[
  {
    "completion_time": 0.044429779052734375,
    "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": -0.0004903373704139291,
      "left gripper-book distance": 0.500782998081299,
      "right gripper-book distance": 0.5125114851123267
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.0051765475953554e-06,
    "bimanual_gripper_vertical_difference": 5.695708349406914e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07182598114013672,
    "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": 0.0006284870898063399,
      "left gripper-book distance": 0.49852914098783735,
      "right gripper-book distance": 0.5102995718395512
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.018563459267291e-06,
    "bimanual_gripper_vertical_difference": 7.251649281059258e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10000371932983398,
    "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": 0.00045844944155781775,
      "left gripper-book distance": 0.49777547826047175,
      "right gripper-book distance": 0.5095987127131923
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.865484758570665e-07,
    "bimanual_gripper_vertical_difference": 9.739087314386552e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.12922883033752441,
    "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": 0.0006354627134668167,
      "left gripper-book distance": 0.49710097500808503,
      "right gripper-book distance": 0.5088775708246485
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.0476543531660826e-06,
    "bimanual_gripper_vertical_difference": 1.3151431610403108e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.15785551071166992,
    "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": 0.0005153737484486776,
      "left gripper-book distance": 0.4968342855709524,
      "right gripper-book distance": 0.5086192973508781
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00017675039728245017,
    "bimanual_gripper_vertical_difference": 2.2006893640735827e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1858363151550293,
    "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": 0.0005383747769499569,
      "left gripper-book distance": 0.4965949087052817,
      "right gripper-book distance": 0.5083570117471226
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00019642507390926824,
    "bimanual_gripper_vertical_difference": 2.7687085587165447e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21480369567871094,
    "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": 0.0006432553227305737,
      "left gripper-book distance": 0.4963572295027638,
      "right gripper-book distance": 0.5081322140198142
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00018898803668993786,
    "bimanual_gripper_vertical_difference": 3.305395037043825e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.24316668510437012,
    "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": 0.00045670428730582024,
      "left gripper-book distance": 0.49638628560999204,
      "right gripper-book distance": 0.5082087887246308
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00040343131833661206,
    "bimanual_gripper_vertical_difference": 4.199730702092452e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.271909236907959,
    "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": 0.0004475885356329812,
      "left gripper-book distance": 0.4949978495534889,
      "right gripper-book distance": 0.5060181479480067
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.039855708046066946,
    "bimanual_gripper_vertical_difference": 6.26380821757946e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3003971576690674,
    "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": 0.000518495384160711,
      "left gripper-book distance": 0.4932140568779716,
      "right gripper-book distance": 0.5043651503276899
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.19686747535934696,
    "bimanual_gripper_vertical_difference": 0.00012515039561351583,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3285503387451172,
    "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": 0.0006799102194791073,
      "left gripper-book distance": 0.49193032612107895,
      "right gripper-book distance": 0.5116917923955925
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.41034336000773397,
    "bimanual_gripper_vertical_difference": 0.000615537532446788,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3589441776275635,
    "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": 0.0006170653332836507,
      "left gripper-book distance": 0.4912454531862571,
      "right gripper-book distance": 0.5268922655926529
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6529451996428374,
    "bimanual_gripper_vertical_difference": 0.0018480781769137367,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3864004611968994,
    "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": 0.0005013648986044172,
      "left gripper-book distance": 0.49076874580587615,
      "right gripper-book distance": 0.5459241011803334
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8876030545228992,
    "bimanual_gripper_vertical_difference": 0.003706888014086337,
    "task_success": 0.0
  },
  {
    "completion_time": 0.41394495964050293,
    "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": 0.000496686637289967,
      "left gripper-book distance": 0.49041128771651815,
      "right gripper-book distance": 0.5636540122882739
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0757344949090204,
    "bimanual_gripper_vertical_difference": 0.005806806572763874,
    "task_success": 0.0
  },
  {
    "completion_time": 0.44111132621765137,
    "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": 0.0006439310463967063,
      "left gripper-book distance": 0.48997861359378125,
      "right gripper-book distance": 0.5655290175999798
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1830468295008898,
    "bimanual_gripper_vertical_difference": 0.00683863720974179,
    "task_success": 0.0
  },
  {
    "completion_time": 0.46948885917663574,
    "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": 0.0006829233141255608,
      "left gripper-book distance": 0.4898019269047791,
      "right gripper-book distance": 0.5504943890719517
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2548201582615766,
    "bimanual_gripper_vertical_difference": 0.006946126871865035,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4973158836364746,
    "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": 0.000682300956067472,
      "left gripper-book distance": 0.4897212052478242,
      "right gripper-book distance": 0.5220760380842009
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3123884709541926,
    "bimanual_gripper_vertical_difference": 0.009576479314467909,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5252370834350586,
    "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": 0.000522111068832487,
      "left gripper-book distance": 0.4899043176010447,
      "right gripper-book distance": 0.4831096536272295
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3715087862274118,
    "bimanual_gripper_vertical_difference": 0.014968041858889855,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5544893741607666,
    "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": 0.0005216727639191232,
      "left gripper-book distance": 0.49006117510821645,
      "right gripper-book distance": 0.44112468025551466
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4316111658425983,
    "bimanual_gripper_vertical_difference": 0.023147924181057166,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5825788974761963,
    "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": 0.0006320998175922687,
      "left gripper-book distance": 0.489287150135406,
      "right gripper-book distance": 0.4169273370488185
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4690358211108085,
    "bimanual_gripper_vertical_difference": 0.03318410605969235,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6138772964477539,
    "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": 0.00045615911770513495,
      "left gripper-book distance": 0.48794602879235804,
      "right gripper-book distance": 0.4079189443321109
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4990696352902986,
    "bimanual_gripper_vertical_difference": 0.04426115351089451,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6415550708770752,
    "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": 0.0006034182572270952,
      "left gripper-book distance": 0.4867108213321055,
      "right gripper-book distance": 0.40814925233516663
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5272781975544865,
    "bimanual_gripper_vertical_difference": 0.056047083365586746,
    "task_success": 0.0
  },
  {
    "completion_time": 0.669297456741333,
    "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": 0.0006799744188275003,
      "left gripper-book distance": 0.48555047726175865,
      "right gripper-book distance": 0.41699525031440055
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5528470507220513,
    "bimanual_gripper_vertical_difference": 0.06828903553017977,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6981301307678223,
    "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": 0.0005029921187279518,
      "left gripper-book distance": 0.48427069260965133,
      "right gripper-book distance": 0.4219668064037744
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5136114516168286,
    "bimanual_gripper_vertical_difference": 0.08024142074337029,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7265810966491699,
    "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": 0.0005227792556279365,
      "left gripper-book distance": 0.48313115159689407,
      "right gripper-book distance": 0.4144165078576562
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4832216920769392,
    "bimanual_gripper_vertical_difference": 0.09128879306657418,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7549800872802734,
    "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": 0.0005814710322068484,
      "left gripper-book distance": 0.482556901983914,
      "right gripper-book distance": 0.39813379502018365
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.474836230156823,
    "bimanual_gripper_vertical_difference": 0.10117904115853603,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7827756404876709,
    "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": 0.0006260700805293951,
      "left gripper-book distance": 0.48233689305515637,
      "right gripper-book distance": 0.37833284124023
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4793053021502758,
    "bimanual_gripper_vertical_difference": 0.1098650068152847,
    "task_success": 0.0
  },
  {
    "completion_time": 0.810776948928833,
    "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": 0.0006830792059580038,
      "left gripper-book distance": 0.4822568469581111,
      "right gripper-book distance": 0.35801961035104446
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4918208427615873,
    "bimanual_gripper_vertical_difference": 0.11737750040728431,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8383097648620605,
    "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": 0.0006443512509556326,
      "left gripper-book distance": 0.4823563898938306,
      "right gripper-book distance": 0.33850634704818583
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5099263452327045,
    "bimanual_gripper_vertical_difference": 0.12380628408271453,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8663697242736816,
    "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": 0.0005302337710570981,
      "left gripper-book distance": 0.482574237484497,
      "right gripper-book distance": 0.3203342726671487
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5316442736915497,
    "bimanual_gripper_vertical_difference": 0.12926223038422563,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8963463306427002,
    "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": 0.0006382536410469708,
      "left gripper-book distance": 0.48260367717490943,
      "right gripper-book distance": 0.30558032405626273
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5529356586680587,
    "bimanual_gripper_vertical_difference": 0.133787640785124,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9253957271575928,
    "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": 0.0006126711897193049,
      "left gripper-book distance": 0.4814453960631688,
      "right gripper-book distance": 0.30633706344714684
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5685082106289998,
    "bimanual_gripper_vertical_difference": 0.13705790240378496,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9540619850158691,
    "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": 0.00044760072690364083,
      "left gripper-book distance": 0.48019197728041885,
      "right gripper-book distance": 0.3224278958847201
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.585253647013368,
    "bimanual_gripper_vertical_difference": 0.13879460016248218,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9829115867614746,
    "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": 0.0005176116905930561,
      "left gripper-book distance": 0.47913942453661773,
      "right gripper-book distance": 0.34786230461249523
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6019271773812407,
    "bimanual_gripper_vertical_difference": 0.13904189180083884,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0116724967956543,
    "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": 0.0006784323008193205,
      "left gripper-book distance": 0.47800329585153256,
      "right gripper-book distance": 0.37972709191231746
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6176233240756244,
    "bimanual_gripper_vertical_difference": 0.13787733753757778,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0403223037719727,
    "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": 0.0005851429017068588,
      "left gripper-book distance": 0.47665011583639605,
      "right gripper-book distance": 0.3953696050526601
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5975819177749,
    "bimanual_gripper_vertical_difference": 0.13605189177180405,
    "task_success": 0.0
  },
  {
    "completion_time": 1.069406509399414,
    "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": 0.0006358173855622873,
      "left gripper-book distance": 0.4755448728110743,
      "right gripper-book distance": 0.3870428378047607
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.571693894277991,
    "bimanual_gripper_vertical_difference": 0.1343619906987095,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0985829830169678,
    "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": 0.0006640215562503382,
      "left gripper-book distance": 0.47497462219965897,
      "right gripper-book distance": 0.3602761082985454
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5685486161608009,
    "bimanual_gripper_vertical_difference": 0.1333399876674597,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1290392875671387,
    "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": 0.000635804250882277,
      "left gripper-book distance": 0.4747366649258412,
      "right gripper-book distance": 0.32226352960705085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5705425531889792,
    "bimanual_gripper_vertical_difference": 0.13331109367507962,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1581130027770996,
    "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": 0.0005117880223844962,
      "left gripper-book distance": 0.4747035104773107,
      "right gripper-book distance": 0.27923996559482717
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5763381044069626,
    "bimanual_gripper_vertical_difference": 0.1344689794847022,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1910786628723145,
    "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": 0.0005659206046125798,
      "left gripper-book distance": 0.474655451815017,
      "right gripper-book distance": 0.24419092748491142
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5690250627669189,
    "bimanual_gripper_vertical_difference": 0.13656075341763937,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2206852436065674,
    "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": 0.0006029070431856631,
      "left gripper-book distance": 0.4745414345231382,
      "right gripper-book distance": 0.21953775432571934
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5551837219730353,
    "bimanual_gripper_vertical_difference": 0.13915963754303937,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2492079734802246,
    "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": 0.0005266940652276508,
      "left gripper-book distance": 0.4740163082488045,
      "right gripper-book distance": 0.20999002517251442
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.544007023860677,
    "bimanual_gripper_vertical_difference": 0.1417060420578297,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2781920433044434,
    "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": 0.0005146712441509438,
      "left gripper-book distance": 0.47249584531721484,
      "right gripper-book distance": 0.21642038373813544
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5384494313401775,
    "bimanual_gripper_vertical_difference": 0.14370040716636506,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3108398914337158,
    "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": 0.0005967219461713302,
      "left gripper-book distance": 0.47124501715253714,
      "right gripper-book distance": 0.23278890055899473
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5314497634299693,
    "bimanual_gripper_vertical_difference": 0.1449622149428556,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3398377895355225,
    "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": 0.0006560003234306055,
      "left gripper-book distance": 0.4704025412616385,
      "right gripper-book distance": 0.23867524889091057
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4991809101337508,
    "bimanual_gripper_vertical_difference": 0.1459645444263324,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3686952590942383,
    "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": 0.0006262314407649017,
      "left gripper-book distance": 0.46920026750713634,
      "right gripper-book distance": 0.23096068259220084
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.479863122969283,
    "bimanual_gripper_vertical_difference": 0.14713090487141423,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3981192111968994,
    "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": 0.0006145748734225354,
      "left gripper-book distance": 0.467910726061391,
      "right gripper-book distance": 0.22160798488287323
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4576813240745137,
    "bimanual_gripper_vertical_difference": 0.14838834834656137,
    "task_success": 0.0
  },
  {
    "completion_time": 1.427537202835083,
    "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": 0.0006441396958926093,
      "left gripper-book distance": 0.4669639584656811,
      "right gripper-book distance": 0.210351429918815
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4494165236802186,
    "bimanual_gripper_vertical_difference": 0.1496400732726833,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4563777446746826,
    "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": 0.0004974786195692804,
      "left gripper-book distance": 0.4666778467938821,
      "right gripper-book distance": 0.1975214093447656
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.447330473463164,
    "bimanual_gripper_vertical_difference": 0.15086883457106737,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4860961437225342,
    "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": 0.00047638428152885215,
      "left gripper-book distance": 0.4665243632342247,
      "right gripper-book distance": 0.18464681332400135
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4474515628787457,
    "bimanual_gripper_vertical_difference": 0.15207825055796598,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5149710178375244,
    "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": 0.0005265761397909019,
      "left gripper-book distance": 0.46644208907735535,
      "right gripper-book distance": 0.17336839930421474
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4496413804939896,
    "bimanual_gripper_vertical_difference": 0.15329174158533082,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5445892810821533,
    "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": 0.0006796034607779999,
      "left gripper-book distance": 0.4664804636287402,
      "right gripper-book distance": 0.16399532493067212
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4541767812957846,
    "bimanual_gripper_vertical_difference": 0.15454382590274035,
    "task_success": 0.0
  },
  {
    "completion_time": 1.57427978515625,
    "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": 0.0006286661116741143,
      "left gripper-book distance": 0.46665217606576237,
      "right gripper-book distance": 0.1560502989074853
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4553160417693258,
    "bimanual_gripper_vertical_difference": 0.15585817575691202,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6045093536376953,
    "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": 0.0006626017712596521,
      "left gripper-book distance": 0.4667383538088245,
      "right gripper-book distance": 0.1487686561184555
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4448807293580317,
    "bimanual_gripper_vertical_difference": 0.15723477127715682,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6351141929626465,
    "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": 0.0006790811335886104,
      "left gripper-book distance": 0.46686169975325226,
      "right gripper-book distance": 0.14207403614838296
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4246713567276512,
    "bimanual_gripper_vertical_difference": 0.15865970956220724,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6650922298431396,
    "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": 0.0006141575017214462,
      "left gripper-book distance": 0.4669784421687356,
      "right gripper-book distance": 0.1366930843128718
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4054001955957354,
    "bimanual_gripper_vertical_difference": 0.1601102350900691,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6960244178771973,
    "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": 0.000431066917868983,
      "left gripper-book distance": 0.46714899234828167,
      "right gripper-book distance": 0.13403641667566377
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3863227371584461,
    "bimanual_gripper_vertical_difference": 0.16154723381011377,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7260863780975342,
    "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": 0.0006295859955733896,
      "left gripper-book distance": 0.4670579482734273,
      "right gripper-book distance": 0.13333040082836312
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3683191632147362,
    "bimanual_gripper_vertical_difference": 0.1629351634332775,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7566006183624268,
    "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": 0.00016281222584024757,
      "left gripper-book distance": 0.4674383567956504,
      "right gripper-book distance": 0.13261080431867947
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3499116657248733,
    "bimanual_gripper_vertical_difference": 0.1642836856612731,
    "task_success": 0.0
  },
  {
    "completion_time": 1.788311243057251,
    "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": 0.00032429217397977883,
      "left gripper-book distance": 0.4674331892988258,
      "right gripper-book distance": 0.1321989068024489
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.329537833708374,
    "bimanual_gripper_vertical_difference": 0.16558571405502365,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8181414604187012,
    "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": 0.0005909109739538065,
      "left gripper-book distance": 0.4665394646421328,
      "right gripper-book distance": 0.13205818417520562
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3098896000174225,
    "bimanual_gripper_vertical_difference": 0.16682603961904996,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8475170135498047,
    "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": 0.0007849951027864011,
      "left gripper-book distance": 0.4650103045252729,
      "right gripper-book distance": 0.13211853623221737
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2898947649351413,
    "bimanual_gripper_vertical_difference": 0.16799442946850013,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8753621578216553,
    "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": 0.0007977590082746122,
      "left gripper-book distance": 0.4635590535447033,
      "right gripper-book distance": 0.13215600279805365
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2704614914421588,
    "bimanual_gripper_vertical_difference": 0.16909766443612065,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9045584201812744,
    "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": 0.0006217046716716634,
      "left gripper-book distance": 0.4617938599576432,
      "right gripper-book distance": 0.13245134483486817
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2541317458943997,
    "bimanual_gripper_vertical_difference": 0.17014918537298798,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9341092109680176,
    "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": 0.0004912301437617339,
      "left gripper-book distance": 0.45958995394553565,
      "right gripper-book distance": 0.13534917050237555
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2454570333555715,
    "bimanual_gripper_vertical_difference": 0.17114151217015564,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9630184173583984,
    "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": 0.0006605983752114852,
      "left gripper-book distance": 0.4588534172331613,
      "right gripper-book distance": 0.14174118491824172
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2415273734003276,
    "bimanual_gripper_vertical_difference": 0.17205426084091757,
    "task_success": 0.0
  },
  {
    "completion_time": 1.992974042892456,
    "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": 0.00047884055224789446,
      "left gripper-book distance": 0.45872523491531053,
      "right gripper-book distance": 0.1492924688436593
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2373985941887553,
    "bimanual_gripper_vertical_difference": 0.17288852686169973,
    "task_success": 0.0
  },
  {
    "completion_time": 2.022239923477173,
    "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": 0.00038583375933587405,
      "left gripper-book distance": 0.45853847581199303,
      "right gripper-book distance": 0.15202165347969443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.22658099685457,
    "bimanual_gripper_vertical_difference": 0.17369591291350583,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0507917404174805,
    "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": 0.0005708081641561114,
      "left gripper-book distance": 0.4583072267826285,
      "right gripper-book distance": 0.15122634016356834
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2194360880670552,
    "bimanual_gripper_vertical_difference": 0.1745165520873031,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0792112350463867,
    "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": 0.0005772805436544681,
      "left gripper-book distance": 0.45819409778721676,
      "right gripper-book distance": 0.14887573784890776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2069169201810157,
    "bimanual_gripper_vertical_difference": 0.1753738117422722,
    "task_success": 0.0
  },
  {
    "completion_time": 2.108583688735962,
    "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": 0.0005369207696017675,
      "left gripper-book distance": 0.45816253922375494,
      "right gripper-book distance": 0.14283152778689867
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1947791763594668,
    "bimanual_gripper_vertical_difference": 0.17629873906422885,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1373867988586426,
    "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": 0.000567687653777571,
      "left gripper-book distance": 0.4582084169549658,
      "right gripper-book distance": 0.13750175343535695
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1825320619773634,
    "bimanual_gripper_vertical_difference": 0.17726974942561663,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1663122177124023,
    "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": 0.0005171487688285792,
      "left gripper-book distance": 0.4582407389448015,
      "right gripper-book distance": 0.13341821337317017
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.170639579180807,
    "bimanual_gripper_vertical_difference": 0.17825744372859853,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1955602169036865,
    "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": 0.0008170669454741208,
      "left gripper-book distance": 0.45803131178238166,
      "right gripper-book distance": 0.132190057819357
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1590273445145447,
    "bimanual_gripper_vertical_difference": 0.17922623261067777,
    "task_success": 0.0
  },
  {
    "completion_time": 2.224539041519165,
    "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": 0.0007716732757648836,
      "left gripper-book distance": 0.45816939415688035,
      "right gripper-book distance": 0.132652826436042
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1477465014822414,
    "bimanual_gripper_vertical_difference": 0.1801665163408165,
    "task_success": 0.0
  },
  {
    "completion_time": 2.256197690963745,
    "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": 0.0007535466383398193,
      "left gripper-book distance": 0.4581171493991012,
      "right gripper-book distance": 0.133097162207102
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1366052194804248,
    "bimanual_gripper_vertical_difference": 0.18107729747610352,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2841293811798096,
    "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": 0.0007326880663887092,
      "left gripper-book distance": 0.45796080133323536,
      "right gripper-book distance": 0.13352178209921456
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.12549506016345,
    "bimanual_gripper_vertical_difference": 0.18196061013155107,
    "task_success": 0.0
  },
  {
    "completion_time": 2.314699172973633,
    "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": 0.000771642535397854,
      "left gripper-book distance": 0.45773275786547907,
      "right gripper-book distance": 0.13383922058263217
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.114815055719895,
    "bimanual_gripper_vertical_difference": 0.18281609175061156,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3436200618743896,
    "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": 0.0007601251897798589,
      "left gripper-book distance": 0.45788169037943216,
      "right gripper-book distance": 0.13380571130634972
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1044617437036675,
    "bimanual_gripper_vertical_difference": 0.18364749079509388,
    "task_success": 0.0
  },
  {
    "completion_time": 2.374044895172119,
    "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": 0.0008012413478173386,
      "left gripper-book distance": 0.45804243973436,
      "right gripper-book distance": 0.13361253763946748
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.093674183624852,
    "bimanual_gripper_vertical_difference": 0.18445683152915207,
    "task_success": 0.0
  },
  {
    "completion_time": 2.403015375137329,
    "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": 0.0007447819552467427,
      "left gripper-book distance": 0.45816218085282695,
      "right gripper-book distance": 0.13342080327698688
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.082268994334051,
    "bimanual_gripper_vertical_difference": 0.18524492927744568,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4305288791656494,
    "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": 0.0007230116001186726,
      "left gripper-book distance": 0.45810892037472273,
      "right gripper-book distance": 0.13317767605428923
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0706193619696458,
    "bimanual_gripper_vertical_difference": 0.18601470875199402,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4579544067382812,
    "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": 0.0007217371102009595,
      "left gripper-book distance": 0.45795603150401354,
      "right gripper-book distance": 0.1331163259069414
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0591069850968235,
    "bimanual_gripper_vertical_difference": 0.1867641568623854,
    "task_success": 0.0
  },
  {
    "completion_time": 2.485325336456299,
    "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": 0.0006911314674786784,
      "left gripper-book distance": 0.457862321430238,
      "right gripper-book distance": 0.13294798218329806
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0479426481595144,
    "bimanual_gripper_vertical_difference": 0.1874956534651968,
    "task_success": 0.0
  },
  {
    "completion_time": 2.515448570251465,
    "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": 0.0007773485714758221,
      "left gripper-book distance": 0.457667893753568,
      "right gripper-book distance": 0.13268693878622348
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0370778966169043,
    "bimanual_gripper_vertical_difference": 0.1882094930793807,
    "task_success": 0.0
  },
  {
    "completion_time": 2.544853925704956,
    "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": 0.0007565009050535254,
      "left gripper-book distance": 0.45761595248513015,
      "right gripper-book distance": 0.1325370035880104
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0264085525983884,
    "bimanual_gripper_vertical_difference": 0.18890645447129154,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5741424560546875,
    "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": 0.0006817919722107435,
      "left gripper-book distance": 0.45758190802755044,
      "right gripper-book distance": 0.1325044369083409
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0164822328752154,
    "bimanual_gripper_vertical_difference": 0.18958759178149934,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6030495166778564,
    "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": 0.0007297714992304805,
      "left gripper-book distance": 0.4574702389004208,
      "right gripper-book distance": 0.1322679729986534
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0070117576374136,
    "bimanual_gripper_vertical_difference": 0.19025266624435616,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6316428184509277,
    "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": 0.0007201094261160002,
      "left gripper-book distance": 0.4575133526602214,
      "right gripper-book distance": 0.13205523955130705
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9976738814178161,
    "bimanual_gripper_vertical_difference": 0.19090325564587615,
    "task_success": 0.0
  },
  {
    "completion_time": 2.659514904022217,
    "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": 0.0007074416933503525,
      "left gripper-book distance": 0.45761040313277307,
      "right gripper-book distance": 0.13193079428106963
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9884559587340377,
    "bimanual_gripper_vertical_difference": 0.19154057407396585,
    "task_success": 0.0
  },
  {
    "completion_time": 2.688084602355957,
    "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": 0.0007308398192390486,
      "left gripper-book distance": 0.45774800811944816,
      "right gripper-book distance": 0.1318117026601132
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9800728470328633,
    "bimanual_gripper_vertical_difference": 0.19216390096520677,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7170515060424805,
    "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": 0.0007619638401431539,
      "left gripper-book distance": 0.45802892721555766,
      "right gripper-book distance": 0.13153610847963157
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9723878327961833,
    "bimanual_gripper_vertical_difference": 0.19277413071341468,
    "task_success": 0.0
  },
  {
    "completion_time": 2.745511531829834,
    "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": 0.00073195366544343,
      "left gripper-book distance": 0.45827775811758265,
      "right gripper-book distance": 0.13132399636818737
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.964735225083926,
    "bimanual_gripper_vertical_difference": 0.19337278398308458,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7732608318328857,
    "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": 0.0006927679551809174,
      "left gripper-book distance": 0.4583753024582049,
      "right gripper-book distance": 0.13095864126241483
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9570116038022288,
    "bimanual_gripper_vertical_difference": 0.19396062776661654,
    "task_success": 0.0
  },
  {
    "completion_time": 2.801805257797241,
    "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": 0.000665186735547274,
      "left gripper-book distance": 0.45840908876697734,
      "right gripper-book distance": 0.13058228971832705
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9488849803948677,
    "bimanual_gripper_vertical_difference": 0.19453817064530318,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8302552700042725,
    "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": 0.0006519805917618582,
      "left gripper-book distance": 0.4584336453179649,
      "right gripper-book distance": 0.13032819053091727
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9403459322485466,
    "bimanual_gripper_vertical_difference": 0.1951076111557083,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8584494590759277,
    "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": 0.000652828986281162,
      "left gripper-book distance": 0.4584438626694964,
      "right gripper-book distance": 0.1302505269218854
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9353321878271337,
    "bimanual_gripper_vertical_difference": 0.19567460574231121,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8870186805725098,
    "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": 0.00047755103830537937,
      "left gripper-book distance": 0.45856213570140825,
      "right gripper-book distance": 0.13374551823461756
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9331441577709242,
    "bimanual_gripper_vertical_difference": 0.19621054871356375,
    "task_success": 0.0
  },
  {
    "completion_time": 2.915494203567505,
    "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": 0.0005992162824172143,
      "left gripper-book distance": 0.45847659723145817,
      "right gripper-book distance": 0.1395965450487005
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9329072614156623,
    "bimanual_gripper_vertical_difference": 0.196688023144517,
    "task_success": 0.0
  },
  {
    "completion_time": 2.946488857269287,
    "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": 0.0005837535957958773,
      "left gripper-book distance": 0.4583717271176899,
      "right gripper-book distance": 0.14734580644658493
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9334055791354252,
    "bimanual_gripper_vertical_difference": 0.19708917374378432,
    "task_success": 0.0
  },
  {
    "completion_time": 2.974440336227417,
    "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": 0.0006189408866382751,
      "left gripper-book distance": 0.45812858243876836,
      "right gripper-book distance": 0.1558990637666742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9333595762169868,
    "bimanual_gripper_vertical_difference": 0.19740737525640717,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0023446083068848,
    "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": 0.000500819161837196,
      "left gripper-book distance": 0.4580016229469519,
      "right gripper-book distance": 0.16313141793506816
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9351566912802751,
    "bimanual_gripper_vertical_difference": 0.1976489357392184,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0305655002593994,
    "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": 0.0005919137520834505,
      "left gripper-book distance": 0.45777996113257596,
      "right gripper-book distance": 0.16817803862389138
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.941345383389202,
    "bimanual_gripper_vertical_difference": 0.19782157970053343,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0601654052734375,
    "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": 0.0005838762841369194,
      "left gripper-book distance": 0.4575980776427194,
      "right gripper-book distance": 0.17151632430429317
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9520642997586639,
    "bimanual_gripper_vertical_difference": 0.19793232627764173,
    "task_success": 0.0
  },
  {
    "completion_time": 3.088526725769043,
    "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": 0.000618889076742013,
      "left gripper-book distance": 0.45738974007155464,
      "right gripper-book distance": 0.17390361729977968
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9646104477352918,
    "bimanual_gripper_vertical_difference": 0.19798970591031095,
    "task_success": 0.0
  },
  {
    "completion_time": 3.116569757461548,
    "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": 0.000500734415281423,
      "left gripper-book distance": 0.45722809275978815,
      "right gripper-book distance": 0.17606104664672864
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9752485462589938,
    "bimanual_gripper_vertical_difference": 0.1980058770786458,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1456398963928223,
    "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": 0.0006002737373052014,
      "left gripper-book distance": 0.4565637879428366,
      "right gripper-book distance": 0.1784730987765602
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9767783663658789,
    "bimanual_gripper_vertical_difference": 0.19798116178182285,
    "task_success": 0.0
  },
  {
    "completion_time": 3.177901029586792,
    "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": 0.00053577918676595,
      "left gripper-book distance": 0.4551451729499645,
      "right gripper-book distance": 0.17783450762808653
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9679501378631984,
    "bimanual_gripper_vertical_difference": 0.1979449081526295,
    "task_success": 0.0
  },
  {
    "completion_time": 3.207521677017212,
    "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": 0.0006137112120823129,
      "left gripper-book distance": 0.45392354167668614,
      "right gripper-book distance": 0.17633526246568773
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9592551415262011,
    "bimanual_gripper_vertical_difference": 0.19791178411707233,
    "task_success": 0.0
  },
  {
    "completion_time": 3.23629093170166,
    "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": 0.00050259697630195,
      "left gripper-book distance": 0.4532431502878181,
      "right gripper-book distance": 0.1755141498868684
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9506829461480952,
    "bimanual_gripper_vertical_difference": 0.19788096723277748,
    "task_success": 0.0
  },
  {
    "completion_time": 3.265585422515869,
    "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": 0.0006182893832024083,
      "left gripper-book distance": 0.4525646490387447,
      "right gripper-book distance": 0.17467320190545224
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9422373831550328,
    "bimanual_gripper_vertical_difference": 0.19785163797635463,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2947871685028076,
    "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": 0.0005564485869000713,
      "left gripper-book distance": 0.4507694016672257,
      "right gripper-book distance": 0.17202030554974596
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9389496058666956,
    "bimanual_gripper_vertical_difference": 0.1978270188762616,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3233742713928223,
    "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": 0.0006370063169049978,
      "left gripper-book distance": 0.44909884233205677,
      "right gripper-book distance": 0.16808926877502794
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9455961760455049,
    "bimanual_gripper_vertical_difference": 0.19782924253547565,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3513448238372803,
    "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": 0.0005343679107197019,
      "left gripper-book distance": 0.4481997034724648,
      "right gripper-book distance": 0.16636423652727175
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9593265155022846,
    "bimanual_gripper_vertical_difference": 0.1978594320293233,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3790643215179443,
    "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": 0.0006387721634485422,
      "left gripper-book distance": 0.4475785937581731,
      "right gripper-book distance": 0.16590876476722693
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9753478609653873,
    "bimanual_gripper_vertical_difference": 0.1979131517459805,
    "task_success": 0.0
  },
  {
    "completion_time": 3.407381534576416,
    "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": 0.0005684354183073115,
      "left gripper-book distance": 0.44741087949385683,
      "right gripper-book distance": 0.1655720965798075
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9924240624925891,
    "bimanual_gripper_vertical_difference": 0.1979911396687676,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4357388019561768,
    "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": 0.0004668373911000945,
      "left gripper-book distance": 0.44732976979766303,
      "right gripper-book distance": 0.16432483653391525
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0051091097678653,
    "bimanual_gripper_vertical_difference": 0.19810267262549935,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4652822017669678,
    "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": 0.0006134880639487861,
      "left gripper-book distance": 0.4471049455594475,
      "right gripper-book distance": 0.16187843445849268
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0134317502897565,
    "bimanual_gripper_vertical_difference": 0.19825996785927236,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4940097332000732,
    "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": 0.00047902670582467,
      "left gripper-book distance": 0.447183241513033,
      "right gripper-book distance": 0.1593568242532713
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0180811800043674,
    "bimanual_gripper_vertical_difference": 0.19846795769969391,
    "task_success": 0.0
  },
  {
    "completion_time": 3.524721384048462,
    "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": 0.0006208734736538046,
      "left gripper-book distance": 0.44706446522017856,
      "right gripper-book distance": 0.15771625982409174
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0202108775076104,
    "bimanual_gripper_vertical_difference": 0.19871695886452714,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5531909465789795,
    "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": 0.0005019621899938764,
      "left gripper-book distance": 0.4471243309087674,
      "right gripper-book distance": 0.15778634020326332
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0207093216289282,
    "bimanual_gripper_vertical_difference": 0.19898994020721558,
    "task_success": 0.0
  },
  {
    "completion_time": 3.582521915435791,
    "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": 0.0005683444073323329,
      "left gripper-book distance": 0.4470568801042723,
      "right gripper-book distance": 0.15834004059070197
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0217756562489528,
    "bimanual_gripper_vertical_difference": 0.19927334436300867,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6128921508789062,
    "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": 0.0005383828971272653,
      "left gripper-book distance": 0.44708668876782764,
      "right gripper-book distance": 0.15895936187720305
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.026545376645887,
    "bimanual_gripper_vertical_difference": 0.19955925550784137,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6437594890594482,
    "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": 0.0004491179260688316,
      "left gripper-book distance": 0.4472393566976204,
      "right gripper-book distance": 0.158482208675783
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0317625498728864,
    "bimanual_gripper_vertical_difference": 0.1998534919123772,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6738150119781494,
    "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": 0.0006426342672506413,
      "left gripper-book distance": 0.4471797201217492,
      "right gripper-book distance": 0.1565959949932322
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0351925745134383,
    "bimanual_gripper_vertical_difference": 0.2001597992170203,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7038590908050537,
    "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": 0.0005024911324151837,
      "left gripper-book distance": 0.44728815878230266,
      "right gripper-book distance": 0.15421265515275515
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.037521325834866,
    "bimanual_gripper_vertical_difference": 0.20047633883585889,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7344284057617188,
    "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": 0.0004678004275012748,
      "left gripper-book distance": 0.4474107669942556,
      "right gripper-book distance": 0.1509373360658145
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0384760067756114,
    "bimanual_gripper_vertical_difference": 0.20080408451475196,
    "task_success": 0.0
  },
  {
    "completion_time": 3.763333797454834,
    "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": 0.0006395341350512451,
      "left gripper-book distance": 0.4474315651722446,
      "right gripper-book distance": 0.14716934805569282
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.037291965024119,
    "bimanual_gripper_vertical_difference": 0.20114405123599388,
    "task_success": 0.0
  },
  {
    "completion_time": 3.792904853820801,
    "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": 0.0005686541041333149,
      "left gripper-book distance": 0.44757174205635464,
      "right gripper-book distance": 0.14395749829670815
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0356329965945588,
    "bimanual_gripper_vertical_difference": 0.2014961616057412,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8224570751190186,
    "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": 0.0005124782408613138,
      "left gripper-book distance": 0.447573565963418,
      "right gripper-book distance": 0.14125119699096342
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0337869312193937,
    "bimanual_gripper_vertical_difference": 0.20186357109103584,
    "task_success": 0.0
  },
  {
    "completion_time": 3.853325366973877,
    "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": 0.0006364543427545,
      "left gripper-book distance": 0.4474251031905356,
      "right gripper-book distance": 0.13902483849944275
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0312413965432141,
    "bimanual_gripper_vertical_difference": 0.20224974304098964,
    "task_success": 0.0
  },
  {
    "completion_time": 3.883758544921875,
    "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": 0.000539362543555133,
      "left gripper-book distance": 0.4475393718808299,
      "right gripper-book distance": 0.13709359586959455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0269866394989957,
    "bimanual_gripper_vertical_difference": 0.20265696120652052,
    "task_success": 0.0
  },
  {
    "completion_time": 3.913867235183716,
    "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": 0.0005927253947713984,
      "left gripper-book distance": 0.4474824535569412,
      "right gripper-book distance": 0.13541182176521435
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0224525926952153,
    "bimanual_gripper_vertical_difference": 0.20308524042173884,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9442126750946045,
    "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": 0.0006542223304284445,
      "left gripper-book distance": 0.447371326187721,
      "right gripper-book distance": 0.13399146293960348
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0185670969041525,
    "bimanual_gripper_vertical_difference": 0.2035305638075773,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9735891819000244,
    "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": 0.0004863563797229409,
      "left gripper-book distance": 0.4474629675245876,
      "right gripper-book distance": 0.13254586397786836
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0142396493202355,
    "bimanual_gripper_vertical_difference": 0.20398897658346002,
    "task_success": 0.0
  },
  {
    "completion_time": 4.003057241439819,
    "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": 0.0006272018516416678,
      "left gripper-book distance": 0.44731024497732647,
      "right gripper-book distance": 0.1307916515119541
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0102179606700652,
    "bimanual_gripper_vertical_difference": 0.20445978179423718,
    "task_success": 0.0
  },
  {
    "completion_time": 4.033832550048828,
    "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": 0.00048347469885445804,
      "left gripper-book distance": 0.4473723073145279,
      "right gripper-book distance": 0.12902167861518646
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.005276069774535,
    "bimanual_gripper_vertical_difference": 0.20494369430634574,
    "task_success": 0.0
  },
  {
    "completion_time": 4.063546895980835,
    "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": 0.0006123084507616561,
      "left gripper-book distance": 0.4472089106177847,
      "right gripper-book distance": 0.12653313585011816
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9997127138259043,
    "bimanual_gripper_vertical_difference": 0.2054406301263454,
    "task_success": 0.0
  },
  {
    "completion_time": 4.092521905899048,
    "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": 0.0002457548316862068,
      "left gripper-book distance": 0.44736355120660826,
      "right gripper-book distance": 0.12422362494647292
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9936866704976901,
    "bimanual_gripper_vertical_difference": 0.2059447477701782,
    "task_success": 0.0
  },
  {
    "completion_time": 4.124889612197876,
    "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": -0.00018693479168441218,
      "left gripper-book distance": 0.44740654588182827,
      "right gripper-book distance": 0.1223797394371484
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9883633134126598,
    "bimanual_gripper_vertical_difference": 0.20644827277618064,
    "task_success": 0.0
  },
  {
    "completion_time": 4.1537024974823,
    "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": -0.00020175813762002281,
      "left gripper-book distance": 0.44706160875839424,
      "right gripper-book distance": 0.12037250756170577
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9836882810546063,
    "bimanual_gripper_vertical_difference": 0.20694656286240337,
    "task_success": 0.0
  },
  {
    "completion_time": 4.1851301193237305,
    "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": -0.0005082789522518061,
      "left gripper-book distance": 0.4469738006769858,
      "right gripper-book distance": 0.11850215954771944
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9786093299160368,
    "bimanual_gripper_vertical_difference": 0.20744206386904104,
    "task_success": 0.0
  },
  {
    "completion_time": 4.21841835975647,
    "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": -0.0009007215843489513,
      "left gripper-book distance": 0.4469606711627801,
      "right gripper-book distance": 0.1169580338050471
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9738031027589855,
    "bimanual_gripper_vertical_difference": 0.2079329042340835,
    "task_success": 0.0
  },
  {
    "completion_time": 4.249547004699707,
    "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": -0.001454248250509771,
      "left gripper-book distance": 0.44692984532578717,
      "right gripper-book distance": 0.11598517721688772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9691877422519644,
    "bimanual_gripper_vertical_difference": 0.20841867009777867,
    "task_success": 0.0
  },
  {
    "completion_time": 4.27834415435791,
    "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": -0.0016943545681775696,
      "left gripper-book distance": 0.44670582894390587,
      "right gripper-book distance": 0.11518630936046527
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9646241637831394,
    "bimanual_gripper_vertical_difference": 0.20889692739812812,
    "task_success": 0.0
  },
  {
    "completion_time": 4.307444334030151,
    "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": -0.0018465227836048648,
      "left gripper-book distance": 0.44636730627495635,
      "right gripper-book distance": 0.11437856633248128
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9604354296088672,
    "bimanual_gripper_vertical_difference": 0.209367197160998,
    "task_success": 0.0
  },
  {
    "completion_time": 4.336514949798584,
    "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": -0.0018431948930526243,
      "left gripper-book distance": 0.44606505864323404,
      "right gripper-book distance": 0.11336540089787846
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9563471102403805,
    "bimanual_gripper_vertical_difference": 0.20982867270777553,
    "task_success": 0.0
  },
  {
    "completion_time": 4.364934921264648,
    "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": -0.0018554369101493329,
      "left gripper-book distance": 0.4458130639682241,
      "right gripper-book distance": 0.11262602202899147
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9519646680815722,
    "bimanual_gripper_vertical_difference": 0.21028203052918093,
    "task_success": 0.0
  },
  {
    "completion_time": 4.393548250198364,
    "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": -0.0018165062633506146,
      "left gripper-book distance": 0.44565455407438037,
      "right gripper-book distance": 0.11219136057299736
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9469938653367281,
    "bimanual_gripper_vertical_difference": 0.21072912877620906,
    "task_success": 0.0
  },
  {
    "completion_time": 4.42221736907959,
    "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": -0.004876681256447579,
      "left gripper-book distance": 0.44929827202134753,
      "right gripper-book distance": 0.11255183818023726
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9452813375516552,
    "bimanual_gripper_vertical_difference": 0.2111776260847895,
    "task_success": 0.0
  },
  {
    "completion_time": 4.450822114944458,
    "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": -0.005181495972192751,
      "left gripper-book distance": 0.4501791150789558,
      "right gripper-book distance": 0.11364504194740847
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9423653499999362,
    "bimanual_gripper_vertical_difference": 0.21160744419131644,
    "task_success": 0.0
  },
  {
    "completion_time": 4.479861736297607,
    "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": -0.003607065346825755,
      "left gripper-book distance": 0.44895789129505154,
      "right gripper-book distance": 0.11490603739352499
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9395555486264283,
    "bimanual_gripper_vertical_difference": 0.21201504559436915,
    "task_success": 0.0
  },
  {
    "completion_time": 4.5097129344940186,
    "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": 0.0010321682015471678,
      "left gripper-book distance": 0.44530419668494475,
      "right gripper-book distance": 0.1156887473412225
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9356082151926867,
    "bimanual_gripper_vertical_difference": 0.2123862129196676,
    "task_success": 0.0
  },
  {
    "completion_time": 4.538891315460205,
    "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": 0.0015484306163980888,
      "left gripper-book distance": 0.4446692046014569,
      "right gripper-book distance": 0.11658327202335059
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9307029581614359,
    "bimanual_gripper_vertical_difference": 0.21274677471758047,
    "task_success": 0.0
  },
  {
    "completion_time": 4.567126035690308,
    "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": 0.00461854469226608,
      "left gripper-book distance": 0.44176835216094623,
      "right gripper-book distance": 0.11973883603028973
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9287202127728492,
    "bimanual_gripper_vertical_difference": 0.213070532577457,
    "task_success": 0.0
  },
  {
    "completion_time": 4.595091104507446,
    "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": 0.010620109171323722,
      "left gripper-book distance": 0.43687242020576256,
      "right gripper-book distance": 0.12491644293276809
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9300360772343688,
    "bimanual_gripper_vertical_difference": 0.21332943194644108,
    "task_success": 0.0
  },
  {
    "completion_time": 4.623976945877075,
    "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": 0.019491101992042736,
      "left gripper-book distance": 0.429019716972582,
      "right gripper-book distance": 0.13166520463596185
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9346408860275122,
    "bimanual_gripper_vertical_difference": 0.21350157736710196,
    "task_success": 0.0
  },
  {
    "completion_time": 4.6529271602630615,
    "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": 0.03161458631408498,
      "left gripper-book distance": 0.4191483527298213,
      "right gripper-book distance": 0.13796895840368031
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.940041709866352,
    "bimanual_gripper_vertical_difference": 0.21356650042578443,
    "task_success": 0.0
  },
  {
    "completion_time": 4.681436061859131,
    "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": 0.04590492827928849,
      "left gripper-book distance": 0.4099322237918345,
      "right gripper-book distance": 0.1430246616781986
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9455127486547017,
    "bimanual_gripper_vertical_difference": 0.21350692550274789,
    "task_success": 0.0
  },
  {
    "completion_time": 4.7143027782440186,
    "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": 0.0656396480488487,
      "left gripper-book distance": 0.39862714394845394,
      "right gripper-book distance": 0.14522872660676422
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 0.9511553132481546,
    "bimanual_gripper_vertical_difference": 0.21332596577888255,
    "task_success": 1.0
  }
]