[
  {
    "completion_time": 0.0459139347076416,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": -4.257056850820451e-05,
      "left gripper-book distance": 0.6049138822276556,
      "right gripper-book distance": 0.4352607152592497
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.0051765475953554e-06,
    "bimanual_gripper_vertical_difference": 5.695708349406914e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.0753030776977539,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.00037261478123906677,
      "left gripper-book distance": 0.6035508945352922,
      "right gripper-book distance": 0.4332847393773398
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.018563459267291e-06,
    "bimanual_gripper_vertical_difference": 7.251649281059258e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10463213920593262,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007345751877432249,
      "left gripper-book distance": 0.6025490839713614,
      "right gripper-book distance": 0.43194536568071723
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.865484758559101e-07,
    "bimanual_gripper_vertical_difference": 9.739087314386552e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.13424420356750488,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007506367581324724,
      "left gripper-book distance": 0.6020717458549779,
      "right gripper-book distance": 0.4312759673598545
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.0476543531652153e-06,
    "bimanual_gripper_vertical_difference": 1.3151431610403108e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1634352207183838,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007599732944170157,
      "left gripper-book distance": 0.6017674445700235,
      "right gripper-book distance": 0.43084505072814483
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0001767503972824488,
    "bimanual_gripper_vertical_difference": 2.2006893640735827e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.19236993789672852,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005994811962450886,
      "left gripper-book distance": 0.6016528098987075,
      "right gripper-book distance": 0.4307377593472452
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00019642507390926796,
    "bimanual_gripper_vertical_difference": 2.7687085587165447e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.22370576858520508,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007620825453759084,
      "left gripper-book distance": 0.6014239950147798,
      "right gripper-book distance": 0.43040913578492423
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.000188988036689937,
    "bimanual_gripper_vertical_difference": 3.305395037043825e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.25171327590942383,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007723372908132742,
      "left gripper-book distance": 0.601341592610374,
      "right gripper-book distance": 0.43028497764227036
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00040343131833661184,
    "bimanual_gripper_vertical_difference": 4.199730702092452e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2808194160461426,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005410614264738101,
      "left gripper-book distance": 0.6014068270818902,
      "right gripper-book distance": 0.43044701957712517
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0007208841171722942,
    "bimanual_gripper_vertical_difference": 4.43590364440638e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3096761703491211,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007477892111016349,
      "left gripper-book distance": 0.6012508301118176,
      "right gripper-book distance": 0.4301996406750223
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0007462850011111848,
    "bimanual_gripper_vertical_difference": 4.825983190848149e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3382391929626465,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007587286257489945,
      "left gripper-book distance": 0.6012270996807046,
      "right gripper-book distance": 0.4301570057283787
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006785070326285683,
    "bimanual_gripper_vertical_difference": 4.967613391344953e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3672981262207031,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005263926004833719,
      "left gripper-book distance": 0.6013356073494984,
      "right gripper-book distance": 0.430370606366052
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006811761983091013,
    "bimanual_gripper_vertical_difference": 4.918051928666974e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3971271514892578,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007589138667797313,
      "left gripper-book distance": 0.6006603029609402,
      "right gripper-book distance": 0.4298503460747841
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00614229367486201,
    "bimanual_gripper_vertical_difference": 2.2286274199867506e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4255375862121582,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007710646330720827,
      "left gripper-book distance": 0.5993382313142099,
      "right gripper-book distance": 0.42705044597674396
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.02855597180513755,
    "bimanual_gripper_vertical_difference": 0.00017588440073225607,
    "task_success": 0.0
  },
  {
    "completion_time": 0.45499658584594727,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0006179760912390364,
      "left gripper-book distance": 0.5979709548909106,
      "right gripper-book distance": 0.42126021786187745
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.10585873154260808,
    "bimanual_gripper_vertical_difference": 0.0007501941593282879,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4853096008300781,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007432925048149741,
      "left gripper-book distance": 0.596132520578685,
      "right gripper-book distance": 0.4066103009265834
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2150342795242537,
    "bimanual_gripper_vertical_difference": 0.0022993301021715096,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5151901245117188,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007573405932326249,
      "left gripper-book distance": 0.5941703530563561,
      "right gripper-book distance": 0.3791812513637457
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3407730869040478,
    "bimanual_gripper_vertical_difference": 0.005514998398740406,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5453166961669922,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0006021013603551006,
      "left gripper-book distance": 0.5918834202218741,
      "right gripper-book distance": 0.3397548583816081
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.47635294945429685,
    "bimanual_gripper_vertical_difference": 0.010883668979831162,
    "task_success": 0.0
  },
  {
    "completion_time": 0.575890064239502,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007520110255038182,
      "left gripper-book distance": 0.5887523641185508,
      "right gripper-book distance": 0.2908096340379085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6166124924478036,
    "bimanual_gripper_vertical_difference": 0.018621999723837816,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6061825752258301,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007696048925573962,
      "left gripper-book distance": 0.5848793300440923,
      "right gripper-book distance": 0.23703057605213476
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7597922832192323,
    "bimanual_gripper_vertical_difference": 0.02872741978717745,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6384336948394775,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0006275913377132847,
      "left gripper-book distance": 0.5813458119248904,
      "right gripper-book distance": 0.20001796651505416
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8788596769442863,
    "bimanual_gripper_vertical_difference": 0.04011193249331954,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6674380302429199,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007322397288712645,
      "left gripper-book distance": 0.579638001561987,
      "right gripper-book distance": 0.18606669486028482
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.958582198982846,
    "bimanual_gripper_vertical_difference": 0.051402972662385006,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6973578929901123,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.000755821489163977,
      "left gripper-book distance": 0.5786277668359101,
      "right gripper-book distance": 0.18939408839472185
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0194261939941216,
    "bimanual_gripper_vertical_difference": 0.061406817943532976,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7272810935974121,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007000110505932522,
      "left gripper-book distance": 0.5772188166432854,
      "right gripper-book distance": 0.2070959490551345
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0433000434251376,
    "bimanual_gripper_vertical_difference": 0.06934910130829595,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7573773860931396,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007671063817168422,
      "left gripper-book distance": 0.5761228067428423,
      "right gripper-book distance": 0.21929038076948668
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0538700034822188,
    "bimanual_gripper_vertical_difference": 0.07573241936720851,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7876367568969727,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007529407300339575,
      "left gripper-book distance": 0.5758077200786201,
      "right gripper-book distance": 0.2097262085450794
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0512654116699698,
    "bimanual_gripper_vertical_difference": 0.08173325951757705,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8179197311401367,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007651887374946487,
      "left gripper-book distance": 0.5761977619841449,
      "right gripper-book distance": 0.18863002568995368
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0742036073323067,
    "bimanual_gripper_vertical_difference": 0.08790973988683472,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8485410213470459,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005720137452279728,
      "left gripper-book distance": 0.5770805908187417,
      "right gripper-book distance": 0.16857517803227232
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.114408873734726,
    "bimanual_gripper_vertical_difference": 0.09425461976414569,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8790404796600342,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007469044828184446,
      "left gripper-book distance": 0.5777121566770608,
      "right gripper-book distance": 0.15219407974685611
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.125567022978774,
    "bimanual_gripper_vertical_difference": 0.10064816222631434,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9120450019836426,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0011106172757425758,
      "left gripper-book distance": 0.5764977344897163,
      "right gripper-book distance": 0.14652185671646367
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.109119856360816,
    "bimanual_gripper_vertical_difference": 0.1068159073104843,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9418048858642578,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0010922315841197516,
      "left gripper-book distance": 0.5747504612889487,
      "right gripper-book distance": 0.14717969170226966
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.117455534543293,
    "bimanual_gripper_vertical_difference": 0.11258792275765198,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9716203212738037,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.001855471188035973,
      "left gripper-book distance": 0.5721899207852369,
      "right gripper-book distance": 0.14729670459796865
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1265851371247309,
    "bimanual_gripper_vertical_difference": 0.11802935277837923,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0014128684997559,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0030184685884423468,
      "left gripper-book distance": 0.5695568352106349,
      "right gripper-book distance": 0.14809797032578034
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1389132336020846,
    "bimanual_gripper_vertical_difference": 0.12314703727025755,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0309712886810303,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -0.00013642876915309632,
      "left gripper-book distance": 0.5708280177142204,
      "right gripper-book distance": 0.15175478816792343
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1411990917447872,
    "bimanual_gripper_vertical_difference": 0.12791176222491418,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0612552165985107,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007656832711878669,
      "left gripper-book distance": 0.5711958103415322,
      "right gripper-book distance": 0.15115189668832338
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1154994948323518,
    "bimanual_gripper_vertical_difference": 0.13236741447407024,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0911600589752197,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0008437870913248213,
      "left gripper-book distance": 0.5718959859783743,
      "right gripper-book distance": 0.15055031554807738
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.099628134010868,
    "bimanual_gripper_vertical_difference": 0.13659447399170072,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1219921112060547,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0008080093925141307,
      "left gripper-book distance": 0.5716604470641262,
      "right gripper-book distance": 0.1511542555987379
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0777664474520687,
    "bimanual_gripper_vertical_difference": 0.14059727337553846,
    "task_success": 0.0
  },
  {
    "completion_time": 1.151890754699707,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0008649076060908145,
      "left gripper-book distance": 0.5711531151459994,
      "right gripper-book distance": 0.15163478632157945
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.057713501324271,
    "bimanual_gripper_vertical_difference": 0.14437505867449132,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1854963302612305,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007729261352258376,
      "left gripper-book distance": 0.5704322981327166,
      "right gripper-book distance": 0.151780361628677
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0371205970917114,
    "bimanual_gripper_vertical_difference": 0.14795745934800456,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2171142101287842,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007578251946680492,
      "left gripper-book distance": 0.56986633035471,
      "right gripper-book distance": 0.15161019234215814
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.016916389843097,
    "bimanual_gripper_vertical_difference": 0.1513631671685834,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2490818500518799,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006952119766615583,
      "left gripper-book distance": 0.5691662514609681,
      "right gripper-book distance": 0.1514053952600889
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9963685098544776,
    "bimanual_gripper_vertical_difference": 0.1546051523791246,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2789583206176758,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007388306179861859,
      "left gripper-book distance": 0.5685673873279263,
      "right gripper-book distance": 0.15108353994534668
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9756118872030802,
    "bimanual_gripper_vertical_difference": 0.15769960778938946,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3081884384155273,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007005906062910183,
      "left gripper-book distance": 0.5682241183557527,
      "right gripper-book distance": 0.15053856977919505
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9543228174086346,
    "bimanual_gripper_vertical_difference": 0.16066718087095877,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3378183841705322,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0008032633909439424,
      "left gripper-book distance": 0.5680071517965027,
      "right gripper-book distance": 0.15040276617746792
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9341260675229349,
    "bimanual_gripper_vertical_difference": 0.16350857861735443,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3674626350402832,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007831955464798757,
      "left gripper-book distance": 0.5680568680550171,
      "right gripper-book distance": 0.14956446394280418
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9221012944421801,
    "bimanual_gripper_vertical_difference": 0.16623915733466707,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3965752124786377,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007829430250104741,
      "left gripper-book distance": 0.5682801979406059,
      "right gripper-book distance": 0.15111258625581003
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9157062269594007,
    "bimanual_gripper_vertical_difference": 0.16881652272972308,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4260401725769043,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007376126850514586,
      "left gripper-book distance": 0.5685803440744552,
      "right gripper-book distance": 0.1559126313320008
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9098874543806627,
    "bimanual_gripper_vertical_difference": 0.171209904157839,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4560763835906982,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007559509758763294,
      "left gripper-book distance": 0.5687333908296983,
      "right gripper-book distance": 0.16071101773313598
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9034634878171678,
    "bimanual_gripper_vertical_difference": 0.1734357562631793,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4865691661834717,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007454478802473297,
      "left gripper-book distance": 0.5687042405390549,
      "right gripper-book distance": 0.1639396347995456
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8975086990401904,
    "bimanual_gripper_vertical_difference": 0.17553225032372097,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5171830654144287,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000756669378035979,
      "left gripper-book distance": 0.568290572117862,
      "right gripper-book distance": 0.16521599868023143
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8932839250410293,
    "bimanual_gripper_vertical_difference": 0.17754127774556447,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5479071140289307,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007431239959706515,
      "left gripper-book distance": 0.5675270199392932,
      "right gripper-book distance": 0.16514652143726527
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8880744051541819,
    "bimanual_gripper_vertical_difference": 0.17949431380624603,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5771584510803223,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007400133008260701,
      "left gripper-book distance": 0.5664181359305611,
      "right gripper-book distance": 0.16462491975844204
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8872121440425157,
    "bimanual_gripper_vertical_difference": 0.18142117057220267,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6066155433654785,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007510757409512347,
      "left gripper-book distance": 0.5645865551727031,
      "right gripper-book distance": 0.1642583090837455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8940828249893773,
    "bimanual_gripper_vertical_difference": 0.18334109329902146,
    "task_success": 0.0
  },
  {
    "completion_time": 1.634894609451294,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0024317594911595908,
      "left gripper-book distance": 0.5598910266524308,
      "right gripper-book distance": 0.1649302424716898
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9083884160696775,
    "bimanual_gripper_vertical_difference": 0.18522920698835746,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6653311252593994,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.004245265862397152,
      "left gripper-book distance": 0.55402666395183,
      "right gripper-book distance": 0.16489599703732125
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9348985673341513,
    "bimanual_gripper_vertical_difference": 0.18708860612415681,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6949608325958252,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.005085273648484101,
      "left gripper-book distance": 0.5476241567907834,
      "right gripper-book distance": 0.16371162645447196
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9693136311963345,
    "bimanual_gripper_vertical_difference": 0.18892632433130127,
    "task_success": 0.0
  },
  {
    "completion_time": 1.724597454071045,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0056378833110236615,
      "left gripper-book distance": 0.5423569805420165,
      "right gripper-book distance": 0.15959273625927034
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.005189641793583,
    "bimanual_gripper_vertical_difference": 0.19071434723009728,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7534167766571045,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.005922068050550178,
      "left gripper-book distance": 0.5392169585717085,
      "right gripper-book distance": 0.15704832411199166
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0366045747607002,
    "bimanual_gripper_vertical_difference": 0.19244423596817908,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7826552391052246,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0063797683505730785,
      "left gripper-book distance": 0.5375772582459399,
      "right gripper-book distance": 0.15697100287918325
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0670105830705414,
    "bimanual_gripper_vertical_difference": 0.19412407117755212,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8118000030517578,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.006476577181986021,
      "left gripper-book distance": 0.5367905749301238,
      "right gripper-book distance": 0.15926734687796296
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0938029073810849,
    "bimanual_gripper_vertical_difference": 0.19576662214154805,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8436014652252197,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00567348059320294,
      "left gripper-book distance": 0.5370922519853554,
      "right gripper-book distance": 0.16424273102275747
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1130406470553642,
    "bimanual_gripper_vertical_difference": 0.19738150092010115,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8724956512451172,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.004361939773196433,
      "left gripper-book distance": 0.5383235872788245,
      "right gripper-book distance": 0.16889079511857527
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1151724417303333,
    "bimanual_gripper_vertical_difference": 0.19896670085360765,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9023704528808594,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005205291811498647,
      "left gripper-book distance": 0.5416748954495146,
      "right gripper-book distance": 0.1743432342463791
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1150425055415782,
    "bimanual_gripper_vertical_difference": 0.20050448488157027,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9310722351074219,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007055748689901442,
      "left gripper-book distance": 0.5425999325248884,
      "right gripper-book distance": 0.17368446384712227
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1266136667584215,
    "bimanual_gripper_vertical_difference": 0.20197432522809394,
    "task_success": 0.0
  },
  {
    "completion_time": 1.960944652557373,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007507876016719095,
      "left gripper-book distance": 0.543435560410927,
      "right gripper-book distance": 0.1717402459794582
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1358290330542304,
    "bimanual_gripper_vertical_difference": 0.20335803371955816,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9900977611541748,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007455881250341134,
      "left gripper-book distance": 0.5442848822798377,
      "right gripper-book distance": 0.1687919144271745
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1318002725375635,
    "bimanual_gripper_vertical_difference": 0.20465800360695993,
    "task_success": 0.0
  },
  {
    "completion_time": 2.020247459411621,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007642993429565204,
      "left gripper-book distance": 0.5451078542846302,
      "right gripper-book distance": 0.1657484579155277
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.124686542233251,
    "bimanual_gripper_vertical_difference": 0.2058866894389313,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0497090816497803,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007531529339179777,
      "left gripper-book distance": 0.5459291992854979,
      "right gripper-book distance": 0.1623263546671348
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1360707528993348,
    "bimanual_gripper_vertical_difference": 0.20704390817398924,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0791072845458984,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007723149144561736,
      "left gripper-book distance": 0.5466781339701228,
      "right gripper-book distance": 0.15876242539654667
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1550389310514504,
    "bimanual_gripper_vertical_difference": 0.20815374151233615,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1091468334198,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007870551342507026,
      "left gripper-book distance": 0.5471897474449411,
      "right gripper-book distance": 0.15431226668930048
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1771393237851417,
    "bimanual_gripper_vertical_difference": 0.2092784883984783,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1420176029205322,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006498205761820142,
      "left gripper-book distance": 0.5474735475039868,
      "right gripper-book distance": 0.14838961303266684
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.201459048101388,
    "bimanual_gripper_vertical_difference": 0.21047284152911483,
    "task_success": 0.0
  },
  {
    "completion_time": 2.171971559524536,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007752991601907011,
      "left gripper-book distance": 0.547112208610285,
      "right gripper-book distance": 0.14191459702088008
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2265432574504083,
    "bimanual_gripper_vertical_difference": 0.21176218089596316,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2002649307250977,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007042425371595051,
      "left gripper-book distance": 0.5461623883132122,
      "right gripper-book distance": 0.13524627871532446
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.251100179338309,
    "bimanual_gripper_vertical_difference": 0.21311916538300274,
    "task_success": 0.0
  },
  {
    "completion_time": 2.229701280593872,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": -0.0003426372711363701,
      "left gripper-book distance": 0.5449626118747188,
      "right gripper-book distance": 0.13126863951461548
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2752638936036562,
    "bimanual_gripper_vertical_difference": 0.21446952239073155,
    "task_success": 0.0
  },
  {
    "completion_time": 2.26094651222229,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00114263041715712,
      "left gripper-book distance": 0.5387432423077336,
      "right gripper-book distance": 0.13273591875174628
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2974756159866254,
    "bimanual_gripper_vertical_difference": 0.21575259136847033,
    "task_success": 0.0
  },
  {
    "completion_time": 2.29129958152771,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0008529280836816477,
      "left gripper-book distance": 0.536609620144507,
      "right gripper-book distance": 0.13317644291173833
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3202301313982243,
    "bimanual_gripper_vertical_difference": 0.21701191301574765,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3213307857513428,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006129525893948662,
      "left gripper-book distance": 0.5379593842794508,
      "right gripper-book distance": 0.13381281943450068
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3431726395888353,
    "bimanual_gripper_vertical_difference": 0.2182374784180087,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3535220623016357,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006005235444963564,
      "left gripper-book distance": 0.5389552952574636,
      "right gripper-book distance": 0.13485262858807973
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3619332765634826,
    "bimanual_gripper_vertical_difference": 0.2194247025092782,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3851635456085205,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006861226893793981,
      "left gripper-book distance": 0.5399179964481738,
      "right gripper-book distance": 0.1364615789230053
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3747636844658504,
    "bimanual_gripper_vertical_difference": 0.2205658394148448,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4145212173461914,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.004629047781072204,
      "left gripper-book distance": 0.5370271426854191,
      "right gripper-book distance": 0.14201022157682658
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3855871229897807,
    "bimanual_gripper_vertical_difference": 0.22160083679924597,
    "task_success": 0.0
  },
  {
    "completion_time": 2.447375535964966,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.01241020188017361,
      "left gripper-book distance": 0.5359540982747272,
      "right gripper-book distance": 0.14559361335525378
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4015324316777562,
    "bimanual_gripper_vertical_difference": 0.2225215009631004,
    "task_success": 0.0
  },
  {
    "completion_time": 2.478586435317993,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.021431745772199084,
      "left gripper-book distance": 0.5360959329658227,
      "right gripper-book distance": 0.15190527369604362
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4057666340456692,
    "bimanual_gripper_vertical_difference": 0.22325339496455035,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5093319416046143,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.03407426049425211,
      "left gripper-book distance": 0.5318045692284387,
      "right gripper-book distance": 0.16042329339865166
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4076830769163582,
    "bimanual_gripper_vertical_difference": 0.22370628879105783,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5400993824005127,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.05676918407578746,
      "left gripper-book distance": 0.5188091885464873,
      "right gripper-book distance": 0.16777114672499802
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 1.4129732564746216,
    "bimanual_gripper_vertical_difference": 0.2238150754702533,
    "task_success": 1.0
  }
]