[
  {
    "completion_time": 0.04455137252807617,
    "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": -0.0005408599817000592,
      "left gripper-book distance": 0.5054033344723239,
      "right gripper-book distance": 0.5077225424051293
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.0051765475953554e-06,
    "bimanual_gripper_vertical_difference": 5.695708349406914e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07413578033447266,
    "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": 0.000627619098877652,
      "left gripper-book distance": 0.5031166751995824,
      "right gripper-book distance": 0.5054600456350761
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0185634592638215e-06,
    "bimanual_gripper_vertical_difference": 7.251649281059258e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10326480865478516,
    "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": 0.0005048782730657786,
      "left gripper-book distance": 0.5023610608587099,
      "right gripper-book distance": 0.5046808717430527
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.86548475853597e-07,
    "bimanual_gripper_vertical_difference": 9.739087314386552e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.13182759284973145,
    "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": 0.000534218994295399,
      "left gripper-book distance": 0.5017636576753304,
      "right gripper-book distance": 0.5041173840548397
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.047654353161746e-06,
    "bimanual_gripper_vertical_difference": 1.3151431610403108e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.15984010696411133,
    "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": 0.0005776115063697018,
      "left gripper-book distance": 0.501369253815865,
      "right gripper-book distance": 0.503723376960127
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00017675039728244532,
    "bimanual_gripper_vertical_difference": 2.2006893640735827e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.18784832954406738,
    "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": 0.0005699448476458313,
      "left gripper-book distance": 0.5011749322041424,
      "right gripper-book distance": 0.5034690569164126
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00019642507390926563,
    "bimanual_gripper_vertical_difference": 2.7687085587165447e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21666884422302246,
    "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": 0.0006634036865782456,
      "left gripper-book distance": 0.5009507938977077,
      "right gripper-book distance": 0.5032444359379967
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00018898803668993474,
    "bimanual_gripper_vertical_difference": 3.305395037043825e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.24579501152038574,
    "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": 0.0005763635590568805,
      "left gripper-book distance": 0.5009108894262205,
      "right gripper-book distance": 0.5032321167276808
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00040343131833661005,
    "bimanual_gripper_vertical_difference": 4.199730702092452e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.27416372299194336,
    "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": 0.0004286315252992612,
      "left gripper-book distance": 0.4998766752206035,
      "right gripper-book distance": 0.5026412083794909
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.010573041414894334,
    "bimanual_gripper_vertical_difference": 1.3967278692393768e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3021562099456787,
    "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": 0.0007178938503467069,
      "left gripper-book distance": 0.48966086533169945,
      "right gripper-book distance": 0.5009989829192326
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.12880011294061436,
    "bimanual_gripper_vertical_difference": 0.0004828089204765407,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3311617374420166,
    "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": 0.0007246791427159005,
      "left gripper-book distance": 0.47228980214345234,
      "right gripper-book distance": 0.4998037098219624
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.32887146128148453,
    "bimanual_gripper_vertical_difference": 0.0013636547152240184,
    "task_success": 0.0
  },
  {
    "completion_time": 0.36002016067504883,
    "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": 0.0005660766418483787,
      "left gripper-book distance": 0.45115127435416497,
      "right gripper-book distance": 0.49868755313012925
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5252748054748075,
    "bimanual_gripper_vertical_difference": 0.0025433702410990744,
    "task_success": 0.0
  },
  {
    "completion_time": 0.38956356048583984,
    "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": 0.0006238107535837534,
      "left gripper-book distance": 0.42657945094489835,
      "right gripper-book distance": 0.49686335986655655
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7135258446811269,
    "bimanual_gripper_vertical_difference": 0.004155516373933863,
    "task_success": 0.0
  },
  {
    "completion_time": 0.41835880279541016,
    "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": 0.0005451625916682579,
      "left gripper-book distance": 0.39628852927358177,
      "right gripper-book distance": 0.49509537438011186
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8820306929708478,
    "bimanual_gripper_vertical_difference": 0.006684964089981871,
    "task_success": 0.0
  },
  {
    "completion_time": 0.44784021377563477,
    "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": 0.0006655960986541309,
      "left gripper-book distance": 0.3576635990699878,
      "right gripper-book distance": 0.4936486204316295
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.000785234235981,
    "bimanual_gripper_vertical_difference": 0.010786251776326462,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4793393611907959,
    "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": 0.0006412156641810718,
      "left gripper-book distance": 0.30982342259945955,
      "right gripper-book distance": 0.4928362953448418
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.094722276222581,
    "bimanual_gripper_vertical_difference": 0.017227214275202636,
    "task_success": 0.0
  },
  {
    "completion_time": 0.508183479309082,
    "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": 0.0005177450118052374,
      "left gripper-book distance": 0.2553623567315177,
      "right gripper-book distance": 0.4924471312516511
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.181729200080331,
    "bimanual_gripper_vertical_difference": 0.02660980053298004,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5369153022766113,
    "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": 0.0005618150553725609,
      "left gripper-book distance": 0.214759232057209,
      "right gripper-book distance": 0.4922437680343007
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2130290290851304,
    "bimanual_gripper_vertical_difference": 0.037833057375872545,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5645267963409424,
    "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": 0.0005875096101610744,
      "left gripper-book distance": 0.186276264310525,
      "right gripper-book distance": 0.4923125702613382
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.241848891443918,
    "bimanual_gripper_vertical_difference": 0.04968740123674967,
    "task_success": 0.0
  },
  {
    "completion_time": 0.592444896697998,
    "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": 0.0005710460345225155,
      "left gripper-book distance": 0.16138144093354234,
      "right gripper-book distance": 0.4923777769837898
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2838126155969867,
    "bimanual_gripper_vertical_difference": 0.06160746940059654,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6193580627441406,
    "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": -0.0020411937410013126,
      "left gripper-book distance": 0.1413587244680384,
      "right gripper-book distance": 0.49431537797099034
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3237092513520292,
    "bimanual_gripper_vertical_difference": 0.07324015256654594,
    "task_success": 0.0
  },
  {
    "completion_time": 0.648301362991333,
    "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": -0.00012296401035116755,
      "left gripper-book distance": 0.1377726010147869,
      "right gripper-book distance": 0.49170600105229534
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4123896181825755,
    "bimanual_gripper_vertical_difference": 0.08358835957990798,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6763391494750977,
    "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": 0.0006217524646223715,
      "left gripper-book distance": 0.13788968041662084,
      "right gripper-book distance": 0.4914285100385387
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4687151525568545,
    "bimanual_gripper_vertical_difference": 0.09274862974646092,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7054688930511475,
    "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": 0.0005555059965047793,
      "left gripper-book distance": 0.1423589788847882,
      "right gripper-book distance": 0.4920259178752015
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5024988453808301,
    "bimanual_gripper_vertical_difference": 0.10065465213493795,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7350373268127441,
    "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": 0.0006364661081089684,
      "left gripper-book distance": 0.1521983830876063,
      "right gripper-book distance": 0.4924855802951251
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5261030713557753,
    "bimanual_gripper_vertical_difference": 0.1072805566730343,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7648184299468994,
    "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": 0.0005546106851709309,
      "left gripper-book distance": 0.16840922723709925,
      "right gripper-book distance": 0.4929676318395529
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5510363828518936,
    "bimanual_gripper_vertical_difference": 0.11268554808890917,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7944350242614746,
    "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": 0.0006820904982719478,
      "left gripper-book distance": 0.1692619722123067,
      "right gripper-book distance": 0.4935460723097632
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.566643619756047,
    "bimanual_gripper_vertical_difference": 0.11768717562479433,
    "task_success": 0.0
  },
  {
    "completion_time": 0.825390100479126,
    "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": 0.0005733615593193075,
      "left gripper-book distance": 0.16438268860759778,
      "right gripper-book distance": 0.4929352668749399
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5874521492385594,
    "bimanual_gripper_vertical_difference": 0.122496980778982,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8558070659637451,
    "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": 0.0005617722898905164,
      "left gripper-book distance": 0.16350087478243794,
      "right gripper-book distance": 0.49155909777201573
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.576498572183329,
    "bimanual_gripper_vertical_difference": 0.12699180117448733,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8861343860626221,
    "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": 0.0006888926240343762,
      "left gripper-book distance": 0.16302789498285988,
      "right gripper-book distance": 0.4899413207816051
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5509943373200783,
    "bimanual_gripper_vertical_difference": 0.13117233452176164,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9166676998138428,
    "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": 0.0005621506296472623,
      "left gripper-book distance": 0.16270694980561534,
      "right gripper-book distance": 0.4882028517411595
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5238624724518521,
    "bimanual_gripper_vertical_difference": 0.1350666657019691,
    "task_success": 0.0
  },
  {
    "completion_time": 0.945960283279419,
    "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": 0.00043796955402930493,
      "left gripper-book distance": 0.15068079204335785,
      "right gripper-book distance": 0.48662987248441436
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4973395471102975,
    "bimanual_gripper_vertical_difference": 0.13914415300483,
    "task_success": 0.0
  },
  {
    "completion_time": 0.972719669342041,
    "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": 0.0006020508006654435,
      "left gripper-book distance": 0.14737654872211384,
      "right gripper-book distance": 0.485732364784861
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4870860961728154,
    "bimanual_gripper_vertical_difference": 0.14305839212287405,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9996271133422852,
    "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": 0.0014461698381137422,
      "left gripper-book distance": 0.14579572943988361,
      "right gripper-book distance": 0.4849070557555714
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4528256829248505,
    "bimanual_gripper_vertical_difference": 0.1467567926546529,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0263404846191406,
    "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": 0.003349718910317878,
      "left gripper-book distance": 0.1449171828761172,
      "right gripper-book distance": 0.48337754880953443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4342703760869138,
    "bimanual_gripper_vertical_difference": 0.15023453071828782,
    "task_success": 0.0
  },
  {
    "completion_time": 1.054469108581543,
    "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": 0.005059506217345855,
      "left gripper-book distance": 0.14849988880566653,
      "right gripper-book distance": 0.48229848713458723
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4207982813457782,
    "bimanual_gripper_vertical_difference": 0.15343059501979614,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0829873085021973,
    "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": -0.0001280316741241183,
      "left gripper-book distance": 0.1503109504568366,
      "right gripper-book distance": 0.4868740130706871
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.391241711605427,
    "bimanual_gripper_vertical_difference": 0.15658663132823875,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1120481491088867,
    "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": 0.0007085744229856639,
      "left gripper-book distance": 0.14177851418152365,
      "right gripper-book distance": 0.48640297587810166
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3682686812040161,
    "bimanual_gripper_vertical_difference": 0.1598202777506734,
    "task_success": 0.0
  },
  {
    "completion_time": 1.138869047164917,
    "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": 0.0006865764560353149,
      "left gripper-book distance": 0.1395523426648081,
      "right gripper-book distance": 0.4864966069839045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3484321138376747,
    "bimanual_gripper_vertical_difference": 0.16295237029954188,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1655333042144775,
    "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": 0.0007440507193091639,
      "left gripper-book distance": 0.1378092497342488,
      "right gripper-book distance": 0.4861858497558421
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3254039407634906,
    "bimanual_gripper_vertical_difference": 0.1659680918206484,
    "task_success": 0.0
  },
  {
    "completion_time": 1.193505048751831,
    "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": 0.0007578143114541636,
      "left gripper-book distance": 0.13574204275356264,
      "right gripper-book distance": 0.48597248477894267
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2965030743296968,
    "bimanual_gripper_vertical_difference": 0.16890767725644024,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2199597358703613,
    "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": 0.0006814627204513313,
      "left gripper-book distance": 0.13296964913803533,
      "right gripper-book distance": 0.48616573837507354
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2689755029287366,
    "bimanual_gripper_vertical_difference": 0.1718147685807677,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2502672672271729,
    "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": 0.0006981886387592562,
      "left gripper-book distance": 0.13231399762182564,
      "right gripper-book distance": 0.48653209218060695
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2412021411799161,
    "bimanual_gripper_vertical_difference": 0.1746180404790718,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2805352210998535,
    "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": 0.0005903597383031256,
      "left gripper-book distance": 0.13264031919386843,
      "right gripper-book distance": 0.4869629121634938
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2133479497140203,
    "bimanual_gripper_vertical_difference": 0.17730393972103575,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3101806640625,
    "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": 0.0005851571429391633,
      "left gripper-book distance": 0.13262523281347655,
      "right gripper-book distance": 0.48726344988365405
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1917381377619505,
    "bimanual_gripper_vertical_difference": 0.17987558412814714,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3374035358428955,
    "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": 0.0007519310709187543,
      "left gripper-book distance": 0.13173129512323176,
      "right gripper-book distance": 0.48723556659249945
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1820257431114285,
    "bimanual_gripper_vertical_difference": 0.1823360149144765,
    "task_success": 0.0
  },
  {
    "completion_time": 1.366502285003662,
    "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": 0.0010563188119694367,
      "left gripper-book distance": 0.13076569142065347,
      "right gripper-book distance": 0.48598665138482
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1766674800293122,
    "bimanual_gripper_vertical_difference": 0.18469948031618427,
    "task_success": 0.0
  },
  {
    "completion_time": 1.395327091217041,
    "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": 0.000762310854519832,
      "left gripper-book distance": 0.13047389398340586,
      "right gripper-book distance": 0.48427660057614885
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1706254727369048,
    "bimanual_gripper_vertical_difference": 0.18696643563519855,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4229214191436768,
    "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": 0.0005939841688170633,
      "left gripper-book distance": 0.13047295250959295,
      "right gripper-book distance": 0.4844481390407691
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.166017383867644,
    "bimanual_gripper_vertical_difference": 0.1891365482028256,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4486496448516846,
    "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": 0.0009082850323296476,
      "left gripper-book distance": 0.13043870211944852,
      "right gripper-book distance": 0.48303095831473813
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1578210861250526,
    "bimanual_gripper_vertical_difference": 0.1912169919697486,
    "task_success": 0.0
  },
  {
    "completion_time": 1.477504014968872,
    "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": 0.001116432768017983,
      "left gripper-book distance": 0.13205957111273642,
      "right gripper-book distance": 0.48143687023767834
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.146067750703697,
    "bimanual_gripper_vertical_difference": 0.19320874312897965,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5070338249206543,
    "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": 0.000932104592130556,
      "left gripper-book distance": 0.13247560120624505,
      "right gripper-book distance": 0.4818352722394627
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1315574546447165,
    "bimanual_gripper_vertical_difference": 0.19512406707624516,
    "task_success": 0.0
  },
  {
    "completion_time": 1.533918857574463,
    "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": 0.0005462409812218016,
      "left gripper-book distance": 0.13258486980690543,
      "right gripper-book distance": 0.4817994985674505
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.11257110621192,
    "bimanual_gripper_vertical_difference": 0.19696615250808872,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5609221458435059,
    "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": 0.0007026881297312881,
      "left gripper-book distance": 0.132271790733789,
      "right gripper-book distance": 0.48140107724315695
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.095030134243873,
    "bimanual_gripper_vertical_difference": 0.1987384491796287,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5874783992767334,
    "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": 0.0007000647021735418,
      "left gripper-book distance": 0.13177822579602652,
      "right gripper-book distance": 0.48140245950958405
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.080685953638917,
    "bimanual_gripper_vertical_difference": 0.20044666052400703,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6157543659210205,
    "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": 0.0007257442781255508,
      "left gripper-book distance": 0.13131560348198007,
      "right gripper-book distance": 0.4814645016034718
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0679312972653523,
    "bimanual_gripper_vertical_difference": 0.2020921176389546,
    "task_success": 0.0
  },
  {
    "completion_time": 1.644378900527954,
    "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": 0.0004915690633121583,
      "left gripper-book distance": 0.13083443307277345,
      "right gripper-book distance": 0.4817175391812002
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.055015735337196,
    "bimanual_gripper_vertical_difference": 0.20367873315020646,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6747167110443115,
    "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": 0.0004936576734023701,
      "left gripper-book distance": 0.12998311737551013,
      "right gripper-book distance": 0.48182589602064435
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.041263787233426,
    "bimanual_gripper_vertical_difference": 0.20521032290015967,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7044563293457031,
    "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": 0.0005145566153590408,
      "left gripper-book distance": 0.1288953031219615,
      "right gripper-book distance": 0.4819172161009824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.02645525384155,
    "bimanual_gripper_vertical_difference": 0.20668959563782116,
    "task_success": 0.0
  },
  {
    "completion_time": 1.731703281402588,
    "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": 0.0006966125072298546,
      "left gripper-book distance": 0.1277820180660227,
      "right gripper-book distance": 0.48180242564214154
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0117408782324193,
    "bimanual_gripper_vertical_difference": 0.20811885493643204,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7605457305908203,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007360859594802704,
      "left gripper-book distance": 0.12707255951792074,
      "right gripper-book distance": 0.48164196828978384
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9975460044225347,
    "bimanual_gripper_vertical_difference": 0.20950002825945035,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7876803874969482,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007260184713959728,
      "left gripper-book distance": 0.12644201823183707,
      "right gripper-book distance": 0.4814692026765854
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9842601742093798,
    "bimanual_gripper_vertical_difference": 0.21083642988790358,
    "task_success": 0.0
  },
  {
    "completion_time": 1.815575361251831,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006966861770213439,
      "left gripper-book distance": 0.1258262809143142,
      "right gripper-book distance": 0.4814413345608373
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9719891988020661,
    "bimanual_gripper_vertical_difference": 0.21213073442761746,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8452556133270264,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007225200272100718,
      "left gripper-book distance": 0.12572094404720144,
      "right gripper-book distance": 0.4815177225994132
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9611861090215542,
    "bimanual_gripper_vertical_difference": 0.21338681129051323,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8750522136688232,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007230684810769494,
      "left gripper-book distance": 0.1273911146619855,
      "right gripper-book distance": 0.48121987924103105
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9573569531575232,
    "bimanual_gripper_vertical_difference": 0.21459937426716721,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9036052227020264,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007235634491697951,
      "left gripper-book distance": 0.1319426553992782,
      "right gripper-book distance": 0.4806547863906614
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9574076153830758,
    "bimanual_gripper_vertical_difference": 0.2157193059382208,
    "task_success": 0.0
  },
  {
    "completion_time": 1.932426929473877,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006922218020735116,
      "left gripper-book distance": 0.13866347447065988,
      "right gripper-book distance": 0.48052057769115986
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9650471670449854,
    "bimanual_gripper_vertical_difference": 0.21668668106650438,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9612421989440918,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004781849140147454,
      "left gripper-book distance": 0.14760758600104568,
      "right gripper-book distance": 0.4807433021707474
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9757246965053868,
    "bimanual_gripper_vertical_difference": 0.21744890436849926,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9895715713500977,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004924523930829316,
      "left gripper-book distance": 0.15623680601059897,
      "right gripper-book distance": 0.4805472298080679
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9867045931904985,
    "bimanual_gripper_vertical_difference": 0.21801037595538064,
    "task_success": 0.0
  },
  {
    "completion_time": 2.017777681350708,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000514020330850351,
      "left gripper-book distance": 0.16241204913001336,
      "right gripper-book distance": 0.48036276234462244
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.997909714937692,
    "bimanual_gripper_vertical_difference": 0.21841287874527784,
    "task_success": 0.0
  },
  {
    "completion_time": 2.045905828475952,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005278047020874643,
      "left gripper-book distance": 0.16492063110005548,
      "right gripper-book distance": 0.4804617160641618
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0122663436273585,
    "bimanual_gripper_vertical_difference": 0.21870613921633067,
    "task_success": 0.0
  },
  {
    "completion_time": 2.073845624923706,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005421647650480921,
      "left gripper-book distance": 0.16511880873081194,
      "right gripper-book distance": 0.48028004385337236
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.028974216744937,
    "bimanual_gripper_vertical_difference": 0.21892385623255925,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1017138957977295,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005417692003176766,
      "left gripper-book distance": 0.16370478186022405,
      "right gripper-book distance": 0.47980771014336415
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0487279548759127,
    "bimanual_gripper_vertical_difference": 0.21909526214063865,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1298046112060547,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005240984647818525,
      "left gripper-book distance": 0.161817082150591,
      "right gripper-book distance": 0.4793398603429651
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0694672430314296,
    "bimanual_gripper_vertical_difference": 0.21924433500809098,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1590607166290283,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004784051891628671,
      "left gripper-book distance": 0.16033582344172245,
      "right gripper-book distance": 0.4790890121525072
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.087711668419627,
    "bimanual_gripper_vertical_difference": 0.2193923193179625,
    "task_success": 0.0
  },
  {
    "completion_time": 2.187528133392334,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004926921033577836,
      "left gripper-book distance": 0.15957906393446306,
      "right gripper-book distance": 0.4788620350253404
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1030012931756046,
    "bimanual_gripper_vertical_difference": 0.21955378623742072,
    "task_success": 0.0
  },
  {
    "completion_time": 2.217439651489258,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005140037744233439,
      "left gripper-book distance": 0.1593615492063644,
      "right gripper-book distance": 0.47847986725428454
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1173180028776013,
    "bimanual_gripper_vertical_difference": 0.21974027292996579,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2469897270202637,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005280810162969773,
      "left gripper-book distance": 0.1591098238307096,
      "right gripper-book distance": 0.4780290888279733
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1347725056679994,
    "bimanual_gripper_vertical_difference": 0.21996497001390908,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2773032188415527,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005424467078886108,
      "left gripper-book distance": 0.15861799599136137,
      "right gripper-book distance": 0.4775616788003143
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1548134426853967,
    "bimanual_gripper_vertical_difference": 0.22024298353230043,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3100805282592773,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005418568979520533,
      "left gripper-book distance": 0.15823083025452536,
      "right gripper-book distance": 0.4772261266007788
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1760395311446536,
    "bimanual_gripper_vertical_difference": 0.22058010611186102,
    "task_success": 0.0
  },
  {
    "completion_time": 2.342909812927246,
    "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": 0.0005240713252600004,
      "left gripper-book distance": 0.15867738660476244,
      "right gripper-book distance": 0.4769713944781416
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.195268159896554,
    "bimanual_gripper_vertical_difference": 0.22097081460763993,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3730225563049316,
    "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": 0.0004783759031222745,
      "left gripper-book distance": 0.1603287311106819,
      "right gripper-book distance": 0.4768466315319556
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2140483216848803,
    "bimanual_gripper_vertical_difference": 0.2214070628161102,
    "task_success": 0.0
  },
  {
    "completion_time": 2.402632713317871,
    "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": 0.0004926616160934039,
      "left gripper-book distance": 0.16175821128619466,
      "right gripper-book distance": 0.4768109039095029
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2292710825956188,
    "bimanual_gripper_vertical_difference": 0.22188339677156746,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4313666820526123,
    "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": 0.0005139726422102031,
      "left gripper-book distance": 0.16214470291465116,
      "right gripper-book distance": 0.4767269062613717
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2385512174103124,
    "bimanual_gripper_vertical_difference": 0.2223946775632415,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4612579345703125,
    "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": 0.0005280486858508793,
      "left gripper-book distance": 0.1611412756330163,
      "right gripper-book distance": 0.4765846690726975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2448545335194245,
    "bimanual_gripper_vertical_difference": 0.22293797301778714,
    "task_success": 0.0
  },
  {
    "completion_time": 2.493638038635254,
    "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": 0.0005424172743061506,
      "left gripper-book distance": 0.15887097915534995,
      "right gripper-book distance": 0.4764357142118632
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2475600950911647,
    "bimanual_gripper_vertical_difference": 0.22351072084861567,
    "task_success": 0.0
  },
  {
    "completion_time": 2.527653217315674,
    "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": 0.0005418256608848981,
      "left gripper-book distance": 0.15597370419586243,
      "right gripper-book distance": 0.47656612858451497
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2458751811899802,
    "bimanual_gripper_vertical_difference": 0.2241115043656141,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5597972869873047,
    "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": 0.00052404142570317,
      "left gripper-book distance": 0.15340167356326212,
      "right gripper-book distance": 0.47685158696094604
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.240437895715926,
    "bimanual_gripper_vertical_difference": 0.22473910689416732,
    "task_success": 0.0
  },
  {
    "completion_time": 2.590874433517456,
    "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": 0.0004783454247253571,
      "left gripper-book distance": 0.15092486686294343,
      "right gripper-book distance": 0.47709544604737375
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2346773328735545,
    "bimanual_gripper_vertical_difference": 0.22539512305776235,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6220617294311523,
    "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": 0.0004926299538319245,
      "left gripper-book distance": 0.14734909045494762,
      "right gripper-book distance": 0.4772888233657
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2309659801315174,
    "bimanual_gripper_vertical_difference": 0.22608981948284926,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6523232460021973,
    "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": 0.0005139403308311863,
      "left gripper-book distance": 0.14271094100387574,
      "right gripper-book distance": 0.47741561231614066
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.227099405321118,
    "bimanual_gripper_vertical_difference": 0.22682541474491877,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6822707653045654,
    "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": 0.000528015169423468,
      "left gripper-book distance": 0.1374659867091296,
      "right gripper-book distance": 0.47756179073221494
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.222594268766003,
    "bimanual_gripper_vertical_difference": 0.227596312483242,
    "task_success": 0.0
  },
  {
    "completion_time": 2.712282657623291,
    "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": 0.0005423866589782111,
      "left gripper-book distance": 0.13191607262132377,
      "right gripper-book distance": 0.4778326260529845
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2170598993326371,
    "bimanual_gripper_vertical_difference": 0.22839462031878777,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7411460876464844,
    "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": 0.000984917027067711,
      "left gripper-book distance": 0.12613384075827358,
      "right gripper-book distance": 0.47797712684133065
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2096401159047794,
    "bimanual_gripper_vertical_difference": 0.22921770720152485,
    "task_success": 0.0
  },
  {
    "completion_time": 2.769198179244995,
    "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": 0.00233375960832527,
      "left gripper-book distance": 0.1213620539491478,
      "right gripper-book distance": 0.4768866744516988
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2038481636953466,
    "bimanual_gripper_vertical_difference": 0.23006653219903905,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7961628437042236,
    "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": 0.004457671894691817,
      "left gripper-book distance": 0.11567124535054649,
      "right gripper-book distance": 0.47588055713176636
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1996802588726807,
    "bimanual_gripper_vertical_difference": 0.23093361439335483,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8222291469573975,
    "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": 0.0068778068705288575,
      "left gripper-book distance": 0.1093570073221063,
      "right gripper-book distance": 0.4752843540582791
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1958533456602771,
    "bimanual_gripper_vertical_difference": 0.23181273849533462,
    "task_success": 0.0
  },
  {
    "completion_time": 2.848418712615967,
    "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": 0.008296420452665543,
      "left gripper-book distance": 0.10450553606849264,
      "right gripper-book distance": 0.47524316514608167
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1897460799620487,
    "bimanual_gripper_vertical_difference": 0.23269747895300283,
    "task_success": 0.0
  },
  {
    "completion_time": 2.873993396759033,
    "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": 0.008804418404445014,
      "left gripper-book distance": 0.10101738185408067,
      "right gripper-book distance": 0.4754275257554133
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.181551641227228,
    "bimanual_gripper_vertical_difference": 0.23358630865004926,
    "task_success": 0.0
  },
  {
    "completion_time": 2.902405261993408,
    "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": 0.005935316772754384,
      "left gripper-book distance": 0.1017305786427324,
      "right gripper-book distance": 0.47686217882925935
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1756045696252588,
    "bimanual_gripper_vertical_difference": 0.23447960364432535,
    "task_success": 0.0
  },
  {
    "completion_time": 2.932373046875,
    "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": 4.972948100634422e-05,
      "left gripper-book distance": 0.10669556827886956,
      "right gripper-book distance": 0.4805566618995645
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1724557513922094,
    "bimanual_gripper_vertical_difference": 0.23537537354594867,
    "task_success": 0.0
  },
  {
    "completion_time": 2.960374116897583,
    "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": 0.0006829100420324696,
      "left gripper-book distance": 0.10467704485923296,
      "right gripper-book distance": 0.4800741012944062
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1682803168676477,
    "bimanual_gripper_vertical_difference": 0.23627302524356678,
    "task_success": 0.0
  },
  {
    "completion_time": 2.988208055496216,
    "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": 0.0003274055773127005,
      "left gripper-book distance": 0.10373619724117776,
      "right gripper-book distance": 0.480254309840353
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1607197882984857,
    "bimanual_gripper_vertical_difference": 0.23716448362826897,
    "task_success": 0.0
  },
  {
    "completion_time": 3.016718864440918,
    "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": -0.00033498819633059895,
      "left gripper-book distance": 0.10382988986347375,
      "right gripper-book distance": 0.4803477520841931
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1526486626664267,
    "bimanual_gripper_vertical_difference": 0.23804707204789846,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0425865650177,
    "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": 0.00021258764257714446,
      "left gripper-book distance": 0.10352913744369148,
      "right gripper-book distance": 0.479530921942562
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1454683895815692,
    "bimanual_gripper_vertical_difference": 0.23890963960192754,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0719077587127686,
    "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": 8.330904516784532e-05,
      "left gripper-book distance": 0.10335205353869639,
      "right gripper-book distance": 0.47933247337469176
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.137880189183104,
    "bimanual_gripper_vertical_difference": 0.23975670966020615,
    "task_success": 0.0
  },
  {
    "completion_time": 3.098728656768799,
    "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": 0.0001434790795025176,
      "left gripper-book distance": 0.1029649444739432,
      "right gripper-book distance": 0.47920355347723204
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1295586327892728,
    "bimanual_gripper_vertical_difference": 0.24059060038029859,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1252431869506836,
    "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": 0.0004721447291579084,
      "left gripper-book distance": 0.10283655091454633,
      "right gripper-book distance": 0.4789146233176159
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1200223569757215,
    "bimanual_gripper_vertical_difference": 0.24140789063008417,
    "task_success": 0.0
  },
  {
    "completion_time": 3.151994466781616,
    "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": 0.00014268104811365756,
      "left gripper-book distance": 0.10320231655241711,
      "right gripper-book distance": 0.47886371992146415
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1114192398861718,
    "bimanual_gripper_vertical_difference": 0.24221458814747074,
    "task_success": 0.0
  },
  {
    "completion_time": 3.178476095199585,
    "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": 0.0003721212354870218,
      "left gripper-book distance": 0.10317866616216183,
      "right gripper-book distance": 0.47844518915429995
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1028286927483448,
    "bimanual_gripper_vertical_difference": 0.24300545371655133,
    "task_success": 0.0
  },
  {
    "completion_time": 3.204444169998169,
    "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": -0.00018111003185528052,
      "left gripper-book distance": 0.10291622938823317,
      "right gripper-book distance": 0.47873692092865466
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.094638543900963,
    "bimanual_gripper_vertical_difference": 0.24379223256598836,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2335877418518066,
    "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": -0.0002751285270570225,
      "left gripper-book distance": 0.10290400906674518,
      "right gripper-book distance": 0.4784313543869613
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0864106165041616,
    "bimanual_gripper_vertical_difference": 0.24456103496838363,
    "task_success": 0.0
  },
  {
    "completion_time": 3.266597270965576,
    "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": 0.000620906177851932,
      "left gripper-book distance": 0.10251634425967887,
      "right gripper-book distance": 0.477469242639552
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0785433528271338,
    "bimanual_gripper_vertical_difference": 0.2453153349382101,
    "task_success": 0.0
  },
  {
    "completion_time": 3.295656442642212,
    "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": 0.0004244976195157957,
      "left gripper-book distance": 0.1028171152779203,
      "right gripper-book distance": 0.47706447567991905
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0713259175761145,
    "bimanual_gripper_vertical_difference": 0.2460569440348699,
    "task_success": 0.0
  },
  {
    "completion_time": 3.322232723236084,
    "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": 0.000528990784694372,
      "left gripper-book distance": 0.10249159476191261,
      "right gripper-book distance": 0.4761623825225576
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0635739419735706,
    "bimanual_gripper_vertical_difference": 0.24678963571075735,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3494975566864014,
    "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": -0.0016639216362392961,
      "left gripper-book distance": 0.10466094276526423,
      "right gripper-book distance": 0.47772571076735204
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0578323007701687,
    "bimanual_gripper_vertical_difference": 0.24747626372956025,
    "task_success": 0.0
  },
  {
    "completion_time": 3.376563310623169,
    "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": 0.004456015904039656,
      "left gripper-book distance": 0.10784393196433165,
      "right gripper-book distance": 0.4708581909913683
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.054011218554693,
    "bimanual_gripper_vertical_difference": 0.2480931415242871,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4046096801757812,
    "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": 0.005651748838895521,
      "left gripper-book distance": 0.11034003089868095,
      "right gripper-book distance": 0.4678830507496715
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0513660212052578,
    "bimanual_gripper_vertical_difference": 0.24869373890838176,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4319143295288086,
    "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": 0.007766530739608979,
      "left gripper-book distance": 0.11282622245443638,
      "right gripper-book distance": 0.4639431597425288
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0499334305699304,
    "bimanual_gripper_vertical_difference": 0.24927714099016485,
    "task_success": 0.0
  },
  {
    "completion_time": 3.458644390106201,
    "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": 0.011952188855422374,
      "left gripper-book distance": 0.11664647652822031,
      "right gripper-book distance": 0.4574113117876803
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0487925536162526,
    "bimanual_gripper_vertical_difference": 0.24981193329016416,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4890310764312744,
    "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": 0.01903400591229354,
      "left gripper-book distance": 0.12185058121343836,
      "right gripper-book distance": 0.44814571730509617
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0486959862264853,
    "bimanual_gripper_vertical_difference": 0.25025086176604844,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5176870822906494,
    "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": 0.028593768429762467,
      "left gripper-book distance": 0.12648115149942993,
      "right gripper-book distance": 0.43787583684666587
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.052151025044314,
    "bimanual_gripper_vertical_difference": 0.25057698065195805,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5459060668945312,
    "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": 0.04571936983738745,
      "left gripper-book distance": 0.1270088609919419,
      "right gripper-book distance": 0.42347559662065914
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.06037333250595,
    "bimanual_gripper_vertical_difference": 0.2507958986153865,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5745463371276855,
    "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": 0.06538441039096454,
      "left gripper-book distance": 0.12697415048454852,
      "right gripper-book distance": 0.40972369739838843
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 1.0734699790027817,
    "bimanual_gripper_vertical_difference": 0.25090783403338646,
    "task_success": 1.0
  }
]