 684,
+      "episode_seed": 967,
+      "reset_kwargs": {
+        "seed": 967
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.0003166315145790577,
+        "obj_to_goal_angle": 0.0012885258169017533,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 685,
+      "episode_seed": 968,
+      "reset_kwargs": {
+        "seed": 968
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.0005085422890260816,
+        "obj_to_goal_angle": 0.002569021025892404,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 686,
+      "episode_seed": 969,
+      "reset_kwargs": {
+        "seed": 969
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.0002898671373259276,
+        "obj_to_goal_angle": 0.0014330787367846654,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 687,
+      "episode_seed": 971,
+      "reset_kwargs": {
+        "seed": 971
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 182,
+      "info": {
+        "elapsed_steps": 182,
+        "obj_to_goal_dist": 0.00010032182763097808,
+        "obj_to_goal_angle": 0.0027072657718969495,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 688,
+      "episode_seed": 972,
+      "reset_kwargs": {
+        "seed": 972
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 185,
+      "info": {
+        "elapsed_steps": 185,
+        "obj_to_goal_dist": 0.0005154602695256472,
+        "obj_to_goal_angle": 0.005931317861879393,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 689,
+      "episode_seed": 973,
+      "reset_kwargs": {
+        "seed": 973
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.004674706608057022,
+        "obj_to_goal_angle": 0.0007444498722213311,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 690,
+      "episode_seed": 975,
+      "reset_kwargs": {
+        "seed": 975
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.001081968774087727,
+        "obj_to_goal_angle": 0.001738964132420584,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 691,
+      "episode_seed": 977,
+      "reset_kwargs": {
+        "seed": 977
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0005542765138670802,
+        "obj_to_goal_angle": 0.0018530427105201142,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 692,
+      "episode_seed": 979,
+      "reset_kwargs": {
+        "seed": 979
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0005346727557480335,
+        "obj_to_goal_angle": 0.002065841001656743,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 693,
+      "episode_seed": 980,
+      "reset_kwargs": {
+        "seed": 980
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.00034481610055081546,
+        "obj_to_goal_angle": 0.0020428008175175094,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 694,
+      "episode_seed": 981,
+      "reset_kwargs": {
+        "seed": 981
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.0005780264618806541,
+        "obj_to_goal_angle": 0.001301413081113978,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 695,
+      "episode_seed": 983,
+      "reset_kwargs": {
+        "seed": 983
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0004819994792342186,
+        "obj_to_goal_angle": 0.0018172339068600607,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 696,
+      "episode_seed": 984,
+      "reset_kwargs": {
+        "seed": 984
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.0005401173839345574,
+        "obj_to_goal_angle": 0.0019297564137286116,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 697,
+      "episode_seed": 985,
+      "reset_kwargs": {
+        "seed": 985
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0004380658792797476,
+        "obj_to_goal_angle": 0.001973821426584088,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 698,
+      "episode_seed": 986,
+      "reset_kwargs": {
+        "seed": 986
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.00041452661389485,
+        "obj_to_goal_angle": 0.0018484780697409775,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 699,
+      "episode_seed": 987,
+      "reset_kwargs": {
+        "seed": 987
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 174,
+      "info": {
+        "elapsed_steps": 174,
+        "obj_to_goal_dist": 0.00028002250473946333,
+        "obj_to_goal_angle": 0.0010610577566874113,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 700,
+      "episode_seed": 988,
+      "reset_kwargs": {
+        "seed": 988
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.0005252503324300051,
+        "obj_to_goal_angle": 0.001381005130035362,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 701,
+      "episode_seed": 990,
+      "reset_kwargs": {
+        "seed": 990
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 193,
+      "info": {
+        "elapsed_steps": 193,
+        "obj_to_goal_dist": 0.0017516908701509237,
+        "obj_to_goal_angle": 0.0022834167647021175,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 702,
+      "episode_seed": 991,
+      "reset_kwargs": {
+        "seed": 991
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "info": {
+        "elapsed_steps": 198,
+        "obj_to_goal_dist": 0.000799572269897908,
+        "obj_to_goal_angle": 0.001394839632101963,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 703,
+      "episode_seed": 992,
+      "reset_kwargs": {
+        "seed": 992
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "info": {
+        "elapsed_steps": 130,
+        "obj_to_goal_dist": 0.00027191906701773405,
+        "obj_to_goal_angle": 0.0011834770025300756,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 704,
+      "episode_seed": 993,
+      "reset_kwargs": {
+        "seed": 993
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.0002106809406541288,
+        "obj_to_goal_angle": 0.00270297023379662,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 705,
+      "episode_seed": 994,
+      "reset_kwargs": {
+        "seed": 994
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.00043858273420482874,
+        "obj_to_goal_angle": 0.0010341344059989765,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 706,
+      "episode_seed": 995,
+      "reset_kwargs": {
+        "seed": 995
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0001325440825894475,
+        "obj_to_goal_angle": 0.002826811356042569,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 707,
+      "episode_seed": 996,
+      "reset_kwargs": {
+        "seed": 996
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.00038481896626763046,
+        "obj_to_goal_angle": 0.0015777865485588904,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 708,
+      "episode_seed": 998,
+      "reset_kwargs": {
+        "seed": 998
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.00038324572960846126,
+        "obj_to_goal_angle": 0.0027156172066220563,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 709,
+      "episode_seed": 999,
+      "reset_kwargs": {
+        "seed": 999
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 195,
+      "info": {
+        "elapsed_steps": 195,
+        "obj_to_goal_dist": 0.0010142140090465546,
+        "obj_to_goal_angle": 0.001416671979250772,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 710,
+      "episode_seed": 1001,
+      "reset_kwargs": {
+        "seed": 1001
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0002357671328354627,
+        "obj_to_goal_angle": 0.0013483494918444805,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 711,
+      "episode_seed": 1002,
+      "reset_kwargs": {
+        "seed": 1002
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00031186596606858075,
+        "obj_to_goal_angle": 0.0010945931751580318,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 712,
+      "episode_seed": 1003,
+      "reset_kwargs": {
+        "seed": 1003
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 190,
+      "info": {
+        "elapsed_steps": 190,
+        "obj_to_goal_dist": 0.0005323386867530644,
+        "obj_to_goal_angle": 0.0020658228097119036,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 713,
+      "episode_seed": 1005,
+      "reset_kwargs": {
+        "seed": 1005
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.0002370069269090891,
+        "obj_to_goal_angle": 0.0011904065908741046,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 714,
+      "episode_seed": 1006,
+      "reset_kwargs": {
+        "seed": 1006
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.00030682352371513844,
+        "obj_to_goal_angle": 0.0013677291160361094,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 715,
+      "episode_seed": 1009,
+      "reset_kwargs": {
+        "seed": 1009
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00010196275252383202,
+        "obj_to_goal_angle": 0.0006920788382798193,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 716,
+      "episode_seed": 1010,
+      "reset_kwargs": {
+        "seed": 1010
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.0001283790625166148,
+        "obj_to_goal_angle": 0.0020417076764793762,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 717,
+      "episode_seed": 1011,
+      "reset_kwargs": {
+        "seed": 1011
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.004417878109961748,
+        "obj_to_goal_angle": 0.0012717334873002528,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 718,
+      "episode_seed": 1012,
+      "reset_kwargs": {
+        "seed": 1012
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.0007119023357518017,
+        "obj_to_goal_angle": 0.000854103106206594,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 719,
+      "episode_seed": 1013,
+      "reset_kwargs": {
+        "seed": 1013
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.0004696262476500124,
+        "obj_to_goal_angle": 0.0008362615394155171,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 720,
+      "episode_seed": 1014,
+      "reset_kwargs": {
+        "seed": 1014
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 172,
+      "info": {
+        "elapsed_steps": 172,
+        "obj_to_goal_dist": 0.0004745987826026976,
+        "obj_to_goal_angle": 0.0029660439906331604,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 721,
+      "episode_seed": 1015,
+      "reset_kwargs": {
+        "seed": 1015
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.00034196634078398347,
+        "obj_to_goal_angle": 0.0014035350072250097,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 722,
+      "episode_seed": 1016,
+      "reset_kwargs": {
+        "seed": 1016
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 174,
+      "info": {
+        "elapsed_steps": 174,
+        "obj_to_goal_dist": 0.0005013199988752604,
+        "obj_to_goal_angle": 0.004324912584673157,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 723,
+      "episode_seed": 1017,
+      "reset_kwargs": {
+        "seed": 1017
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0004271825891919434,
+        "obj_to_goal_angle": 0.001208878457569007,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 724,
+      "episode_seed": 1018,
+      "reset_kwargs": {
+        "seed": 1018
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 126,
+      "info": {
+        "elapsed_steps": 126,
+        "obj_to_goal_dist": 0.0002937819226644933,
+        "obj_to_goal_angle": 0.0013235633453314577,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 725,
+      "episode_seed": 1019,
+      "reset_kwargs": {
+        "seed": 1019
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.0008131972863338888,
+        "obj_to_goal_angle": 0.008218206102284853,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 726,
+      "episode_seed": 1020,
+      "reset_kwargs": {
+        "seed": 1020
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 193,
+      "info": {
+        "elapsed_steps": 193,
+        "obj_to_goal_dist": 0.0002676901931408793,
+        "obj_to_goal_angle": 0.0020057767269534565,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 727,
+      "episode_seed": 1022,
+      "reset_kwargs": {
+        "seed": 1022
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.004567368421703577,
+        "obj_to_goal_angle": 0.08439835092470016,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 728,
+      "episode_seed": 1024,
+      "reset_kwargs": {
+        "seed": 1024
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 172,
+      "info": {
+        "elapsed_steps": 172,
+        "obj_to_goal_dist": 0.00036809968878515065,
+        "obj_to_goal_angle": 0.002149024726184834,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 729,
+      "episode_seed": 1025,
+      "reset_kwargs": {
+        "seed": 1025
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.00040137398173101246,
+        "obj_to_goal_angle": 0.0013060333871033336,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 730,
+      "episode_seed": 1026,
+      "reset_kwargs": {
+        "seed": 1026
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.00023118835815694183,
+        "obj_to_goal_angle": 0.0020156038260887854,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 731,
+      "episode_seed": 1027,
+      "reset_kwargs": {
+        "seed": 1027
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.00023662734020035714,
+        "obj_to_goal_angle": 0.002539807903179536,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 732,
+      "episode_seed": 1028,
+      "reset_kwargs": {
+        "seed": 1028
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00022899282339494675,
+        "obj_to_goal_angle": 0.0013684325585785473,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 733,
+      "episode_seed": 1029,
+      "reset_kwargs": {
+        "seed": 1029
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0004511013685259968,
+        "obj_to_goal_angle": 0.000935504028370282,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 734,
+      "episode_seed": 1030,
+      "reset_kwargs": {
+        "seed": 1030
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.0001648223405936733,
+        "obj_to_goal_angle": 0.001058068834977277,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 735,
+      "episode_seed": 1031,
+      "reset_kwargs": {
+        "seed": 1031
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.000402573001338169,
+        "obj_to_goal_angle": 0.001074518876559516,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 736,
+      "episode_seed": 1032,
+      "reset_kwargs": {
+        "seed": 1032
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00024056360416579992,
+        "obj_to_goal_angle": 0.0011738497946280901,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 737,
+      "episode_seed": 1033,
+      "reset_kwargs": {
+        "seed": 1033
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0004144421254750341,
+        "obj_to_goal_angle": 0.0027249182528645832,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 738,
+      "episode_seed": 1035,
+      "reset_kwargs": {
+        "seed": 1035
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.00037799065466970205,
+        "obj_to_goal_angle": 0.0011551978782540218,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 739,
+      "episode_seed": 1036,
+      "reset_kwargs": {
+        "seed": 1036
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.0005461496184580028,
+        "obj_to_goal_angle": 0.0028374365706103077,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 740,
+      "episode_seed": 1039,
+      "reset_kwargs": {
+        "seed": 1039
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0004356775025371462,
+        "obj_to_goal_angle": 0.0007111304111022676,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 741,
+      "episode_seed": 1041,
+      "reset_kwargs": {
+        "seed": 1041
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0005363951786421239,
+        "obj_to_goal_angle": 0.001071172496247108,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 742,
+      "episode_seed": 1044,
+      "reset_kwargs": {
+        "seed": 1044
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0003798447141889483,
+        "obj_to_goal_angle": 0.0009589296204417508,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 743,
+      "episode_seed": 1045,
+      "reset_kwargs": {
+        "seed": 1045
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.0005495536606758833,
+        "obj_to_goal_angle": 0.0008214731705589173,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 744,
+      "episode_seed": 1046,
+      "reset_kwargs": {
+        "seed": 1046
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.0005054471548646688,
+        "obj_to_goal_angle": 0.0011105485812512583,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 745,
+      "episode_seed": 1047,
+      "reset_kwargs": {
+        "seed": 1047
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.0018704936373978853,
+        "obj_to_goal_angle": 0.002409245146523631,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 746,
+      "episode_seed": 1048,
+      "reset_kwargs": {
+        "seed": 1048
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.00044099020306020975,
+        "obj_to_goal_angle": 0.0015435369666558785,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 747,
+      "episode_seed": 1051,
+      "reset_kwargs": {
+        "seed": 1051
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.0004835811851080507,
+        "obj_to_goal_angle": 0.001946911810838614,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 748,
+      "episode_seed": 1052,
+      "reset_kwargs": {
+        "seed": 1052
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.00026032497407868505,
+        "obj_to_goal_angle": 0.0025174174196793686,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 749,
+      "episode_seed": 1054,
+      "reset_kwargs": {
+        "seed": 1054
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0007920196512714028,
+        "obj_to_goal_angle": 0.0012425048868829336,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 750,
+      "episode_seed": 1056,
+      "reset_kwargs": {
+        "seed": 1056
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0005253848503343761,
+        "obj_to_goal_angle": 0.0017934164268345043,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 751,
+      "episode_seed": 1057,
+      "reset_kwargs": {
+        "seed": 1057
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 190,
+      "info": {
+        "elapsed_steps": 190,
+        "obj_to_goal_dist": 0.0006941676256246865,
+        "obj_to_goal_angle": 0.0007635013732727458,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 752,
+      "episode_seed": 1058,
+      "reset_kwargs": {
+        "seed": 1058
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.0008017258951440454,
+        "obj_to_goal_angle": 0.00163260070899085,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 753,
+      "episode_seed": 1061,
+      "reset_kwargs": {
+        "seed": 1061
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0005559306591749191,
+        "obj_to_goal_angle": 0.0016036600985298577,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 754,
+      "episode_seed": 1062,
+      "reset_kwargs": {
+        "seed": 1062
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.00021775955974590033,
+        "obj_to_goal_angle": 0.0010119354077096077,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 755,
+      "episode_seed": 1063,
+      "reset_kwargs": {
+        "seed": 1063
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.000438325252616778,
+        "obj_to_goal_angle": 0.002289641015947197,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 756,
+      "episode_seed": 1064,
+      "reset_kwargs": {
+        "seed": 1064
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.00020508997840806842,
+        "obj_to_goal_angle": 0.0010543125672075604,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 757,
+      "episode_seed": 1065,
+      "reset_kwargs": {
+        "seed": 1065
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.0005266170483082533,
+        "obj_to_goal_angle": 0.0009505688847522009,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 758,
+      "episode_seed": 1066,
+      "reset_kwargs": {
+        "seed": 1066
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.00045137415872886777,
+        "obj_to_goal_angle": 0.0032674389270406223,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 759,
+      "episode_seed": 1067,
+      "reset_kwargs": {
+        "seed": 1067
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 199,
+      "info": {
+        "elapsed_steps": 199,
+        "obj_to_goal_dist": 0.0009928951039910316,
+        "obj_to_goal_angle": 0.0015765748061076224,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 760,
+      "episode_seed": 1068,
+      "reset_kwargs": {
+        "seed": 1068
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 191,
+      "info": {
+        "elapsed_steps": 191,
+        "obj_to_goal_dist": 0.0004048380651511252,
+        "obj_to_goal_angle": 0.002276946700161986,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 761,
+      "episode_seed": 1069,
+      "reset_kwargs": {
+        "seed": 1069
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 185,
+      "info": {
+        "elapsed_steps": 185,
+        "obj_to_goal_dist": 0.0004893491859547794,
+        "obj_to_goal_angle": 0.0018959942705372157,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 762,
+      "episode_seed": 1070,
+      "reset_kwargs": {
+        "seed": 1070
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.00043831978109665215,
+        "obj_to_goal_angle": 0.0013277171899233053,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 763,
+      "episode_seed": 1071,
+      "reset_kwargs": {
+        "seed": 1071
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0002997881674673408,
+        "obj_to_goal_angle": 0.0015121445432511038,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 764,
+      "episode_seed": 1073,
+      "reset_kwargs": {
+        "seed": 1073
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0001954912004293874,
+        "obj_to_goal_angle": 0.002969137993850346,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 765,
+      "episode_seed": 1074,
+      "reset_kwargs": {
+        "seed": 1074
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0003315039211884141,
+        "obj_to_goal_angle": 0.002227182819867224,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 766,
+      "episode_seed": 1075,
+      "reset_kwargs": {
+        "seed": 1075
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 9.424805466551334e-05,
+        "obj_to_goal_angle": 0.0026669092232705083,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 767,
+      "episode_seed": 1077,
+      "reset_kwargs": {
+        "seed": 1077
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.00022639779490418732,
+        "obj_to_goal_angle": 0.0030035544372992717,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 768,
+      "episode_seed": 1078,
+      "reset_kwargs": {
+        "seed": 1078
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.00041781875188462436,
+        "obj_to_goal_angle": 0.00275868664076917,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 769,
+      "episode_seed": 1079,
+      "reset_kwargs": {
+        "seed": 1079
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00023604341549798846,
+        "obj_to_goal_angle": 0.001989791263019569,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 770,
+      "episode_seed": 1080,
+      "reset_kwargs": {
+        "seed": 1080
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.000288237672066316,
+        "obj_to_goal_angle": 0.0020692862159723546,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 771,
+      "episode_seed": 1082,
+      "reset_kwargs": {
+        "seed": 1082
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0004378461162559688,
+        "obj_to_goal_angle": 0.0011298992061901103,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 772,
+      "episode_seed": 1083,
+      "reset_kwargs": {
+        "seed": 1083
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.000502179900649935,
+        "obj_to_goal_angle": 0.0007630768288535705,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 773,
+      "episode_seed": 1084,
+      "reset_kwargs": {
+        "seed": 1084
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.00030188303207978606,
+        "obj_to_goal_angle": 0.0013389808176365037,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 774,
+      "episode_seed": 1088,
+      "reset_kwargs": {
+        "seed": 1088
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0004752379027195275,
+        "obj_to_goal_angle": 0.0028295259070807433,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 775,
+      "episode_seed": 1089,
+      "reset_kwargs": {
+        "seed": 1089
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0001446179230697453,
+        "obj_to_goal_angle": 0.0009426169248030192,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 776,
+      "episode_seed": 1090,
+      "reset_kwargs": {
+        "seed": 1090
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "info": {
+        "elapsed_steps": 130,
+        "obj_to_goal_dist": 0.0003644375246949494,
+        "obj_to_goal_angle": 0.0011292301036514019,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 777,
+      "episode_seed": 1091,
+      "reset_kwargs": {
+        "seed": 1091
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.00031119518098421395,
+        "obj_to_goal_angle": 0.0018415016073953794,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 778,
+      "episode_seed": 1092,
+      "reset_kwargs": {
+        "seed": 1092
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.0005688101518899202,
+        "obj_to_goal_angle": 0.0014088684023914055,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 779,
+      "episode_seed": 1093,
+      "reset_kwargs": {
+        "seed": 1093
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 184,
+      "info": {
+        "elapsed_steps": 184,
+        "obj_to_goal_dist": 0.0006250141304917634,
+        "obj_to_goal_angle": 0.0012566128382269781,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 780,
+      "episode_seed": 1094,
+      "reset_kwargs": {
+        "seed": 1094
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0006006538169458508,
+        "obj_to_goal_angle": 0.0006638492174211308,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 781,
+      "episode_seed": 1095,
+      "reset_kwargs": {
+        "seed": 1095
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.00015066126070450991,
+        "obj_to_goal_angle": 0.0032376651899719278,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 782,
+      "episode_seed": 1096,
+      "reset_kwargs": {
+        "seed": 1096
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 8.414934563916177e-05,
+        "obj_to_goal_angle": 0.0031769522363065406,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 783,
+      "episode_seed": 1098,
+      "reset_kwargs": {
+        "seed": 1098
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.00041097760549746454,
+        "obj_to_goal_angle": 0.0014672994248536853,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 784,
+      "episode_seed": 1099,
+      "reset_kwargs": {
+        "seed": 1099
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0002581538865342736,
+        "obj_to_goal_angle": 0.0011276596979321596,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 785,
+      "episode_seed": 1100,
+      "reset_kwargs": {
+        "seed": 1100
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.00045692382263951004,
+        "obj_to_goal_angle": 0.0008063403390723423,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 786,
+      "episode_seed": 1101,
+      "reset_kwargs": {
+        "seed": 1101
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 180,
+      "info": {
+        "elapsed_steps": 180,
+        "obj_to_goal_dist": 0.004807698540389538,
+        "obj_to_goal_angle": 0.0032470287805228537,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 787,
+      "episode_seed": 1102,
+      "reset_kwargs": {
+        "seed": 1102
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 135,
+      "info": {
+        "elapsed_steps": 135,
+        "obj_to_goal_dist": 0.00043205422116443515,
+        "obj_to_goal_angle": 0.003298374139947491,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 788,
+      "episode_seed": 1103,
+      "reset_kwargs": {
+        "seed": 1103
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.0010366009082645178,
+        "obj_to_goal_angle": 0.022753618256269093,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 789,
+      "episode_seed": 1104,
+      "reset_kwargs": {
+        "seed": 1104
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.00018233725859317929,
+        "obj_to_goal_angle": 0.006916335098686055,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 790,
+      "episode_seed": 1105,
+      "reset_kwargs": {
+        "seed": 1105
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0001709152857074514,
+        "obj_to_goal_angle": 0.002500314779738666,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 791,
+      "episode_seed": 1106,
+      "reset_kwargs": {
+        "seed": 1106
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 194,
+      "info": {
+        "elapsed_steps": 194,
+        "obj_to_goal_dist": 0.0005328494007699192,
+        "obj_to_goal_angle": 0.0011421336582886354,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 792,
+      "episode_seed": 1107,
+      "reset_kwargs": {
+        "seed": 1107
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.00016807882639113814,
+        "obj_to_goal_angle": 0.0025981894472391076,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 793,
+      "episode_seed": 1108,
+      "reset_kwargs": {
+        "seed": 1108
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.0006079536979086697,
+        "obj_to_goal_angle": 0.0014634237274986361,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 794,
+      "episode_seed": 1109,
+      "reset_kwargs": {
+        "seed": 1109
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0002525106829125434,
+        "obj_to_goal_angle": 0.0036146529874141464,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 795,
+      "episode_seed": 1110,
+      "reset_kwargs": {
+        "seed": 1110
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.0006118802702985704,
+        "obj_to_goal_angle": 0.0011894904589659916,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 796,
+      "episode_seed": 1111,
+      "reset_kwargs": {
+        "seed": 1111
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.0005068463506177068,
+        "obj_to_goal_angle": 0.000964424276007847,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 797,
+      "episode_seed": 1112,
+      "reset_kwargs": {
+        "seed": 1112
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0003824216255452484,
+        "obj_to_goal_angle": 0.0009671005887943451,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 798,
+      "episode_seed": 1114,
+      "reset_kwargs": {
+        "seed": 1114
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 196,
+      "info": {
+        "elapsed_steps": 196,
+        "obj_to_goal_dist": 0.0005592060042545199,
+        "obj_to_goal_angle": 0.0023533480945436835,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 799,
+      "episode_seed": 1116,
+      "reset_kwargs": {
+        "seed": 1116
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.00041552327456884086,
+        "obj_to_goal_angle": 0.0006733817912136786,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 800,
+      "episode_seed": 1117,
+      "reset_kwargs": {
+        "seed": 1117
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 131,
+      "info": {
+        "elapsed_steps": 131,
+        "obj_to_goal_dist": 0.0002460387477185577,
+        "obj_to_goal_angle": 0.002971812159388243,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 801,
+      "episode_seed": 1118,
+      "reset_kwargs": {
+        "seed": 1118
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.0004436252638697624,
+        "obj_to_goal_angle": 0.001559328214088218,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 802,
+      "episode_seed": 1119,
+      "reset_kwargs": {
+        "seed": 1119
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0005307050887495279,
+        "obj_to_goal_angle": 0.0027629756378422243,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 803,
+      "episode_seed": 1121,
+      "reset_kwargs": {
+        "seed": 1121
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.00014095597725827247,
+        "obj_to_goal_angle": 0.006035606285003325,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 804,
+      "episode_seed": 1124,
+      "reset_kwargs": {
+        "seed": 1124
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.00045527261681854725,
+        "obj_to_goal_angle": 0.0026214369235999513,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 805,
+      "episode_seed": 1125,
+      "reset_kwargs": {
+        "seed": 1125
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 190,
+      "info": {
+        "elapsed_steps": 190,
+        "obj_to_goal_dist": 0.0008540073176845908,
+        "obj_to_goal_angle": 0.0019797287331924096,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 806,
+      "episode_seed": 1127,
+      "reset_kwargs": {
+        "seed": 1127
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0002505810116417706,
+        "obj_to_goal_angle": 0.0014599255700078473,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 807,
+      "episode_seed": 1128,
+      "reset_kwargs": {
+        "seed": 1128
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.0006526290089823306,
+        "obj_to_goal_angle": 0.0015178817809484713,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 808,
+      "episode_seed": 1130,
+      "reset_kwargs": {
+        "seed": 1130
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.003709248499944806,
+        "obj_to_goal_angle": 0.06673419117290091,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 809,
+      "episode_seed": 1131,
+      "reset_kwargs": {
+        "seed": 1131
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0007145889103412628,
+        "obj_to_goal_angle": 0.0005658670438846158,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 810,
+      "episode_seed": 1133,
+      "reset_kwargs": {
+        "seed": 1133
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00041510522714816034,
+        "obj_to_goal_angle": 0.0020419943015728137,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 811,
+      "episode_seed": 1134,
+      "reset_kwargs": {
+        "seed": 1134
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.0003772476629819721,
+        "obj_to_goal_angle": 0.001109599725969801,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 812,
+      "episode_seed": 1135,
+      "reset_kwargs": {
+        "seed": 1135
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0004114396288059652,
+        "obj_to_goal_angle": 0.001163533959380736,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 813,
+      "episode_seed": 1136,
+      "reset_kwargs": {
+        "seed": 1136
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "info": {
+        "elapsed_steps": 198,
+        "obj_to_goal_dist": 0.0009024774190038443,
+        "obj_to_goal_angle": 0.0012495260316898182,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 814,
+      "episode_seed": 1137,
+      "reset_kwargs": {
+        "seed": 1137
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 189,
+      "info": {
+        "elapsed_steps": 189,
+        "obj_to_goal_dist": 0.0036765492986887693,
+        "obj_to_goal_angle": 0.0017924380267606566,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 815,
+      "episode_seed": 1139,
+      "reset_kwargs": {
+        "seed": 1139
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00038344060885719955,
+        "obj_to_goal_angle": 0.0009207384502394333,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 816,
+      "episode_seed": 1140,
+      "reset_kwargs": {
+        "seed": 1140
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.00041239778511226177,
+        "obj_to_goal_angle": 0.0009078149163173066,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 817,
+      "episode_seed": 1143,
+      "reset_kwargs": {
+        "seed": 1143
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0004285565228201449,
+        "obj_to_goal_angle": 0.0010965421375015438,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 818,
+      "episode_seed": 1144,
+      "reset_kwargs": {
+        "seed": 1144
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0005568352062255144,
+        "obj_to_goal_angle": 0.0006139460842282674,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 819,
+      "episode_seed": 1146,
+      "reset_kwargs": {
+        "seed": 1146
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 125,
+      "info": {
+        "elapsed_steps": 125,
+        "obj_to_goal_dist": 0.0004005950759164989,
+        "obj_to_goal_angle": 0.002719067821810306,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 820,
+      "episode_seed": 1147,
+      "reset_kwargs": {
+        "seed": 1147
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0004107127897441387,
+        "obj_to_goal_angle": 0.001833036642133301,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 821,
+      "episode_seed": 1148,
+      "reset_kwargs": {
+        "seed": 1148
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 194,
+      "info": {
+        "elapsed_steps": 194,
+        "obj_to_goal_dist": 0.0006546659278683364,
+        "obj_to_goal_angle": 0.001619991259651954,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 822,
+      "episode_seed": 1149,
+      "reset_kwargs": {
+        "seed": 1149
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.0003481325984466821,
+        "obj_to_goal_angle": 0.0015135876587137886,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 823,
+      "episode_seed": 1152,
+      "reset_kwargs": {
+        "seed": 1152
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.00018518826982472092,
+        "obj_to_goal_angle": 0.001743002684511552,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 824,
+      "episode_seed": 1154,
+      "reset_kwargs": {
+        "seed": 1154
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.00031311920611187816,
+        "obj_to_goal_angle": 0.0011484931205272275,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 825,
+      "episode_seed": 1157,
+      "reset_kwargs": {
+        "seed": 1157
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0003401115827728063,
+        "obj_to_goal_angle": 0.0026926923279768644,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 826,
+      "episode_seed": 1158,
+      "reset_kwargs": {
+        "seed": 1158
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.00034165818942710757,
+        "obj_to_goal_angle": 0.0022339788336500632,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 827,
+      "episode_seed": 1159,
+      "reset_kwargs": {
+        "seed": 1159
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0003204712993465364,
+        "obj_to_goal_angle": 0.0010404734490041534,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 828,
+      "episode_seed": 1160,
+      "reset_kwargs": {
+        "seed": 1160
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.00038056165794841945,
+        "obj_to_goal_angle": 0.001131879591781626,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 829,
+      "episode_seed": 1163,
+      "reset_kwargs": {
+        "seed": 1163
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.00040186039404943585,
+        "obj_to_goal_angle": 0.001502865685821142,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 830,
+      "episode_seed": 1165,
+      "reset_kwargs": {
+        "seed": 1165
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0002098105032928288,
+        "obj_to_goal_angle": 0.0010205023807943192,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 831,
+      "episode_seed": 1166,
+      "reset_kwargs": {
+        "seed": 1166
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.00047420131159015,
+        "obj_to_goal_angle": 0.001984777421992767,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 832,
+      "episode_seed": 1168,
+      "reset_kwargs": {
+        "seed": 1168
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.00021899858256801963,
+        "obj_to_goal_angle": 0.003139101661624011,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 833,
+      "episode_seed": 1171,
+      "reset_kwargs": {
+        "seed": 1171
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.00042058966937474906,
+        "obj_to_goal_angle": 0.0020707920985563177,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 834,
+      "episode_seed": 1172,
+      "reset_kwargs": {
+        "seed": 1172
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 169,
+      "info": {
+        "elapsed_steps": 169,
+        "obj_to_goal_dist": 0.000614539603702724,
+        "obj_to_goal_angle": 0.002300054681457553,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 835,
+      "episode_seed": 1174,
+      "reset_kwargs": {
+        "seed": 1174
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 187,
+      "info": {
+        "elapsed_steps": 187,
+        "obj_to_goal_dist": 0.0008386053959839046,
+        "obj_to_goal_angle": 0.0016334926657295412,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 836,
+      "episode_seed": 1175,
+      "reset_kwargs": {
+        "seed": 1175
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.0006719669909216464,
+        "obj_to_goal_angle": 0.000202522707550834,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 837,
+      "episode_seed": 1176,
+      "reset_kwargs": {
+        "seed": 1176
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.0006205733516253531,
+        "obj_to_goal_angle": 0.0021138853965183557,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 838,
+      "episode_seed": 1179,
+      "reset_kwargs": {
+        "seed": 1179
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.000229859899263829,
+        "obj_to_goal_angle": 0.0010851021364013391,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 839,
+      "episode_seed": 1180,
+      "reset_kwargs": {
+        "seed": 1180
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.00043749084579758346,
+        "obj_to_goal_angle": 0.0014709462082169722,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 840,
+      "episode_seed": 1181,
+      "reset_kwargs": {
+        "seed": 1181
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.001544799655675888,
+        "obj_to_goal_angle": 0.03139800633272838,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 841,
+      "episode_seed": 1182,
+      "reset_kwargs": {
+        "seed": 1182
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.000511587189976126,
+        "obj_to_goal_angle": 0.0014289521640877823,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 842,
+      "episode_seed": 1183,
+      "reset_kwargs": {
+        "seed": 1183
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.00015991280088201165,
+        "obj_to_goal_angle": 0.0011019225235013863,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 843,
+      "episode_seed": 1184,
+      "reset_kwargs": {
+        "seed": 1184
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0004594220663420856,
+        "obj_to_goal_angle": 0.000872725733867874,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 844,
+      "episode_seed": 1185,
+      "reset_kwargs": {
+        "seed": 1185
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 186,
+      "info": {
+        "elapsed_steps": 186,
+        "obj_to_goal_dist": 0.00043485997593961656,
+        "obj_to_goal_angle": 0.0010541498138678662,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 845,
+      "episode_seed": 1187,
+      "reset_kwargs": {
+        "seed": 1187
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.001192123512737453,
+        "obj_to_goal_angle": 0.0008973782689327692,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 846,
+      "episode_seed": 1188,
+      "reset_kwargs": {
+        "seed": 1188
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.0005385680706240237,
+        "obj_to_goal_angle": 0.0010380951963009366,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 847,
+      "episode_seed": 1189,
+      "reset_kwargs": {
+        "seed": 1189
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.002456808229908347,
+        "obj_to_goal_angle": 0.0028992973159480684,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 848,
+      "episode_seed": 1190,
+      "reset_kwargs": {
+        "seed": 1190
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.00018431269563734531,
+        "obj_to_goal_angle": 0.001575479677262237,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 849,
+      "episode_seed": 1194,
+      "reset_kwargs": {
+        "seed": 1194
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.00028034966089762747,
+        "obj_to_goal_angle": 0.001162506900975302,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 850,
+      "episode_seed": 1195,
+      "reset_kwargs": {
+        "seed": 1195
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.00029528175946325064,
+        "obj_to_goal_angle": 0.000629062377411671,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 851,
+      "episode_seed": 1196,
+      "reset_kwargs": {
+        "seed": 1196
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0002460071991663426,
+        "obj_to_goal_angle": 0.0017079100247778811,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 852,
+      "episode_seed": 1199,
+      "reset_kwargs": {
+        "seed": 1199
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.0006171951536089182,
+        "obj_to_goal_angle": 0.0031462888803401867,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 853,
+      "episode_seed": 1200,
+      "reset_kwargs": {
+        "seed": 1200
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.00020430980657693,
+        "obj_to_goal_angle": 0.001341087528913043,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 854,
+      "episode_seed": 1201,
+      "reset_kwargs": {
+        "seed": 1201
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0005034440546296537,
+        "obj_to_goal_angle": 0.0016664263172234683,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 855,
+      "episode_seed": 1202,
+      "reset_kwargs": {
+        "seed": 1202
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.00039003483834676445,
+        "obj_to_goal_angle": 0.0015749909769056103,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 856,
+      "episode_seed": 1203,
+      "reset_kwargs": {
+        "seed": 1203
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 190,
+      "info": {
+        "elapsed_steps": 190,
+        "obj_to_goal_dist": 0.0001521215890534222,
+        "obj_to_goal_angle": 0.002107227732944139,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 857,
+      "episode_seed": 1204,
+      "reset_kwargs": {
+        "seed": 1204
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.0004824566130992025,
+        "obj_to_goal_angle": 0.002396872769106828,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 858,
+      "episode_seed": 1205,
+      "reset_kwargs": {
+        "seed": 1205
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0005420873640105128,
+        "obj_to_goal_angle": 0.0018793878525480423,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 859,
+      "episode_seed": 1206,
+      "reset_kwargs": {
+        "seed": 1206
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.00046439768630079925,
+        "obj_to_goal_angle": 0.0017791047747399702,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 860,
+      "episode_seed": 1208,
+      "reset_kwargs": {
+        "seed": 1208
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 140,
+      "info": {
+        "elapsed_steps": 140,
+        "obj_to_goal_dist": 0.00043493323028087616,
+        "obj_to_goal_angle": 0.0011042446716800214,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 861,
+      "episode_seed": 1210,
+      "reset_kwargs": {
+        "seed": 1210
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0004858659813180566,
+        "obj_to_goal_angle": 0.0011763341803820992,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 862,
+      "episode_seed": 1212,
+      "reset_kwargs": {
+        "seed": 1212
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "info": {
+        "elapsed_steps": 198,
+        "obj_to_goal_dist": 0.0008277225424535573,
+        "obj_to_goal_angle": 0.002444398155409644,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 863,
+      "episode_seed": 1213,
+      "reset_kwargs": {
+        "seed": 1213
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 165,
+      "info": {
+        "elapsed_steps": 165,
+        "obj_to_goal_dist": 0.0003738052910193801,
+        "obj_to_goal_angle": 0.0011185172659367026,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 864,
+      "episode_seed": 1215,
+      "reset_kwargs": {
+        "seed": 1215
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.00035106929135508835,
+        "obj_to_goal_angle": 0.0013211898441207737,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 865,
+      "episode_seed": 1217,
+      "reset_kwargs": {
+        "seed": 1217
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.00012282711395528167,
+        "obj_to_goal_angle": 0.0040770909966019175,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 866,
+      "episode_seed": 1218,
+      "reset_kwargs": {
+        "seed": 1218
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 189,
+      "info": {
+        "elapsed_steps": 189,
+        "obj_to_goal_dist": 0.00019454662105999887,
+        "obj_to_goal_angle": 0.0011347652338420389,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 867,
+      "episode_seed": 1219,
+      "reset_kwargs": {
+        "seed": 1219
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.0003133876307401806,
+        "obj_to_goal_angle": 0.0014290628679001216,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 868,
+      "episode_seed": 1221,
+      "reset_kwargs": {
+        "seed": 1221
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 198,
+      "info": {
+        "elapsed_steps": 198,
+        "obj_to_goal_dist": 0.0006378174293786287,
+        "obj_to_goal_angle": 0.001129556309090951,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 869,
+      "episode_seed": 1222,
+      "reset_kwargs": {
+        "seed": 1222
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.00047496415209025145,
+        "obj_to_goal_angle": 0.0012463732730045862,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 870,
+      "episode_seed": 1224,
+      "reset_kwargs": {
+        "seed": 1224
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0005618568393401802,
+        "obj_to_goal_angle": 0.007316949617568902,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 871,
+      "episode_seed": 1225,
+      "reset_kwargs": {
+        "seed": 1225
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.00044447684194892645,
+        "obj_to_goal_angle": 0.0011568739307596942,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 872,
+      "episode_seed": 1226,
+      "reset_kwargs": {
+        "seed": 1226
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.00029684006585739553,
+        "obj_to_goal_angle": 0.0012196397240442636,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 873,
+      "episode_seed": 1227,
+      "reset_kwargs": {
+        "seed": 1227
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.00019564788090065122,
+        "obj_to_goal_angle": 0.0028146305616587597,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 874,
+      "episode_seed": 1228,
+      "reset_kwargs": {
+        "seed": 1228
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.00014589569764211774,
+        "obj_to_goal_angle": 0.0012260575873916935,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 875,
+      "episode_seed": 1230,
+      "reset_kwargs": {
+        "seed": 1230
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.0003171520074829459,
+        "obj_to_goal_angle": 0.0010096396753471737,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 876,
+      "episode_seed": 1231,
+      "reset_kwargs": {
+        "seed": 1231
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0004750406078528613,
+        "obj_to_goal_angle": 0.0016588068450413829,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 877,
+      "episode_seed": 1232,
+      "reset_kwargs": {
+        "seed": 1232
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0001945788972079754,
+        "obj_to_goal_angle": 0.0012739451160088677,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 878,
+      "episode_seed": 1234,
+      "reset_kwargs": {
+        "seed": 1234
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.0003878576389979571,
+        "obj_to_goal_angle": 0.0010294642788215569,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 879,
+      "episode_seed": 1235,
+      "reset_kwargs": {
+        "seed": 1235
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.0006306592840701342,
+        "obj_to_goal_angle": 0.0018620104537969695,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 880,
+      "episode_seed": 1236,
+      "reset_kwargs": {
+        "seed": 1236
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 150,
+      "info": {
+        "elapsed_steps": 150,
+        "obj_to_goal_dist": 0.0004894945304840803,
+        "obj_to_goal_angle": 0.001284382372015891,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 881,
+      "episode_seed": 1237,
+      "reset_kwargs": {
+        "seed": 1237
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.004011421464383602,
+        "obj_to_goal_angle": 0.0014083298623512874,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 882,
+      "episode_seed": 1239,
+      "reset_kwargs": {
+        "seed": 1239
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 145,
+      "info": {
+        "elapsed_steps": 145,
+        "obj_to_goal_dist": 0.00028042684425599873,
+        "obj_to_goal_angle": 0.0026320966832198422,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 883,
+      "episode_seed": 1246,
+      "reset_kwargs": {
+        "seed": 1246
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "info": {
+        "elapsed_steps": 128,
+        "obj_to_goal_dist": 0.00039727447438053787,
+        "obj_to_goal_angle": 0.0018236668215809715,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 884,
+      "episode_seed": 1248,
+      "reset_kwargs": {
+        "seed": 1248
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.00021307427959982306,
+        "obj_to_goal_angle": 0.0032237799427585756,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 885,
+      "episode_seed": 1250,
+      "reset_kwargs": {
+        "seed": 1250
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.0003878036222886294,
+        "obj_to_goal_angle": 0.003425045996859666,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 886,
+      "episode_seed": 1251,
+      "reset_kwargs": {
+        "seed": 1251
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 5.004294143873267e-05,
+        "obj_to_goal_angle": 0.003539151506080529,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 887,
+      "episode_seed": 1252,
+      "reset_kwargs": {
+        "seed": 1252
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 172,
+      "info": {
+        "elapsed_steps": 172,
+        "obj_to_goal_dist": 0.0003256258205510676,
+        "obj_to_goal_angle": 0.0024843843705895097,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 888,
+      "episode_seed": 1253,
+      "reset_kwargs": {
+        "seed": 1253
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.00044534215703606606,
+        "obj_to_goal_angle": 0.0011619180997017864,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 889,
+      "episode_seed": 1254,
+      "reset_kwargs": {
+        "seed": 1254
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.00044232705840840936,
+        "obj_to_goal_angle": 0.001693307786111653,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 890,
+      "episode_seed": 1255,
+      "reset_kwargs": {
+        "seed": 1255
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.00020638071873690933,
+        "obj_to_goal_angle": 0.0012276937232984508,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 891,
+      "episode_seed": 1258,
+      "reset_kwargs": {
+        "seed": 1258
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 133,
+      "info": {
+        "elapsed_steps": 133,
+        "obj_to_goal_dist": 0.0002050155308097601,
+        "obj_to_goal_angle": 0.0010403944490295913,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 892,
+      "episode_seed": 1261,
+      "reset_kwargs": {
+        "seed": 1261
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 148,
+      "info": {
+        "elapsed_steps": 148,
+        "obj_to_goal_dist": 0.00032531507895328104,
+        "obj_to_goal_angle": 0.0010600508077365234,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 893,
+      "episode_seed": 1262,
+      "reset_kwargs": {
+        "seed": 1262
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 160,
+      "info": {
+        "elapsed_steps": 160,
+        "obj_to_goal_dist": 0.0005760708008892834,
+        "obj_to_goal_angle": 0.003395929754916871,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 894,
+      "episode_seed": 1263,
+      "reset_kwargs": {
+        "seed": 1263
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0003458283608779311,
+        "obj_to_goal_angle": 0.0014397475748255673,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 895,
+      "episode_seed": 1264,
+      "reset_kwargs": {
+        "seed": 1264
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0004204717406537384,
+        "obj_to_goal_angle": 0.0011196118045901926,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 896,
+      "episode_seed": 1265,
+      "reset_kwargs": {
+        "seed": 1265
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0005694493884220719,
+        "obj_to_goal_angle": 0.00123934455078345,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 897,
+      "episode_seed": 1270,
+      "reset_kwargs": {
+        "seed": 1270
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.0004367944784462452,
+        "obj_to_goal_angle": 0.002711552029538211,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 898,
+      "episode_seed": 1271,
+      "reset_kwargs": {
+        "seed": 1271
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 167,
+      "info": {
+        "elapsed_steps": 167,
+        "obj_to_goal_dist": 0.0006561559275723994,
+        "obj_to_goal_angle": 0.0019369016682100337,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 899,
+      "episode_seed": 1272,
+      "reset_kwargs": {
+        "seed": 1272
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.0003629213315434754,
+        "obj_to_goal_angle": 0.0036501998843396777,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 900,
+      "episode_seed": 1275,
+      "reset_kwargs": {
+        "seed": 1275
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 191,
+      "info": {
+        "elapsed_steps": 191,
+        "obj_to_goal_dist": 0.0007474824087694287,
+        "obj_to_goal_angle": 0.0010849058668753742,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 901,
+      "episode_seed": 1276,
+      "reset_kwargs": {
+        "seed": 1276
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.00040882034227252007,
+        "obj_to_goal_angle": 0.0009579148894642842,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 902,
+      "episode_seed": 1277,
+      "reset_kwargs": {
+        "seed": 1277
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0005697628948837519,
+        "obj_to_goal_angle": 0.0011817175936394975,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 903,
+      "episode_seed": 1278,
+      "reset_kwargs": {
+        "seed": 1278
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00033346962300129235,
+        "obj_to_goal_angle": 0.0012743599391136229,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 904,
+      "episode_seed": 1279,
+      "reset_kwargs": {
+        "seed": 1279
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.00042881706031039357,
+        "obj_to_goal_angle": 0.00092636734801399,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 905,
+      "episode_seed": 1280,
+      "reset_kwargs": {
+        "seed": 1280
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0004324165638536215,
+        "obj_to_goal_angle": 0.00399388817777524,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 906,
+      "episode_seed": 1283,
+      "reset_kwargs": {
+        "seed": 1283
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 130,
+      "info": {
+        "elapsed_steps": 130,
+        "obj_to_goal_dist": 0.0004389866953715682,
+        "obj_to_goal_angle": 0.0012976591204871823,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 907,
+      "episode_seed": 1284,
+      "reset_kwargs": {
+        "seed": 1284
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.0006520202150568366,
+        "obj_to_goal_angle": 0.0018316376829004,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 908,
+      "episode_seed": 1285,
+      "reset_kwargs": {
+        "seed": 1285
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.0005349449929781258,
+        "obj_to_goal_angle": 0.0011718997124843256,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 909,
+      "episode_seed": 1286,
+      "reset_kwargs": {
+        "seed": 1286
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0004890140262432396,
+        "obj_to_goal_angle": 0.0038918889788499555,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 910,
+      "episode_seed": 1287,
+      "reset_kwargs": {
+        "seed": 1287
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0005039945244789124,
+        "obj_to_goal_angle": 0.0016959423115698868,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 911,
+      "episode_seed": 1288,
+      "reset_kwargs": {
+        "seed": 1288
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0004674332158174366,
+        "obj_to_goal_angle": 0.0023686400570497312,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 912,
+      "episode_seed": 1289,
+      "reset_kwargs": {
+        "seed": 1289
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.0009565053042024374,
+        "obj_to_goal_angle": 0.001897562322106694,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 913,
+      "episode_seed": 1290,
+      "reset_kwargs": {
+        "seed": 1290
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.0005154701648280025,
+        "obj_to_goal_angle": 0.003161011791563695,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 914,
+      "episode_seed": 1291,
+      "reset_kwargs": {
+        "seed": 1291
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.00039358355570584536,
+        "obj_to_goal_angle": 0.0009972416027821396,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 915,
+      "episode_seed": 1292,
+      "reset_kwargs": {
+        "seed": 1292
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 192,
+      "info": {
+        "elapsed_steps": 192,
+        "obj_to_goal_dist": 0.0007589708548039198,
+        "obj_to_goal_angle": 0.0014731940685237532,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 916,
+      "episode_seed": 1293,
+      "reset_kwargs": {
+        "seed": 1293
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.000580867228563875,
+        "obj_to_goal_angle": 0.000917204522083992,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 917,
+      "episode_seed": 1294,
+      "reset_kwargs": {
+        "seed": 1294
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 175,
+      "info": {
+        "elapsed_steps": 175,
+        "obj_to_goal_dist": 0.0004945564433000982,
+        "obj_to_goal_angle": 0.002001255138472935,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 918,
+      "episode_seed": 1299,
+      "reset_kwargs": {
+        "seed": 1299
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00048639727174304426,
+        "obj_to_goal_angle": 0.001960933491964134,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 919,
+      "episode_seed": 1300,
+      "reset_kwargs": {
+        "seed": 1300
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.0005427172291092575,
+        "obj_to_goal_angle": 0.0012650592617546863,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 920,
+      "episode_seed": 1301,
+      "reset_kwargs": {
+        "seed": 1301
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0005482712294906378,
+        "obj_to_goal_angle": 0.0009414912538927567,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 921,
+      "episode_seed": 1304,
+      "reset_kwargs": {
+        "seed": 1304
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 193,
+      "info": {
+        "elapsed_steps": 193,
+        "obj_to_goal_dist": 0.0006469198269769549,
+        "obj_to_goal_angle": 0.0007463535128797716,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 922,
+      "episode_seed": 1305,
+      "reset_kwargs": {
+        "seed": 1305
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 171,
+      "info": {
+        "elapsed_steps": 171,
+        "obj_to_goal_dist": 0.0001790808601072058,
+        "obj_to_goal_angle": 0.002144425827425245,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 923,
+      "episode_seed": 1308,
+      "reset_kwargs": {
+        "seed": 1308
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 188,
+      "info": {
+        "elapsed_steps": 188,
+        "obj_to_goal_dist": 0.00028313041548244655,
+        "obj_to_goal_angle": 0.0013719238501339603,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 924,
+      "episode_seed": 1311,
+      "reset_kwargs": {
+        "seed": 1311
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 163,
+      "info": {
+        "elapsed_steps": 163,
+        "obj_to_goal_dist": 0.0005294058355502784,
+        "obj_to_goal_angle": 0.001548928723514642,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 925,
+      "episode_seed": 1312,
+      "reset_kwargs": {
+        "seed": 1312
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 146,
+      "info": {
+        "elapsed_steps": 146,
+        "obj_to_goal_dist": 0.00036637645098380744,
+        "obj_to_goal_angle": 0.001368678652875488,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 926,
+      "episode_seed": 1314,
+      "reset_kwargs": {
+        "seed": 1314
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.004400592762976885,
+        "obj_to_goal_angle": 0.0016065289984723563,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 927,
+      "episode_seed": 1316,
+      "reset_kwargs": {
+        "seed": 1316
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0003109810349997133,
+        "obj_to_goal_angle": 0.0012874994019025365,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 928,
+      "episode_seed": 1317,
+      "reset_kwargs": {
+        "seed": 1317
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.00024638589820824564,
+        "obj_to_goal_angle": 0.0029176849780183645,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 929,
+      "episode_seed": 1318,
+      "reset_kwargs": {
+        "seed": 1318
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00022576481569558382,
+        "obj_to_goal_angle": 0.0012394421405801381,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 930,
+      "episode_seed": 1319,
+      "reset_kwargs": {
+        "seed": 1319
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 173,
+      "info": {
+        "elapsed_steps": 173,
+        "obj_to_goal_dist": 0.0002781081711873412,
+        "obj_to_goal_angle": 0.0030460092596893418,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 931,
+      "episode_seed": 1321,
+      "reset_kwargs": {
+        "seed": 1321
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.0004540854424703866,
+        "obj_to_goal_angle": 0.0019814756147420454,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 932,
+      "episode_seed": 1322,
+      "reset_kwargs": {
+        "seed": 1322
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 141,
+      "info": {
+        "elapsed_steps": 141,
+        "obj_to_goal_dist": 0.000158356357133016,
+        "obj_to_goal_angle": 0.00285228502214796,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 933,
+      "episode_seed": 1323,
+      "reset_kwargs": {
+        "seed": 1323
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00035432513686828315,
+        "obj_to_goal_angle": 0.0010912393513606844,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 934,
+      "episode_seed": 1324,
+      "reset_kwargs": {
+        "seed": 1324
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 161,
+      "info": {
+        "elapsed_steps": 161,
+        "obj_to_goal_dist": 0.0007034766604192555,
+        "obj_to_goal_angle": 0.002338254939044049,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 935,
+      "episode_seed": 1325,
+      "reset_kwargs": {
+        "seed": 1325
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 181,
+      "info": {
+        "elapsed_steps": 181,
+        "obj_to_goal_dist": 0.001515272306278348,
+        "obj_to_goal_angle": 0.0020656954160349628,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 936,
+      "episode_seed": 1327,
+      "reset_kwargs": {
+        "seed": 1327
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.0005743104848079383,
+        "obj_to_goal_angle": 0.0020332733356447363,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 937,
+      "episode_seed": 1328,
+      "reset_kwargs": {
+        "seed": 1328
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.0003486693312879652,
+        "obj_to_goal_angle": 0.0011374157772356952,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 938,
+      "episode_seed": 1329,
+      "reset_kwargs": {
+        "seed": 1329
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.0005050302715972066,
+        "obj_to_goal_angle": 0.0035221247936307876,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 939,
+      "episode_seed": 1330,
+      "reset_kwargs": {
+        "seed": 1330
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 176,
+      "info": {
+        "elapsed_steps": 176,
+        "obj_to_goal_dist": 0.0005346836405806243,
+        "obj_to_goal_angle": 0.0010949346941915294,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 940,
+      "episode_seed": 1331,
+      "reset_kwargs": {
+        "seed": 1331
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 180,
+      "info": {
+        "elapsed_steps": 180,
+        "obj_to_goal_dist": 0.0005450454191304743,
+        "obj_to_goal_angle": 0.0020599766139799414,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 941,
+      "episode_seed": 1332,
+      "reset_kwargs": {
+        "seed": 1332
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 142,
+      "info": {
+        "elapsed_steps": 142,
+        "obj_to_goal_dist": 0.00012058478023391217,
+        "obj_to_goal_angle": 0.0029049910965133208,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 942,
+      "episode_seed": 1333,
+      "reset_kwargs": {
+        "seed": 1333
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0003737348597496748,
+        "obj_to_goal_angle": 0.0011732651229179325,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 943,
+      "episode_seed": 1335,
+      "reset_kwargs": {
+        "seed": 1335
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.00026036868803203106,
+        "obj_to_goal_angle": 0.0028662598715065712,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 944,
+      "episode_seed": 1337,
+      "reset_kwargs": {
+        "seed": 1337
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.00021245995594654232,
+        "obj_to_goal_angle": 0.0016075966912705297,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 945,
+      "episode_seed": 1342,
+      "reset_kwargs": {
+        "seed": 1342
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 156,
+      "info": {
+        "elapsed_steps": 156,
+        "obj_to_goal_dist": 0.00046253169421106577,
+        "obj_to_goal_angle": 0.003894953686775615,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 946,
+      "episode_seed": 1344,
+      "reset_kwargs": {
+        "seed": 1344
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.00037855058326385915,
+        "obj_to_goal_angle": 0.0027114714609588475,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 947,
+      "episode_seed": 1345,
+      "reset_kwargs": {
+        "seed": 1345
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.00023351929849013686,
+        "obj_to_goal_angle": 0.0039169821446476405,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 948,
+      "episode_seed": 1349,
+      "reset_kwargs": {
+        "seed": 1349
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.000308528367895633,
+        "obj_to_goal_angle": 0.0010993499196754186,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 949,
+      "episode_seed": 1350,
+      "reset_kwargs": {
+        "seed": 1350
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 136,
+      "info": {
+        "elapsed_steps": 136,
+        "obj_to_goal_dist": 0.0005682380869984627,
+        "obj_to_goal_angle": 0.001894752261084598,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 950,
+      "episode_seed": 1351,
+      "reset_kwargs": {
+        "seed": 1351
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 139,
+      "info": {
+        "elapsed_steps": 139,
+        "obj_to_goal_dist": 0.00036513080704025924,
+        "obj_to_goal_angle": 0.0011791360800401662,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 951,
+      "episode_seed": 1352,
+      "reset_kwargs": {
+        "seed": 1352
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 168,
+      "info": {
+        "elapsed_steps": 168,
+        "obj_to_goal_dist": 0.00032346273656003177,
+        "obj_to_goal_angle": 0.0019529850169810459,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 952,
+      "episode_seed": 1353,
+      "reset_kwargs": {
+        "seed": 1353
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 137,
+      "info": {
+        "elapsed_steps": 137,
+        "obj_to_goal_dist": 0.00024557692813687027,
+        "obj_to_goal_angle": 0.0010006512861790995,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 953,
+      "episode_seed": 1354,
+      "reset_kwargs": {
+        "seed": 1354
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.00034326338209211826,
+        "obj_to_goal_angle": 0.0024134522850420836,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 954,
+      "episode_seed": 1355,
+      "reset_kwargs": {
+        "seed": 1355
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.0005487336311489344,
+        "obj_to_goal_angle": 0.0014391104189348525,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 955,
+      "episode_seed": 1356,
+      "reset_kwargs": {
+        "seed": 1356
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0005011970060877502,
+        "obj_to_goal_angle": 0.0016644857540448754,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 956,
+      "episode_seed": 1357,
+      "reset_kwargs": {
+        "seed": 1357
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 151,
+      "info": {
+        "elapsed_steps": 151,
+        "obj_to_goal_dist": 0.0004630009352695197,
+        "obj_to_goal_angle": 0.0013756407152545336,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 957,
+      "episode_seed": 1360,
+      "reset_kwargs": {
+        "seed": 1360
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 179,
+      "info": {
+        "elapsed_steps": 179,
+        "obj_to_goal_dist": 0.000603063846938312,
+        "obj_to_goal_angle": 0.0020308732664950924,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 958,
+      "episode_seed": 1363,
+      "reset_kwargs": {
+        "seed": 1363
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0009490689844824374,
+        "obj_to_goal_angle": 0.0020115724791116563,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 959,
+      "episode_seed": 1364,
+      "reset_kwargs": {
+        "seed": 1364
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 127,
+      "info": {
+        "elapsed_steps": 127,
+        "obj_to_goal_dist": 0.0003917055146303028,
+        "obj_to_goal_angle": 0.0018596622423130427,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 960,
+      "episode_seed": 1365,
+      "reset_kwargs": {
+        "seed": 1365
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 170,
+      "info": {
+        "elapsed_steps": 170,
+        "obj_to_goal_dist": 0.0006752394838258624,
+        "obj_to_goal_angle": 0.0014064312293093906,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 961,
+      "episode_seed": 1367,
+      "reset_kwargs": {
+        "seed": 1367
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 189,
+      "info": {
+        "elapsed_steps": 189,
+        "obj_to_goal_dist": 0.0027665961533784866,
+        "obj_to_goal_angle": 0.002857678001581654,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 962,
+      "episode_seed": 1368,
+      "reset_kwargs": {
+        "seed": 1368
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.0003973231359850615,
+        "obj_to_goal_angle": 0.0027869074793152038,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 963,
+      "episode_seed": 1369,
+      "reset_kwargs": {
+        "seed": 1369
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.000441526819486171,
+        "obj_to_goal_angle": 0.0033097811519740006,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 964,
+      "episode_seed": 1370,
+      "reset_kwargs": {
+        "seed": 1370
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.0002895303477998823,
+        "obj_to_goal_angle": 0.002595556676606492,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 965,
+      "episode_seed": 1372,
+      "reset_kwargs": {
+        "seed": 1372
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 164,
+      "info": {
+        "elapsed_steps": 164,
+        "obj_to_goal_dist": 0.00020503228006418794,
+        "obj_to_goal_angle": 0.002504851798074803,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 966,
+      "episode_seed": 1373,
+      "reset_kwargs": {
+        "seed": 1373
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.0004941551014780998,
+        "obj_to_goal_angle": 0.0012385389730331653,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 967,
+      "episode_seed": 1375,
+      "reset_kwargs": {
+        "seed": 1375
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0004585596907418221,
+        "obj_to_goal_angle": 0.0025451553497317647,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 968,
+      "episode_seed": 1376,
+      "reset_kwargs": {
+        "seed": 1376
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0004569183802232146,
+        "obj_to_goal_angle": 0.001495451212400134,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 969,
+      "episode_seed": 1377,
+      "reset_kwargs": {
+        "seed": 1377
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 166,
+      "info": {
+        "elapsed_steps": 166,
+        "obj_to_goal_dist": 0.0006998132448643446,
+        "obj_to_goal_angle": 0.00420510450140732,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 970,
+      "episode_seed": 1378,
+      "reset_kwargs": {
+        "seed": 1378
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 129,
+      "info": {
+        "elapsed_steps": 129,
+        "obj_to_goal_dist": 0.00023097425582818687,
+        "obj_to_goal_angle": 0.001149693495577253,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 971,
+      "episode_seed": 1379,
+      "reset_kwargs": {
+        "seed": 1379
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 183,
+      "info": {
+        "elapsed_steps": 183,
+        "obj_to_goal_dist": 0.00011239640298299491,
+        "obj_to_goal_angle": 0.0009836246521590652,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 972,
+      "episode_seed": 1380,
+      "reset_kwargs": {
+        "seed": 1380
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 172,
+      "info": {
+        "elapsed_steps": 172,
+        "obj_to_goal_dist": 0.0007375988061539829,
+        "obj_to_goal_angle": 0.0018844354435101351,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 973,
+      "episode_seed": 1384,
+      "reset_kwargs": {
+        "seed": 1384
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 143,
+      "info": {
+        "elapsed_steps": 143,
+        "obj_to_goal_dist": 0.00035087313153780997,
+        "obj_to_goal_angle": 0.0013344809081257125,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 974,
+      "episode_seed": 1385,
+      "reset_kwargs": {
+        "seed": 1385
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 0.00024033166118897498,
+        "obj_to_goal_angle": 0.0014600752070572653,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 975,
+      "episode_seed": 1386,
+      "reset_kwargs": {
+        "seed": 1386
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 162,
+      "info": {
+        "elapsed_steps": 162,
+        "obj_to_goal_dist": 0.00011898583034053445,
+        "obj_to_goal_angle": 0.0030477666542036985,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 976,
+      "episode_seed": 1387,
+      "reset_kwargs": {
+        "seed": 1387
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.0005807689158245921,
+        "obj_to_goal_angle": 0.0022521447049950183,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 977,
+      "episode_seed": 1388,
+      "reset_kwargs": {
+        "seed": 1388
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.00026938680093735456,
+        "obj_to_goal_angle": 0.0011383424557607214,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 978,
+      "episode_seed": 1389,
+      "reset_kwargs": {
+        "seed": 1389
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.0004216342349536717,
+        "obj_to_goal_angle": 0.0011734596208627934,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 979,
+      "episode_seed": 1390,
+      "reset_kwargs": {
+        "seed": 1390
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 157,
+      "info": {
+        "elapsed_steps": 157,
+        "obj_to_goal_dist": 0.0002587654744274914,
+        "obj_to_goal_angle": 0.0018725962478880476,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 980,
+      "episode_seed": 1392,
+      "reset_kwargs": {
+        "seed": 1392
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0004668838228099048,
+        "obj_to_goal_angle": 0.001311786342931498,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 981,
+      "episode_seed": 1393,
+      "reset_kwargs": {
+        "seed": 1393
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0037401365116238594,
+        "obj_to_goal_angle": 0.0012738079777925293,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 982,
+      "episode_seed": 1394,
+      "reset_kwargs": {
+        "seed": 1394
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.0002711489796638489,
+        "obj_to_goal_angle": 0.003241286420308853,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 983,
+      "episode_seed": 1397,
+      "reset_kwargs": {
+        "seed": 1397
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 153,
+      "info": {
+        "elapsed_steps": 153,
+        "obj_to_goal_dist": 0.0005599685828201473,
+        "obj_to_goal_angle": 0.0015739227182116622,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 984,
+      "episode_seed": 1398,
+      "reset_kwargs": {
+        "seed": 1398
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 144,
+      "info": {
+        "elapsed_steps": 144,
+        "obj_to_goal_dist": 0.0004819344321731478,
+        "obj_to_goal_angle": 0.00271771699819201,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 985,
+      "episode_seed": 1399,
+      "reset_kwargs": {
+        "seed": 1399
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 134,
+      "info": {
+        "elapsed_steps": 134,
+        "obj_to_goal_dist": 0.0003065895289182663,
+        "obj_to_goal_angle": 0.0012363046107930487,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 986,
+      "episode_seed": 1400,
+      "reset_kwargs": {
+        "seed": 1400
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 128,
+      "info": {
+        "elapsed_steps": 128,
+        "obj_to_goal_dist": 0.0002535019302740693,
+        "obj_to_goal_angle": 0.0012126926028797058,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 987,
+      "episode_seed": 1402,
+      "reset_kwargs": {
+        "seed": 1402
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 178,
+      "info": {
+        "elapsed_steps": 178,
+        "obj_to_goal_dist": 0.00042572367237880826,
+        "obj_to_goal_angle": 0.0024167463179116666,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 988,
+      "episode_seed": 1403,
+      "reset_kwargs": {
+        "seed": 1403
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 152,
+      "info": {
+        "elapsed_steps": 152,
+        "obj_to_goal_dist": 0.0002769424463622272,
+        "obj_to_goal_angle": 0.006786632295984418,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 989,
+      "episode_seed": 1404,
+      "reset_kwargs": {
+        "seed": 1404
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 177,
+      "info": {
+        "elapsed_steps": 177,
+        "obj_to_goal_dist": 7.841776096029207e-05,
+        "obj_to_goal_angle": 0.0013636039200850547,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 990,
+      "episode_seed": 1405,
+      "reset_kwargs": {
+        "seed": 1405
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 149,
+      "info": {
+        "elapsed_steps": 149,
+        "obj_to_goal_dist": 0.00037971511483192444,
+        "obj_to_goal_angle": 0.0012131077554071723,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 991,
+      "episode_seed": 1407,
+      "reset_kwargs": {
+        "seed": 1407
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 138,
+      "info": {
+        "elapsed_steps": 138,
+        "obj_to_goal_dist": 0.0002706885279621929,
+        "obj_to_goal_angle": 0.001075584280607167,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 992,
+      "episode_seed": 1409,
+      "reset_kwargs": {
+        "seed": 1409
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.000486472126794979,
+        "obj_to_goal_angle": 0.001481867045986185,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 993,
+      "episode_seed": 1410,
+      "reset_kwargs": {
+        "seed": 1410
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 158,
+      "info": {
+        "elapsed_steps": 158,
+        "obj_to_goal_dist": 0.0005554397939704359,
+        "obj_to_goal_angle": 0.0026073256023417812,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 994,
+      "episode_seed": 1413,
+      "reset_kwargs": {
+        "seed": 1413
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0003665240074042231,
+        "obj_to_goal_angle": 0.0009736731351885908,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 995,
+      "episode_seed": 1414,
+      "reset_kwargs": {
+        "seed": 1414
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 132,
+      "info": {
+        "elapsed_steps": 132,
+        "obj_to_goal_dist": 0.00022225778957363218,
+        "obj_to_goal_angle": 0.0013541701339461198,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 996,
+      "episode_seed": 1417,
+      "reset_kwargs": {
+        "seed": 1417
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 159,
+      "info": {
+        "elapsed_steps": 159,
+        "obj_to_goal_dist": 0.0010266131721436977,
+        "obj_to_goal_angle": 0.0018196296999555273,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 997,
+      "episode_seed": 1419,
+      "reset_kwargs": {
+        "seed": 1419
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 155,
+      "info": {
+        "elapsed_steps": 155,
+        "obj_to_goal_dist": 0.00017398534691892564,
+        "obj_to_goal_angle": 0.0031026131112685817,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 998,
+      "episode_seed": 1421,
+      "reset_kwargs": {
+        "seed": 1421
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 154,
+      "info": {
+        "elapsed_steps": 154,
+        "obj_to_goal_dist": 0.0005098506226204336,
+        "obj_to_goal_angle": 0.0007989429717571994,
+        "success": true
+      }
+    },
+    {
+      "episode_id": 999,
+      "episode_seed": 1422,
+      "reset_kwargs": {
+        "seed": 1422
+      },
+      "control_mode": "pd_joint_pos",
+      "elapsed_steps": 147,
+      "info": {
+        "elapsed_steps": 147,
+        "obj_to_goal_dist": 0.00011551722855074331,
+        "obj_to_goal_angle": 0.0017761211719236059,
+        "success": true
+      }
+    }
+  ]
+}
\ No newline at end of file