[
  {
    "completion_time": 0.044724464416503906,
    "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": -0.0006507782177872512,
      "left gripper-book distance": 0.6050735990610241,
      "right gripper-book distance": 0.43598857643670474
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 4.921728049556151e-07,
    "bimanual_gripper_vertical_difference": 1.931155235723736e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07393002510070801,
    "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": 0.0005652334210470844,
      "left gripper-book distance": 0.6031483140728168,
      "right gripper-book distance": 0.43328339806646443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.2044304624217054e-05,
    "bimanual_gripper_vertical_difference": 9.074333506831067e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10257244110107422,
    "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": 0.0006304408222946867,
      "left gripper-book distance": 0.60235145898612,
      "right gripper-book distance": 0.43222353959352366
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4731461779329361e-05,
    "bimanual_gripper_vertical_difference": 1.400093670630061e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1320645809173584,
    "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": 0.0007215493637878767,
      "left gripper-book distance": 0.6018385165213842,
      "right gripper-book distance": 0.4314796824348205
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1066985063359555e-05,
    "bimanual_gripper_vertical_difference": 2.075489446973222e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.16007089614868164,
    "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": 0.0005741403978879456,
      "left gripper-book distance": 0.6016723153000182,
      "right gripper-book distance": 0.43118065157616964
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0001067713622121852,
    "bimanual_gripper_vertical_difference": 1.9882343771371324e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.18880176544189453,
    "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": 0.0005315469119619998,
      "left gripper-book distance": 0.6014969257240325,
      "right gripper-book distance": 0.4309551348975433
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00019402640602992662,
    "bimanual_gripper_vertical_difference": 2.336162115608905e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21918940544128418,
    "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": 0.0005480629260198322,
      "left gripper-book distance": 0.6013932787313645,
      "right gripper-book distance": 0.4307510988602923
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.000384212331869653,
    "bimanual_gripper_vertical_difference": 2.972421705596925e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.24893546104431152,
    "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": 0.0004300210103036495,
      "left gripper-book distance": 0.6013490876774263,
      "right gripper-book distance": 0.43076902924861005
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006384621744416289,
    "bimanual_gripper_vertical_difference": 3.2319328047147877e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.27715325355529785,
    "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": 0.0007239802179835886,
      "left gripper-book distance": 0.6011234430851288,
      "right gripper-book distance": 0.4304119898708471
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006564300065084977,
    "bimanual_gripper_vertical_difference": 3.946035893104888e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.30652832984924316,
    "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": 0.0004907918353851404,
      "left gripper-book distance": 0.6012559555021474,
      "right gripper-book distance": 0.4305779715962994
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0005911698338984901,
    "bimanual_gripper_vertical_difference": 4.49044958994449e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.33575010299682617,
    "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": 0.0006506197427280647,
      "left gripper-book distance": 0.6011036406930325,
      "right gripper-book distance": 0.4304106618760106
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0005725464073538383,
    "bimanual_gripper_vertical_difference": 5.0844092572529835e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3664734363555908,
    "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": 0.0007191388465507265,
      "left gripper-book distance": 0.6010628411072362,
      "right gripper-book distance": 0.4303181950139
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0005248624662506871,
    "bimanual_gripper_vertical_difference": 5.6712372205799016e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3952775001525879,
    "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": 0.00047046681962525927,
      "left gripper-book distance": 0.6011991739392105,
      "right gripper-book distance": 0.4305475516827531
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0004845006410674784,
    "bimanual_gripper_vertical_difference": 6.248769006507342e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.42341089248657227,
    "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": 0.0005505313508418208,
      "left gripper-book distance": 0.6011768590008356,
      "right gripper-book distance": 0.4304471170221632
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0005855633457761982,
    "bimanual_gripper_vertical_difference": 6.6397464352060555e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.45234251022338867,
    "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": 0.0007199225210708926,
      "left gripper-book distance": 0.6010409438093501,
      "right gripper-book distance": 0.43029309710588715
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0009052743509888196,
    "bimanual_gripper_vertical_difference": 7.31285950313539e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4807627201080322,
    "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": 0.0006037584741935831,
      "left gripper-book distance": 0.601128085111026,
      "right gripper-book distance": 0.43039210809348355
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008495555026401626,
    "bimanual_gripper_vertical_difference": 7.936317533707715e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.510603666305542,
    "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": 0.0005763283941813135,
      "left gripper-book distance": 0.6011874298493389,
      "right gripper-book distance": 0.43039488954700256
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00122714811242646,
    "bimanual_gripper_vertical_difference": 8.283767710997166e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5392856597900391,
    "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": 0.000573906804880342,
      "left gripper-book distance": 0.6011895594574055,
      "right gripper-book distance": 0.4303946895956527
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0012813963864344363,
    "bimanual_gripper_vertical_difference": 8.67557034853503e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5682554244995117,
    "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": 0.0005252344752019189,
      "left gripper-book distance": 0.6011918597948905,
      "right gripper-book distance": 0.4304534242667867
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0014103114669014847,
    "bimanual_gripper_vertical_difference": 8.60723839570342e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5965111255645752,
    "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": 0.00046414441946596163,
      "left gripper-book distance": 0.6012459422949556,
      "right gripper-book distance": 0.43050284848931875
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0013534038833043843,
    "bimanual_gripper_vertical_difference": 8.428535613891342e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6274261474609375,
    "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": 0.0006753138760595689,
      "left gripper-book distance": 0.6011280150570995,
      "right gripper-book distance": 0.4302939899059804
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0013063235023648586,
    "bimanual_gripper_vertical_difference": 8.099101463561928e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6571755409240723,
    "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": 0.0006572477577447833,
      "left gripper-book distance": 0.6011377772451161,
      "right gripper-book distance": 0.4303117360531052
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0013967614758009755,
    "bimanual_gripper_vertical_difference": 7.859715282650241e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6868700981140137,
    "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": 0.0006063763023493873,
      "left gripper-book distance": 0.6011871164755033,
      "right gripper-book distance": 0.43035124986111184
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0014118165069912246,
    "bimanual_gripper_vertical_difference": 7.585298939685374e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7157652378082275,
    "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": 0.0005257970582215332,
      "left gripper-book distance": 0.601258877634043,
      "right gripper-book distance": 0.4304175191627903
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0013539231196280138,
    "bimanual_gripper_vertical_difference": 7.407195680893726e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7456889152526855,
    "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": 0.0005477644727237552,
      "left gripper-book distance": 0.6012756494227354,
      "right gripper-book distance": 0.43038232198531723
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0013908702629465337,
    "bimanual_gripper_vertical_difference": 7.154753163263194e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7758424282073975,
    "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": 0.0004281932348476625,
      "left gripper-book distance": 0.6013130004109211,
      "right gripper-book distance": 0.4305134223797309
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0013375403705077151,
    "bimanual_gripper_vertical_difference": 6.884731861534787e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8055050373077393,
    "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": 0.0004795734721281253,
      "left gripper-book distance": 0.601311255608696,
      "right gripper-book distance": 0.43044979855902304
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0013067691189403887,
    "bimanual_gripper_vertical_difference": 6.720092646959218e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8341145515441895,
    "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": 0.0007364439885265694,
      "left gripper-book distance": 0.6011332558650223,
      "right gripper-book distance": 0.43021304848156977
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0012611707875135635,
    "bimanual_gripper_vertical_difference": 6.6231592908496035e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8642628192901611,
    "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": 0.000657430837105677,
      "left gripper-book distance": 0.6012026255487986,
      "right gripper-book distance": 0.4302785027677251
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001340811575693552,
    "bimanual_gripper_vertical_difference": 6.458734260061172e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8937666416168213,
    "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": 0.0006029224187611426,
      "left gripper-book distance": 0.6012469329415114,
      "right gripper-book distance": 0.43032519599427627
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0015833758753837249,
    "bimanual_gripper_vertical_difference": 6.573029483665967e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9237077236175537,
    "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": 0.0005224107301688985,
      "left gripper-book distance": 0.6013189148411133,
      "right gripper-book distance": 0.4303914928071055
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0016029363481662574,
    "bimanual_gripper_vertical_difference": 6.621666691666592e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9532225131988525,
    "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": 0.0005439937504870818,
      "left gripper-book distance": 0.6013358659542407,
      "right gripper-book distance": 0.4303567694686454
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0015788726680617449,
    "bimanual_gripper_vertical_difference": 6.797107592049212e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9818720817565918,
    "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": 0.000570599626833812,
      "left gripper-book distance": 0.6012864797453867,
      "right gripper-book distance": 0.4303463311328372
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001585185520297515,
    "bimanual_gripper_vertical_difference": 7.048499642533815e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0110998153686523,
    "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": 0.0005444664644571606,
      "left gripper-book distance": 0.6013106422424361,
      "right gripper-book distance": 0.4303670436044419
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001540468193710964,
    "bimanual_gripper_vertical_difference": 7.309895564672535e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0394947528839111,
    "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": 0.0006379164043427421,
      "left gripper-book distance": 0.6012499640094168,
      "right gripper-book distance": 0.4302793806202153
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0014976905323721196,
    "bimanual_gripper_vertical_difference": 7.602097510225495e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 1.068955898284912,
    "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": 0.0007182341870873854,
      "left gripper-book distance": 0.6012137453952174,
      "right gripper-book distance": 0.43019578750014764
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0014568899964801758,
    "bimanual_gripper_vertical_difference": 7.905514138379427e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0993564128875732,
    "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": 0.0006822603344520672,
      "left gripper-book distance": 0.6012322075308336,
      "right gripper-book distance": 0.43023197938513963
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0014831184591516944,
    "bimanual_gripper_vertical_difference": 8.27434456687384e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1293087005615234,
    "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": 0.00074920726659089,
      "left gripper-book distance": 0.6012038148345833,
      "right gripper-book distance": 0.4301616880126791
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001614480624328965,
    "bimanual_gripper_vertical_difference": 8.492774653125567e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 1.159841537475586,
    "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": 0.0004703836320333332,
      "left gripper-book distance": 0.6010117059495624,
      "right gripper-book distance": 0.42985158502502446
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001710419700047099,
    "bimanual_gripper_vertical_difference": 8.894145477148877e-07,
    "task_success": 0.0
  },
  {
    "completion_time": 1.189624547958374,
    "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": 0.0004270661059868619,
      "left gripper-book distance": 0.5996931955604379,
      "right gripper-book distance": 0.42736410609669157
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.012284484744343033,
    "bimanual_gripper_vertical_difference": 3.241821526992483e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2223434448242188,
    "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": 0.0006090760876392709,
      "left gripper-book distance": 0.5984770265297438,
      "right gripper-book distance": 0.42052764290728306
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.039882202897453194,
    "bimanual_gripper_vertical_difference": 0.00021517599985159823,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2539231777191162,
    "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": 0.0006460499045599644,
      "left gripper-book distance": 0.5975946185164909,
      "right gripper-book distance": 0.41384568633569946
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.07140927668475894,
    "bimanual_gripper_vertical_difference": 0.0005570610059756765,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2848811149597168,
    "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": 0.0006591005845526521,
      "left gripper-book distance": 0.5968949233499635,
      "right gripper-book distance": 0.40888050737127435
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1023312100148761,
    "bimanual_gripper_vertical_difference": 0.0010221491703970693,
    "task_success": 0.0
  },
  {
    "completion_time": 1.316990613937378,
    "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": 0.0005732270078567803,
      "left gripper-book distance": 0.5965144971840167,
      "right gripper-book distance": 0.40554095119929257
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.13158170430614932,
    "bimanual_gripper_vertical_difference": 0.0015789483886279826,
    "task_success": 0.0
  },
  {
    "completion_time": 1.35054349899292,
    "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": 0.0005452329830250013,
      "left gripper-book distance": 0.596505433960693,
      "right gripper-book distance": 0.40357178969619345
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.15952802789266934,
    "bimanual_gripper_vertical_difference": 0.002199520303558843,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3804221153259277,
    "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": 0.000511269584032692,
      "left gripper-book distance": 0.596834540814735,
      "right gripper-book distance": 0.402688971446515
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.18892993325210283,
    "bimanual_gripper_vertical_difference": 0.0028642508674359616,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4096062183380127,
    "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": 0.0004437873420882754,
      "left gripper-book distance": 0.597208235443954,
      "right gripper-book distance": 0.4007446370607334
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.22025422101901138,
    "bimanual_gripper_vertical_difference": 0.0035998690591367843,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4390497207641602,
    "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": 0.0005479758286958125,
      "left gripper-book distance": 0.5972080064105816,
      "right gripper-book distance": 0.3951673183788057
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2511923711448555,
    "bimanual_gripper_vertical_difference": 0.004484641904780942,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4681651592254639,
    "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": 0.000640511093936702,
      "left gripper-book distance": 0.5970827204953507,
      "right gripper-book distance": 0.38528949322478506
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.28027148784089473,
    "bimanual_gripper_vertical_difference": 0.005603509175806137,
    "task_success": 0.0
  },
  {
    "completion_time": 1.496845006942749,
    "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": 0.0007199304294994713,
      "left gripper-book distance": 0.5970514457192072,
      "right gripper-book distance": 0.37274397507942747
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3051557478131376,
    "bimanual_gripper_vertical_difference": 0.006996021044171154,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5261406898498535,
    "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": 0.0005194583687225807,
      "left gripper-book distance": 0.5973765696690723,
      "right gripper-book distance": 0.3588679327316942
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3269133857663952,
    "bimanual_gripper_vertical_difference": 0.008676510539783244,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5547256469726562,
    "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": 0.0005880843734892283,
      "left gripper-book distance": 0.5975581654811818,
      "right gripper-book distance": 0.3447615128821486
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3441122370123636,
    "bimanual_gripper_vertical_difference": 0.010625586659453226,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5838146209716797,
    "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": 0.0005174476009945916,
      "left gripper-book distance": 0.5977038848997244,
      "right gripper-book distance": 0.33147174575003613
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.35858560842826115,
    "bimanual_gripper_vertical_difference": 0.012813039441719395,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6119589805603027,
    "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": 0.0006042591407309228,
      "left gripper-book distance": 0.5977555564287196,
      "right gripper-book distance": 0.31862954049917974
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.37034380932041383,
    "bimanual_gripper_vertical_difference": 0.015206383133004752,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6413698196411133,
    "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": 0.000596329093307868,
      "left gripper-book distance": 0.5978231702330977,
      "right gripper-book distance": 0.30541590701031995
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3787979876952521,
    "bimanual_gripper_vertical_difference": 0.01779302734791417,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6698741912841797,
    "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": 0.0006675864949021726,
      "left gripper-book distance": 0.5980011179916579,
      "right gripper-book distance": 0.29155248218667623
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3853125024698438,
    "bimanual_gripper_vertical_difference": 0.020576546613600994,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6983277797698975,
    "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": 0.0005852470868857873,
      "left gripper-book distance": 0.5984993308306398,
      "right gripper-book distance": 0.27865710236903174
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39091305808366184,
    "bimanual_gripper_vertical_difference": 0.023521324756337558,
    "task_success": 0.0
  },
  {
    "completion_time": 1.726304054260254,
    "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": 0.0005269406893704254,
      "left gripper-book distance": 0.5988694697850246,
      "right gripper-book distance": 0.26704882269797675
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3965286270551309,
    "bimanual_gripper_vertical_difference": 0.02657894841301018,
    "task_success": 0.0
  },
  {
    "completion_time": 1.753796100616455,
    "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": 0.000647947325216669,
      "left gripper-book distance": 0.5991158966170153,
      "right gripper-book distance": 0.2557606241112412
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.40288588364778566,
    "bimanual_gripper_vertical_difference": 0.0297206274957346,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7815983295440674,
    "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": 0.0006404740909429218,
      "left gripper-book distance": 0.5995713470004227,
      "right gripper-book distance": 0.24451764605709084
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.41068777105876875,
    "bimanual_gripper_vertical_difference": 0.0329350038457205,
    "task_success": 0.0
  },
  {
    "completion_time": 1.812500238418579,
    "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": 0.0006562944210799504,
      "left gripper-book distance": 0.6001645824496711,
      "right gripper-book distance": 0.23304679179143822
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4183682943208387,
    "bimanual_gripper_vertical_difference": 0.036205642860698536,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8416271209716797,
    "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": 0.0006609180020162864,
      "left gripper-book distance": 0.6006895301753293,
      "right gripper-book distance": 0.22233533788968204
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4252358592702401,
    "bimanual_gripper_vertical_difference": 0.03948623977999846,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8705289363861084,
    "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": 0.0005740848127738785,
      "left gripper-book distance": 0.6011221219428853,
      "right gripper-book distance": 0.21322306537466987
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43095658117304964,
    "bimanual_gripper_vertical_difference": 0.042724473505384136,
    "task_success": 0.0
  },
  {
    "completion_time": 1.900604009628296,
    "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": 0.0005804331746585012,
      "left gripper-book distance": 0.6016217784408797,
      "right gripper-book distance": 0.2078078107334435
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.434248874515896,
    "bimanual_gripper_vertical_difference": 0.045870924034225505,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9308922290802002,
    "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": 0.0004636400618874825,
      "left gripper-book distance": 0.6011168729162678,
      "right gripper-book distance": 0.2065764225933103
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42912317759655805,
    "bimanual_gripper_vertical_difference": 0.04890977897410089,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9611895084381104,
    "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": 0.000608967157047613,
      "left gripper-book distance": 0.5998889228702172,
      "right gripper-book distance": 0.20545683918643406
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42266962463217533,
    "bimanual_gripper_vertical_difference": 0.0518511772083545,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9910728931427002,
    "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": 0.0004260610841331225,
      "left gripper-book distance": 0.5990969108808214,
      "right gripper-book distance": 0.204890818177375
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.41639236081905917,
    "bimanual_gripper_vertical_difference": 0.054701731729651905,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0208284854888916,
    "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": 0.0005400461973076309,
      "left gripper-book distance": 0.598451977339715,
      "right gripper-book distance": 0.2043343424701727
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4102866808928474,
    "bimanual_gripper_vertical_difference": 0.05746653564786055,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0491442680358887,
    "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": 0.0004754603396165402,
      "left gripper-book distance": 0.5981438225316019,
      "right gripper-book distance": 0.2040627669362013
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4043560791789513,
    "bimanual_gripper_vertical_difference": 0.06015001975461283,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0781173706054688,
    "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": 0.0005845686667378391,
      "left gripper-book distance": 0.5978185359664855,
      "right gripper-book distance": 0.20380564986757985
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3986218113479164,
    "bimanual_gripper_vertical_difference": 0.06275610387138282,
    "task_success": 0.0
  },
  {
    "completion_time": 2.107571840286255,
    "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": 0.0005745868942365062,
      "left gripper-book distance": 0.5969645219424498,
      "right gripper-book distance": 0.20231090189405462
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39362182344874747,
    "bimanual_gripper_vertical_difference": 0.06528806405188456,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1363959312438965,
    "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": 0.000673966412863436,
      "left gripper-book distance": 0.5962328833387613,
      "right gripper-book distance": 0.19760535304174326
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.3940166090179978,
    "bimanual_gripper_vertical_difference": 0.06774596043826434,
    "task_success": 0.0
  },
  {
    "completion_time": 2.166372299194336,
    "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": 0.0006459208131174288,
      "left gripper-book distance": 0.5964304584033815,
      "right gripper-book distance": 0.19121601462739515
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.39931296917622516,
    "bimanual_gripper_vertical_difference": 0.07013248308355764,
    "task_success": 0.0
  },
  {
    "completion_time": 2.19673752784729,
    "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": 0.0006288423349815053,
      "left gripper-book distance": 0.5971933238141947,
      "right gripper-book distance": 0.1837040081187827
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.40718046786233597,
    "bimanual_gripper_vertical_difference": 0.07246110030182416,
    "task_success": 0.0
  },
  {
    "completion_time": 2.226271390914917,
    "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": 0.0006376981275260096,
      "left gripper-book distance": 0.598013075526921,
      "right gripper-book distance": 0.17550215991421575
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.41572033429245636,
    "bimanual_gripper_vertical_difference": 0.07474836597055949,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2565956115722656,
    "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": 0.0005455676532025722,
      "left gripper-book distance": 0.5987271047056832,
      "right gripper-book distance": 0.16743937897004854
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4250374076351052,
    "bimanual_gripper_vertical_difference": 0.07700056976033884,
    "task_success": 0.0
  },
  {
    "completion_time": 2.289734125137329,
    "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": 0.000556698803413247,
      "left gripper-book distance": 0.5991727155996663,
      "right gripper-book distance": 0.1606261582246631
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43477437071808583,
    "bimanual_gripper_vertical_difference": 0.07921011391587687,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3202548027038574,
    "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": 0.00044442057344873387,
      "left gripper-book distance": 0.5995953074080869,
      "right gripper-book distance": 0.15598622325225764
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44482539779361663,
    "bimanual_gripper_vertical_difference": 0.08136992990223589,
    "task_success": 0.0
  },
  {
    "completion_time": 2.351444721221924,
    "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": 0.0005995443691928504,
      "left gripper-book distance": 0.5999221056184814,
      "right gripper-book distance": 0.15310829970047268
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4532079412383702,
    "bimanual_gripper_vertical_difference": 0.08347488742615429,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3826847076416016,
    "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": 0.0004187871844572033,
      "left gripper-book distance": 0.6005403433195245,
      "right gripper-book distance": 0.15155198921740595
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4586373454872589,
    "bimanual_gripper_vertical_difference": 0.08552770950789851,
    "task_success": 0.0
  },
  {
    "completion_time": 2.41562819480896,
    "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": 0.0005668595688903544,
      "left gripper-book distance": 0.601170431683776,
      "right gripper-book distance": 0.14868112168721806
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45954133199821817,
    "bimanual_gripper_vertical_difference": 0.08754860078058334,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4457881450653076,
    "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": 0.0005161438398234575,
      "left gripper-book distance": 0.601833312067349,
      "right gripper-book distance": 0.14369481863125264
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45731530766456424,
    "bimanual_gripper_vertical_difference": 0.08956449197599148,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4752135276794434,
    "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": 0.0006547463403689946,
      "left gripper-book distance": 0.6021187093895755,
      "right gripper-book distance": 0.13736980232973406
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4557500276429134,
    "bimanual_gripper_vertical_difference": 0.09158749796685345,
    "task_success": 0.0
  },
  {
    "completion_time": 2.506002187728882,
    "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": 0.0006432840077148505,
      "left gripper-book distance": 0.6021925342697273,
      "right gripper-book distance": 0.13136066012953954
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4546465599092824,
    "bimanual_gripper_vertical_difference": 0.09361907082683447,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5360331535339355,
    "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": 0.00027594235844130566,
      "left gripper-book distance": 0.6023470223193995,
      "right gripper-book distance": 0.12847747741124524
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.453665788856204,
    "bimanual_gripper_vertical_difference": 0.09563872902536506,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5655181407928467,
    "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": 0.00012518737374089817,
      "left gripper-book distance": 0.6026078267892006,
      "right gripper-book distance": 0.12848512014132735
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4516419678208091,
    "bimanual_gripper_vertical_difference": 0.09761559190971636,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5951595306396484,
    "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": 0.0007741288105448385,
      "left gripper-book distance": 0.602426478130214,
      "right gripper-book distance": 0.128594799770311
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4476130090718475,
    "bimanual_gripper_vertical_difference": 0.09953925717288753,
    "task_success": 0.0
  },
  {
    "completion_time": 2.626307725906372,
    "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": 0.00035888838796260814,
      "left gripper-book distance": 0.6029270075328306,
      "right gripper-book distance": 0.12863241461181404
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4442161855404276,
    "bimanual_gripper_vertical_difference": 0.10141968419547825,
    "task_success": 0.0
  },
  {
    "completion_time": 2.656144618988037,
    "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": -0.0005545857051950653,
      "left gripper-book distance": 0.6034800958233105,
      "right gripper-book distance": 0.12817648211535118
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4415609943740539,
    "bimanual_gripper_vertical_difference": 0.10326950921451092,
    "task_success": 0.0
  },
  {
    "completion_time": 2.685354471206665,
    "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": 0.0007610720106820956,
      "left gripper-book distance": 0.6023151154238114,
      "right gripper-book distance": 0.12820505206055127
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4367990239220416,
    "bimanual_gripper_vertical_difference": 0.10506462572068268,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7149720191955566,
    "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": 0.000568379438323996,
      "left gripper-book distance": 0.6021718120151105,
      "right gripper-book distance": 0.13232035491189842
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43483239872006074,
    "bimanual_gripper_vertical_difference": 0.10678898902008986,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7436375617980957,
    "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": 0.00044606716584605355,
      "left gripper-book distance": 0.6021100303978129,
      "right gripper-book distance": 0.1412830971407266
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4357408516633945,
    "bimanual_gripper_vertical_difference": 0.10839499113761274,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7720372676849365,
    "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": 0.0006667827873809706,
      "left gripper-book distance": 0.6019289143281691,
      "right gripper-book distance": 0.1510561799428417
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43690856133754885,
    "bimanual_gripper_vertical_difference": 0.10987590089549559,
    "task_success": 0.0
  },
  {
    "completion_time": 2.800493001937866,
    "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": 0.0006788737922209798,
      "left gripper-book distance": 0.6018681086473501,
      "right gripper-book distance": 0.1566074006442082
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4364684646868721,
    "bimanual_gripper_vertical_difference": 0.11128332420745626,
    "task_success": 0.0
  },
  {
    "completion_time": 2.829599618911743,
    "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": 0.0006392075121507412,
      "left gripper-book distance": 0.6018223917756859,
      "right gripper-book distance": 0.15533006855422019
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4349583844783334,
    "bimanual_gripper_vertical_difference": 0.1126832114277521,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8604419231414795,
    "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": 0.0005751554525220692,
      "left gripper-book distance": 0.6019803080981386,
      "right gripper-book distance": 0.14903012517327444
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.43379633242834287,
    "bimanual_gripper_vertical_difference": 0.11412136025388868,
    "task_success": 0.0
  },
  {
    "completion_time": 2.889242649078369,
    "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": 0.0005704532024297659,
      "left gripper-book distance": 0.6021761617918983,
      "right gripper-book distance": 0.14118171615400346
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4328696105915984,
    "bimanual_gripper_vertical_difference": 0.11560949508946619,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9194464683532715,
    "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": 0.0005399249776533166,
      "left gripper-book distance": 0.6022429317009315,
      "right gripper-book distance": 0.1354618771567836
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4310961766385749,
    "bimanual_gripper_vertical_difference": 0.11712230440643914,
    "task_success": 0.0
  },
  {
    "completion_time": 2.947374105453491,
    "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": 0.0005555163044319578,
      "left gripper-book distance": 0.6021094145187038,
      "right gripper-book distance": 0.13295187234968306
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42845930205539956,
    "bimanual_gripper_vertical_difference": 0.11862821913966418,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9753260612487793,
    "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": 0.0005679935873074138,
      "left gripper-book distance": 0.6021528514966051,
      "right gripper-book distance": 0.13274227965221658
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4252388988957144,
    "bimanual_gripper_vertical_difference": 0.12010581578072509,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0059516429901123,
    "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": 0.0007614433134423004,
      "left gripper-book distance": 0.6023710406920221,
      "right gripper-book distance": 0.13258475534798272
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42228503573885706,
    "bimanual_gripper_vertical_difference": 0.12155001240040367,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0349209308624268,
    "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": 0.00012253071533363524,
      "left gripper-book distance": 0.603232414682367,
      "right gripper-book distance": 0.1321146086987825
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4212642690486041,
    "bimanual_gripper_vertical_difference": 0.12296925850915026,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0630738735198975,
    "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": 0.0006372909537024629,
      "left gripper-book distance": 0.6033221306003483,
      "right gripper-book distance": 0.13128455544261985
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42173073470210853,
    "bimanual_gripper_vertical_difference": 0.12435536133419897,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0915610790252686,
    "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": 0.0006251360207482071,
      "left gripper-book distance": 0.6033750115970342,
      "right gripper-book distance": 0.13018081331461517
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42314379265734936,
    "bimanual_gripper_vertical_difference": 0.12571543591963694,
    "task_success": 0.0
  },
  {
    "completion_time": 3.118929862976074,
    "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": 0.00014173848025544888,
      "left gripper-book distance": 0.6037293968977682,
      "right gripper-book distance": 0.12925987734756778
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4243627629129613,
    "bimanual_gripper_vertical_difference": 0.12705401702213365,
    "task_success": 0.0
  },
  {
    "completion_time": 3.148212194442749,
    "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": -0.0002790490259391154,
      "left gripper-book distance": 0.6040172104191758,
      "right gripper-book distance": 0.1285167775895495
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42575367753523197,
    "bimanual_gripper_vertical_difference": 0.12837040468493244,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1760876178741455,
    "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": -0.00037754250962585,
      "left gripper-book distance": 0.603871784044737,
      "right gripper-book distance": 0.12813009809279288
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42643181716968265,
    "bimanual_gripper_vertical_difference": 0.12966049543592975,
    "task_success": 0.0
  },
  {
    "completion_time": 3.204678773880005,
    "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": 0.0005334676371133718,
      "left gripper-book distance": 0.6032266780724692,
      "right gripper-book distance": 0.1280968339944202
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4261960142929499,
    "bimanual_gripper_vertical_difference": 0.13091544444925426,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2370965480804443,
    "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": 0.000528464293301445,
      "left gripper-book distance": 0.6032914808090613,
      "right gripper-book distance": 0.12811795118708136
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.42717438714171446,
    "bimanual_gripper_vertical_difference": 0.13214744694403088,
    "task_success": 0.0
  },
  {
    "completion_time": 3.265852928161621,
    "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": 0.0003667535423704793,
      "left gripper-book distance": 0.6023914982130351,
      "right gripper-book distance": 0.12822059133952354
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4237435591052899,
    "bimanual_gripper_vertical_difference": 0.13334373055775367,
    "task_success": 0.0
  },
  {
    "completion_time": 3.295055866241455,
    "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": 0.000692144948164608,
      "left gripper-book distance": 0.6011048148124376,
      "right gripper-book distance": 0.12787976007328258
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4203045431238421,
    "bimanual_gripper_vertical_difference": 0.1345027932340193,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3243601322174072,
    "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": 0.0001633420284691267,
      "left gripper-book distance": 0.6006730213932959,
      "right gripper-book distance": 0.12785906919863793
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4168060483160568,
    "bimanual_gripper_vertical_difference": 0.1356354514993336,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3521358966827393,
    "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": 0.0006181203526700596,
      "left gripper-book distance": 0.598823210792698,
      "right gripper-book distance": 0.1278678085640489
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.41348925787920254,
    "bimanual_gripper_vertical_difference": 0.13672837245223776,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3826801776885986,
    "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": 0.0005602440014568222,
      "left gripper-book distance": 0.5971696067395016,
      "right gripper-book distance": 0.13178911908632204
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4147045150489762,
    "bimanual_gripper_vertical_difference": 0.13776384507858974,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4114389419555664,
    "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": 0.0006068606429993073,
      "left gripper-book distance": 0.5961164376569938,
      "right gripper-book distance": 0.1395400212068131
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4181282607433516,
    "bimanual_gripper_vertical_difference": 0.138725039059609,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4419262409210205,
    "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": 0.0006966151207402627,
      "left gripper-book distance": 0.5956429957864675,
      "right gripper-book distance": 0.14629729905251154
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.422354982237731,
    "bimanual_gripper_vertical_difference": 0.13963234110170297,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4719016551971436,
    "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": 0.0005671718432671558,
      "left gripper-book distance": 0.5955588015791333,
      "right gripper-book distance": 0.14830531467539865
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4268453675274393,
    "bimanual_gripper_vertical_difference": 0.1405319397475987,
    "task_success": 0.0
  },
  {
    "completion_time": 3.502511978149414,
    "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": 0.0006020369220657296,
      "left gripper-book distance": 0.5955333503376306,
      "right gripper-book distance": 0.14521592727998353
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4318800488557316,
    "bimanual_gripper_vertical_difference": 0.14146950257222565,
    "task_success": 0.0
  },
  {
    "completion_time": 3.533351182937622,
    "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": 0.0005699872909001868,
      "left gripper-book distance": 0.5959725681488746,
      "right gripper-book distance": 0.13976541036856485
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4368950359478345,
    "bimanual_gripper_vertical_difference": 0.14246845467790578,
    "task_success": 0.0
  },
  {
    "completion_time": 3.562628746032715,
    "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": -0.0016268686505239716,
      "left gripper-book distance": 0.5976564594763737,
      "right gripper-book distance": 0.13913095065040584
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4418505075502325,
    "bimanual_gripper_vertical_difference": 0.14349153591011798,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5941317081451416,
    "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": -0.001029316108624112,
      "left gripper-book distance": 0.5970409832885624,
      "right gripper-book distance": 0.1381551693023499
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.444283394851543,
    "bimanual_gripper_vertical_difference": 0.1445058216237982,
    "task_success": 0.0
  },
  {
    "completion_time": 3.624377965927124,
    "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": 0.0004933278027335897,
      "left gripper-book distance": 0.5955201628612679,
      "right gripper-book distance": 0.12991728433453759
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.44603347411542327,
    "bimanual_gripper_vertical_difference": 0.14556791777934866,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6552295684814453,
    "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": 0.0007386959057918974,
      "left gripper-book distance": 0.5954518676372688,
      "right gripper-book distance": 0.12261574795015602
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4472945010076463,
    "bimanual_gripper_vertical_difference": 0.14666760487266886,
    "task_success": 0.0
  },
  {
    "completion_time": 3.685739278793335,
    "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": 0.0007403892771465914,
      "left gripper-book distance": 0.595250793574967,
      "right gripper-book distance": 0.1210924014442742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.450342914696849,
    "bimanual_gripper_vertical_difference": 0.1477528982063569,
    "task_success": 0.0
  },
  {
    "completion_time": 3.716639280319214,
    "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": 0.0007404600741459655,
      "left gripper-book distance": 0.5948677618285029,
      "right gripper-book distance": 0.11947058874138373
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45370639207631874,
    "bimanual_gripper_vertical_difference": 0.14882115274543586,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7482802867889404,
    "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": 0.0007405200350510954,
      "left gripper-book distance": 0.5944655016989278,
      "right gripper-book distance": 0.1178356019256374
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45711703579332374,
    "bimanual_gripper_vertical_difference": 0.1498732712756735,
    "task_success": 0.0
  },
  {
    "completion_time": 3.779365062713623,
    "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": 0.0007405799395142632,
      "left gripper-book distance": 0.5942173936274525,
      "right gripper-book distance": 0.11621946761239034
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.46018388442979213,
    "bimanual_gripper_vertical_difference": 0.15091131922097556,
    "task_success": 0.0
  },
  {
    "completion_time": 3.809607744216919,
    "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": 0.000740639859634129,
      "left gripper-book distance": 0.5941812710415216,
      "right gripper-book distance": 0.11454729907626934
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.46233728513313804,
    "bimanual_gripper_vertical_difference": 0.1519363056442183,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8400120735168457,
    "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": 0.0007406997498158319,
      "left gripper-book distance": 0.594178049674212,
      "right gripper-book distance": 0.11277407637339353
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.463429937203482,
    "bimanual_gripper_vertical_difference": 0.15294741737392345,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8698599338531494,
    "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": 0.0007407596427118079,
      "left gripper-book distance": 0.5940534370475091,
      "right gripper-book distance": 0.11085606385496236
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.46285219462250454,
    "bimanual_gripper_vertical_difference": 0.1539427260238214,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8989620208740234,
    "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": 0.0007098624117259922,
      "left gripper-book distance": 0.5939634547235308,
      "right gripper-book distance": 0.10886966722696628
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4621443508935653,
    "bimanual_gripper_vertical_difference": 0.15492095094553446,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9291718006134033,
    "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": 0.0011049771359219474,
      "left gripper-book distance": 0.594240996770823,
      "right gripper-book distance": 0.10948471264550498
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4624609986135945,
    "bimanual_gripper_vertical_difference": 0.1558780698363736,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9591033458709717,
    "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": 0.0011589695820145574,
      "left gripper-book distance": 0.5944396273106861,
      "right gripper-book distance": 0.11153599358789114
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.46521022435747256,
    "bimanual_gripper_vertical_difference": 0.156816954650687,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9879610538482666,
    "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": 0.0007842527989252446,
      "left gripper-book distance": 0.5952612524922467,
      "right gripper-book distance": 0.11393614514176505
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4679635001651402,
    "bimanual_gripper_vertical_difference": 0.1577372295729956,
    "task_success": 0.0
  },
  {
    "completion_time": 4.017808198928833,
    "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": 0.0015021700883961486,
      "left gripper-book distance": 0.5955895658533595,
      "right gripper-book distance": 0.11590184173611444
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4695216242872099,
    "bimanual_gripper_vertical_difference": 0.15863622427728014,
    "task_success": 0.0
  },
  {
    "completion_time": 4.047663450241089,
    "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": 0.0009152328600718906,
      "left gripper-book distance": 0.596846145430748,
      "right gripper-book distance": 0.11841705206969126
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4711629689903764,
    "bimanual_gripper_vertical_difference": 0.15951995198426858,
    "task_success": 0.0
  },
  {
    "completion_time": 4.076720714569092,
    "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": 0.0005181491549245409,
      "left gripper-book distance": 0.5980536939728358,
      "right gripper-book distance": 0.11988231599961038
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.47100094487406174,
    "bimanual_gripper_vertical_difference": 0.1603898443511807,
    "task_success": 0.0
  },
  {
    "completion_time": 4.106295824050903,
    "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": 0.0005301208656262046,
      "left gripper-book distance": 0.597834356853891,
      "right gripper-book distance": 0.1209852154182591
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.46942497424775903,
    "bimanual_gripper_vertical_difference": 0.1612444297487575,
    "task_success": 0.0
  },
  {
    "completion_time": 4.135488271713257,
    "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": 0.0006517709909210634,
      "left gripper-book distance": 0.5976058012496379,
      "right gripper-book distance": 0.12155568727534294
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.468061482319201,
    "bimanual_gripper_vertical_difference": 0.16208634249486759,
    "task_success": 0.0
  },
  {
    "completion_time": 4.165534734725952,
    "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": 0.0005272811160867974,
      "left gripper-book distance": 0.5975233878431133,
      "right gripper-book distance": 0.12234346608656745
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4670852191968626,
    "bimanual_gripper_vertical_difference": 0.1629156702971352,
    "task_success": 0.0
  },
  {
    "completion_time": 4.20084023475647,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005453358431567468,
      "left gripper-book distance": 0.5974708884449739,
      "right gripper-book distance": 0.12284909674410169
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4654550855037291,
    "bimanual_gripper_vertical_difference": 0.16373227361308046,
    "task_success": 0.0
  },
  {
    "completion_time": 4.22992205619812,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006642343756911862,
      "left gripper-book distance": 0.5975367826681787,
      "right gripper-book distance": 0.12307843737691768
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4630799846310165,
    "bimanual_gripper_vertical_difference": 0.16453652105666589,
    "task_success": 0.0
  },
  {
    "completion_time": 4.259508371353149,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006614678160266063,
      "left gripper-book distance": 0.5976380455137714,
      "right gripper-book distance": 0.1233328261692913
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4603548851984355,
    "bimanual_gripper_vertical_difference": 0.16532851045825162,
    "task_success": 0.0
  },
  {
    "completion_time": 4.289821147918701,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006475196229966951,
      "left gripper-book distance": 0.5979951394726114,
      "right gripper-book distance": 0.1236581840472945
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45788986141305216,
    "bimanual_gripper_vertical_difference": 0.16610865228052873,
    "task_success": 0.0
  },
  {
    "completion_time": 4.31958794593811,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006482298824206367,
      "left gripper-book distance": 0.5983355832489713,
      "right gripper-book distance": 0.12400850002221886
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4555386575023183,
    "bimanual_gripper_vertical_difference": 0.16687749953103473,
    "task_success": 0.0
  },
  {
    "completion_time": 4.349160194396973,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005720563970826875,
      "left gripper-book distance": 0.5985343038624944,
      "right gripper-book distance": 0.12440203943139704
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45292432091749235,
    "bimanual_gripper_vertical_difference": 0.16763416117794513,
    "task_success": 0.0
  },
  {
    "completion_time": 4.37912654876709,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005767360233429608,
      "left gripper-book distance": 0.5986738662981065,
      "right gripper-book distance": 0.12458776736448593
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45009592325178255,
    "bimanual_gripper_vertical_difference": 0.1683790323109818,
    "task_success": 0.0
  },
  {
    "completion_time": 4.408133506774902,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006091538687699183,
      "left gripper-book distance": 0.5987269393831849,
      "right gripper-book distance": 0.12448378544371376
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4473236957514419,
    "bimanual_gripper_vertical_difference": 0.16911611875058283,
    "task_success": 0.0
  },
  {
    "completion_time": 4.436845064163208,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006970098025904647,
      "left gripper-book distance": 0.5985710372217699,
      "right gripper-book distance": 0.12644511925864416
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4467098341994579,
    "bimanual_gripper_vertical_difference": 0.16983845546687348,
    "task_success": 0.0
  },
  {
    "completion_time": 4.46586799621582,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005596383150909823,
      "left gripper-book distance": 0.5983561489553427,
      "right gripper-book distance": 0.13288956181194664
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.45014063441693547,
    "bimanual_gripper_vertical_difference": 0.17052030518863978,
    "task_success": 0.0
  },
  {
    "completion_time": 4.493962049484253,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006450393630255125,
      "left gripper-book distance": 0.597788610979314,
      "right gripper-book distance": 0.14145531025534108
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4572027921322749,
    "bimanual_gripper_vertical_difference": 0.17114091852382785,
    "task_success": 0.0
  },
  {
    "completion_time": 4.522979974746704,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004771896559440103,
      "left gripper-book distance": 0.597239343286942,
      "right gripper-book distance": 0.15104813889445098
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4669310963906058,
    "bimanual_gripper_vertical_difference": 0.17168908190026444,
    "task_success": 0.0
  },
  {
    "completion_time": 4.5519700050354,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005764036811514162,
      "left gripper-book distance": 0.5965325045330521,
      "right gripper-book distance": 0.1589354222206022
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4774394681895781,
    "bimanual_gripper_vertical_difference": 0.17217377141946918,
    "task_success": 0.0
  },
  {
    "completion_time": 4.580050230026245,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006127664650841247,
      "left gripper-book distance": 0.5957971443080701,
      "right gripper-book distance": 0.1630013350009612
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.48830986615678285,
    "bimanual_gripper_vertical_difference": 0.17261565376096802,
    "task_success": 0.0
  },
  {
    "completion_time": 4.609792470932007,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00045510791564573605,
      "left gripper-book distance": 0.5952136590906995,
      "right gripper-book distance": 0.16680282939024269
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.49971775538298435,
    "bimanual_gripper_vertical_difference": 0.17302005007855126,
    "task_success": 0.0
  },
  {
    "completion_time": 4.63882303237915,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006077474877118627,
      "left gripper-book distance": 0.5939879175952348,
      "right gripper-book distance": 0.16896462095072412
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5091401355402982,
    "bimanual_gripper_vertical_difference": 0.1733909830689095,
    "task_success": 0.0
  },
  {
    "completion_time": 4.667978048324585,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007060898629701606,
      "left gripper-book distance": 0.5925104201021378,
      "right gripper-book distance": 0.16808019916472583
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5074069016158966,
    "bimanual_gripper_vertical_difference": 0.17374764962432612,
    "task_success": 0.0
  },
  {
    "completion_time": 4.697232484817505,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00055306533336974,
      "left gripper-book distance": 0.5917684006069447,
      "right gripper-book distance": 0.16733758839031518
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5072807654627379,
    "bimanual_gripper_vertical_difference": 0.17409824842222618,
    "task_success": 0.0
  },
  {
    "completion_time": 4.725398540496826,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006578594734821808,
      "left gripper-book distance": 0.5911488890361287,
      "right gripper-book distance": 0.16631627725401238
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5042739118562914,
    "bimanual_gripper_vertical_difference": 0.17444517961718442,
    "task_success": 0.0
  },
  {
    "completion_time": 4.755614995956421,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000477048609930697,
      "left gripper-book distance": 0.5909078036128939,
      "right gripper-book distance": 0.16598704539003659
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5012451074998376,
    "bimanual_gripper_vertical_difference": 0.17478726101544242,
    "task_success": 0.0
  },
  {
    "completion_time": 4.787387847900391,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006337198667862864,
      "left gripper-book distance": 0.5896202583213582,
      "right gripper-book distance": 0.16419586316138204
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4994168335225541,
    "bimanual_gripper_vertical_difference": 0.1751218520103057,
    "task_success": 0.0
  },
  {
    "completion_time": 4.817532062530518,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004935840620958754,
      "left gripper-book distance": 0.5887209761523196,
      "right gripper-book distance": 0.16175622625741307
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5049550881750398,
    "bimanual_gripper_vertical_difference": 0.17545629114832068,
    "task_success": 0.0
  },
  {
    "completion_time": 4.84755277633667,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005792508350630499,
      "left gripper-book distance": 0.58799145305711,
      "right gripper-book distance": 0.16017356566404903
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5159503005049897,
    "bimanual_gripper_vertical_difference": 0.1757972177502429,
    "task_success": 0.0
  },
  {
    "completion_time": 4.8763511180877686,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006637435415041137,
      "left gripper-book distance": 0.5872317501342091,
      "right gripper-book distance": 0.16072072304902424
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5287253214319948,
    "bimanual_gripper_vertical_difference": 0.17614631272762613,
    "task_success": 0.0
  },
  {
    "completion_time": 4.9056079387664795,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005133446198563041,
      "left gripper-book distance": 0.5866196316297482,
      "right gripper-book distance": 0.16346789777486911
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5421521804846658,
    "bimanual_gripper_vertical_difference": 0.17650080222476985,
    "task_success": 0.0
  },
  {
    "completion_time": 4.934154987335205,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005990867208334194,
      "left gripper-book distance": 0.5860857701170598,
      "right gripper-book distance": 0.16679424011049085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5538608879543301,
    "bimanual_gripper_vertical_difference": 0.17686130424512342,
    "task_success": 0.0
  },
  {
    "completion_time": 4.9629151821136475,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006869429607843092,
      "left gripper-book distance": 0.5857115474033836,
      "right gripper-book distance": 0.16991146290420595
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5643869560800885,
    "bimanual_gripper_vertical_difference": 0.17723076437966948,
    "task_success": 0.0
  },
  {
    "completion_time": 4.991497039794922,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005804745720462412,
      "left gripper-book distance": 0.5856481290601487,
      "right gripper-book distance": 0.17250882294088532
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5738255756080992,
    "bimanual_gripper_vertical_difference": 0.17760996360858194,
    "task_success": 0.0
  },
  {
    "completion_time": 5.01952600479126,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006726195901416432,
      "left gripper-book distance": 0.5853001986346607,
      "right gripper-book distance": 0.17384721196114766
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5833598564136641,
    "bimanual_gripper_vertical_difference": 0.17800073337537195,
    "task_success": 0.0
  },
  {
    "completion_time": 5.04818058013916,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004941678979306641,
      "left gripper-book distance": 0.5850654003495636,
      "right gripper-book distance": 0.17390290673070308
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5915348217066511,
    "bimanual_gripper_vertical_difference": 0.1784071053450826,
    "task_success": 0.0
  },
  {
    "completion_time": 5.077736139297485,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005911320940574782,
      "left gripper-book distance": 0.5848404843061193,
      "right gripper-book distance": 0.1729537618783054
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5979152114639121,
    "bimanual_gripper_vertical_difference": 0.17882912101753515,
    "task_success": 0.0
  },
  {
    "completion_time": 5.106407403945923,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007092800513900377,
      "left gripper-book distance": 0.5846231877563993,
      "right gripper-book distance": 0.17230923653310862
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6040041205739456,
    "bimanual_gripper_vertical_difference": 0.17926265157746715,
    "task_success": 0.0
  },
  {
    "completion_time": 5.138139486312866,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005030164134794957,
      "left gripper-book distance": 0.5845496857924131,
      "right gripper-book distance": 0.17185131250500266
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6114400071644497,
    "bimanual_gripper_vertical_difference": 0.17970345586922404,
    "task_success": 0.0
  },
  {
    "completion_time": 5.1673243045806885,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005976300707951632,
      "left gripper-book distance": 0.5843303054449087,
      "right gripper-book distance": 0.17076398060980483
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6188500359958695,
    "bimanual_gripper_vertical_difference": 0.18014924908803898,
    "task_success": 0.0
  },
  {
    "completion_time": 5.196491718292236,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005608112359331008,
      "left gripper-book distance": 0.5844452865627042,
      "right gripper-book distance": 0.16950511296754842
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6256596474842817,
    "bimanual_gripper_vertical_difference": 0.1806014025916662,
    "task_success": 0.0
  },
  {
    "completion_time": 5.2244322299957275,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00044413781014063236,
      "left gripper-book distance": 0.5847183998437805,
      "right gripper-book distance": 0.1671525837186096
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6325044422619724,
    "bimanual_gripper_vertical_difference": 0.18106516909979414,
    "task_success": 0.0
  },
  {
    "completion_time": 5.253159046173096,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006439449899354743,
      "left gripper-book distance": 0.5848662611799063,
      "right gripper-book distance": 0.16411719407452302
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6393571759359323,
    "bimanual_gripper_vertical_difference": 0.18154264619239138,
    "task_success": 0.0
  },
  {
    "completion_time": 5.282766580581665,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005042061014397525,
      "left gripper-book distance": 0.5851059022215724,
      "right gripper-book distance": 0.1616192828183224
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6473145059376166,
    "bimanual_gripper_vertical_difference": 0.18203177229184547,
    "task_success": 0.0
  },
  {
    "completion_time": 5.311011791229248,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006043603694335653,
      "left gripper-book distance": 0.5853158029566802,
      "right gripper-book distance": 0.15883030540864904
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.65474288702285,
    "bimanual_gripper_vertical_difference": 0.1825293183057849,
    "task_success": 0.0
  },
  {
    "completion_time": 5.340123176574707,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004794638051817124,
      "left gripper-book distance": 0.5858078170768234,
      "right gripper-book distance": 0.15664675622428403
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6609143907007746,
    "bimanual_gripper_vertical_difference": 0.18303097700743393,
    "task_success": 0.0
  },
  {
    "completion_time": 5.371694803237915,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005042225317264393,
      "left gripper-book distance": 0.586498975060278,
      "right gripper-book distance": 0.1543251635315541
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6663623753654085,
    "bimanual_gripper_vertical_difference": 0.18353526161435882,
    "task_success": 0.0
  },
  {
    "completion_time": 5.400030612945557,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006188302707383908,
      "left gripper-book distance": 0.5872737234897109,
      "right gripper-book distance": 0.15066484557217327
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6697906385119846,
    "bimanual_gripper_vertical_difference": 0.1840452363371923,
    "task_success": 0.0
  },
  {
    "completion_time": 5.429894208908081,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004847001572768628,
      "left gripper-book distance": 0.5883477232777109,
      "right gripper-book distance": 0.1461760766970748
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6711100061134856,
    "bimanual_gripper_vertical_difference": 0.18456539490177692,
    "task_success": 0.0
  },
  {
    "completion_time": 5.4586029052734375,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005678034474198013,
      "left gripper-book distance": 0.589327825960233,
      "right gripper-book distance": 0.14077701983809218
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6727150434595922,
    "bimanual_gripper_vertical_difference": 0.18510462160813598,
    "task_success": 0.0
  },
  {
    "completion_time": 5.48830509185791,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006465397326100852,
      "left gripper-book distance": 0.5902054211238682,
      "right gripper-book distance": 0.13538957168549626
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6741249026280376,
    "bimanual_gripper_vertical_difference": 0.18567006563024444,
    "task_success": 0.0
  },
  {
    "completion_time": 5.517982244491577,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00044538891602763364,
      "left gripper-book distance": 0.5911114069344641,
      "right gripper-book distance": 0.13076306007987104
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6745940093857987,
    "bimanual_gripper_vertical_difference": 0.18626242214992852,
    "task_success": 0.0
  },
  {
    "completion_time": 5.546860933303833,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005945313099656735,
      "left gripper-book distance": 0.5916936579420408,
      "right gripper-book distance": 0.12739689341949995
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.674332495850035,
    "bimanual_gripper_vertical_difference": 0.18687565450796007,
    "task_success": 0.0
  },
  {
    "completion_time": 5.575161457061768,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": -0.0005840471538619552,
      "left gripper-book distance": 0.5925284184918511,
      "right gripper-book distance": 0.1266232090526704
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6743844677381698,
    "bimanual_gripper_vertical_difference": 0.18749714659371117,
    "task_success": 0.0
  },
  {
    "completion_time": 5.603876352310181,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": -0.0018779058326611198,
      "left gripper-book distance": 0.5939430579847905,
      "right gripper-book distance": 0.12702762149082802
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6771134467830284,
    "bimanual_gripper_vertical_difference": 0.18809766074307138,
    "task_success": 0.0
  },
  {
    "completion_time": 5.632638454437256,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": -0.00012438546289395003,
      "left gripper-book distance": 0.5929188944915362,
      "right gripper-book distance": 0.1269414194382972
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.675893850852624,
    "bimanual_gripper_vertical_difference": 0.18867171432266797,
    "task_success": 0.0
  },
  {
    "completion_time": 5.662549018859863,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0009061371077557778,
      "left gripper-book distance": 0.5918446079319364,
      "right gripper-book distance": 0.12987737938494928
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6744616626500405,
    "bimanual_gripper_vertical_difference": 0.18922821940941578,
    "task_success": 0.0
  },
  {
    "completion_time": 5.691887855529785,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0014809450937960378,
      "left gripper-book distance": 0.5905443981172466,
      "right gripper-book distance": 0.13104744938877244
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6750482623784758,
    "bimanual_gripper_vertical_difference": 0.18977007669638146,
    "task_success": 0.0
  },
  {
    "completion_time": 5.7229180335998535,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0025566511840048323,
      "left gripper-book distance": 0.5911731911259956,
      "right gripper-book distance": 0.13066429256167114
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6767543237584741,
    "bimanual_gripper_vertical_difference": 0.1902940889554764,
    "task_success": 0.0
  },
  {
    "completion_time": 5.7525413036346436,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.005085509864073967,
      "left gripper-book distance": 0.5919693958501059,
      "right gripper-book distance": 0.13172702533097547
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6804050162463657,
    "bimanual_gripper_vertical_difference": 0.19078551334636606,
    "task_success": 0.0
  },
  {
    "completion_time": 5.783422231674194,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.012059118685713743,
      "left gripper-book distance": 0.5892548509338861,
      "right gripper-book distance": 0.13445998594627215
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6849838286873899,
    "bimanual_gripper_vertical_difference": 0.19122359990467327,
    "task_success": 0.0
  },
  {
    "completion_time": 5.814932107925415,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.024044137577575286,
      "left gripper-book distance": 0.5827723393357133,
      "right gripper-book distance": 0.1380017392229657
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.689857476081797,
    "bimanual_gripper_vertical_difference": 0.19158707918487938,
    "task_success": 0.0
  },
  {
    "completion_time": 5.84443736076355,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.03999763776502374,
      "left gripper-book distance": 0.5744474036891551,
      "right gripper-book distance": 0.14122593575620535
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6948363684239901,
    "bimanual_gripper_vertical_difference": 0.19186253395309336,
    "task_success": 0.0
  },
  {
    "completion_time": 5.875506401062012,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.05993158281499589,
      "left gripper-book distance": 0.5656649399049162,
      "right gripper-book distance": 0.1428408542595079
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 0.7005959909945914,
    "bimanual_gripper_vertical_difference": 0.192047330912933,
    "task_success": 1.0
  }
]