[
  {
    "completion_time": 0.04452252388000488,
    "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": -0.0007962523015860867,
      "left gripper-book distance": 0.5109134385721593,
      "right gripper-book distance": 0.5024620942404042
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.0051765475953554e-06,
    "bimanual_gripper_vertical_difference": 5.695708349406914e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07255220413208008,
    "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": 0.0007006146530592616,
      "left gripper-book distance": 0.5084348554594168,
      "right gripper-book distance": 0.49982886260379167
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0185634592638215e-06,
    "bimanual_gripper_vertical_difference": 7.251649281059258e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10239839553833008,
    "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": 0.0007244264389025812,
      "left gripper-book distance": 0.507540649780096,
      "right gripper-book distance": 0.49893633941914745
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.86548475853597e-07,
    "bimanual_gripper_vertical_difference": 9.739087314386552e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.13104772567749023,
    "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": 0.0007310153793593788,
      "left gripper-book distance": 0.5069888180795546,
      "right gripper-book distance": 0.49835314062154934
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.0476543531634805e-06,
    "bimanual_gripper_vertical_difference": 1.3151431610403108e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1601254940032959,
    "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": 0.0007197092606849864,
      "left gripper-book distance": 0.5066538782106971,
      "right gripper-book distance": 0.4979827986926167
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00017675039728244705,
    "bimanual_gripper_vertical_difference": 2.2006893640735827e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.18987154960632324,
    "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": 0.0007174302768643281,
      "left gripper-book distance": 0.5064249933151975,
      "right gripper-book distance": 0.497749477407578
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0001964250739092665,
    "bimanual_gripper_vertical_difference": 2.7687085587165447e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2189178466796875,
    "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": 0.0006725962041805866,
      "left gripper-book distance": 0.5063128732285711,
      "right gripper-book distance": 0.4976336194120079
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.000188988036689936,
    "bimanual_gripper_vertical_difference": 3.305395037043825e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.24887609481811523,
    "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": 0.0007440809095621281,
      "left gripper-book distance": 0.5061839378796533,
      "right gripper-book distance": 0.49745599688915254
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0004034313183366105,
    "bimanual_gripper_vertical_difference": 4.199730702092452e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2781960964202881,
    "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": 0.0007508964346912839,
      "left gripper-book distance": 0.5061268913864698,
      "right gripper-book distance": 0.49737790243754865
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0007208841171722929,
    "bimanual_gripper_vertical_difference": 4.43590364440638e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3068583011627197,
    "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": 0.0006730410880007032,
      "left gripper-book distance": 0.5061394414022224,
      "right gripper-book distance": 0.49740950598229944
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0007462850011111835,
    "bimanual_gripper_vertical_difference": 4.825983190848149e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3370084762573242,
    "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": 0.0007107127397504298,
      "left gripper-book distance": 0.5061003141856306,
      "right gripper-book distance": 0.49733726572989717
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006785070326285667,
    "bimanual_gripper_vertical_difference": 4.967613391344953e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.36551666259765625,
    "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": 0.0007345035867152294,
      "left gripper-book distance": 0.506079908540774,
      "right gripper-book distance": 0.4972866549514811
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.000681176198309099,
    "bimanual_gripper_vertical_difference": 4.918051928666974e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.39530515670776367,
    "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": 0.0006754515876952194,
      "left gripper-book distance": 0.5061247595369527,
      "right gripper-book distance": 0.4973151293257536
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0007011504090955309,
    "bimanual_gripper_vertical_difference": 4.694580228832461e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.42500972747802734,
    "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": 0.0005661012630130413,
      "left gripper-book distance": 0.5062370791747912,
      "right gripper-book distance": 0.49736551125389156
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0006520478968390089,
    "bimanual_gripper_vertical_difference": 4.366202399630481e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4542078971862793,
    "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": 0.0002795830351635109,
      "left gripper-book distance": 0.5063862082869607,
      "right gripper-book distance": 0.49766357220437246
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008584501586393808,
    "bimanual_gripper_vertical_difference": 4.4869235438227404e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4840991497039795,
    "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": 0.0006883980173677529,
      "left gripper-book distance": 0.5061378822255954,
      "right gripper-book distance": 0.49725352109646004
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008049852011830384,
    "bimanual_gripper_vertical_difference": 4.737594372361542e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5148577690124512,
    "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": 0.0007306766769087369,
      "left gripper-book distance": 0.5050981301609951,
      "right gripper-book distance": 0.4959706867362058
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0027160494472009797,
    "bimanual_gripper_vertical_difference": 9.410587373594753e-06,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5436916351318359,
    "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": 0.00047317316760586703,
      "left gripper-book distance": 0.5037290355041874,
      "right gripper-book distance": 0.4911352710856727
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.059323747836177075,
    "bimanual_gripper_vertical_difference": 0.00022380572489200112,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5735554695129395,
    "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": 0.0007124472188827502,
      "left gripper-book distance": 0.5024250655570635,
      "right gripper-book distance": 0.48751366915413374
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1643141280559512,
    "bimanual_gripper_vertical_difference": 0.0006179150011663283,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6027603149414062,
    "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": 0.0007423180018202302,
      "left gripper-book distance": 0.5012807775299146,
      "right gripper-book distance": 0.4878931680401977
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.28666836505441484,
    "bimanual_gripper_vertical_difference": 0.0010710072597457931,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6362817287445068,
    "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": 0.0006678019400444546,
      "left gripper-book distance": 0.4999284052477186,
      "right gripper-book distance": 0.4881905919895907
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4034100404020278,
    "bimanual_gripper_vertical_difference": 0.0016698431858887769,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6656806468963623,
    "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": 0.0007085814469517393,
      "left gripper-book distance": 0.49852340382024246,
      "right gripper-book distance": 0.4870231659066432
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5188788984883828,
    "bimanual_gripper_vertical_difference": 0.002551988355290166,
    "task_success": 0.0
  },
  {
    "completion_time": 0.696547269821167,
    "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": 0.0007041121005751938,
      "left gripper-book distance": 0.4974742960061942,
      "right gripper-book distance": 0.4850560432822319
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6355265196519476,
    "bimanual_gripper_vertical_difference": 0.0038392905300751214,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7257544994354248,
    "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": 0.0007032736792305094,
      "left gripper-book distance": 0.4968303151007354,
      "right gripper-book distance": 0.4764005805387692
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7251166187118816,
    "bimanual_gripper_vertical_difference": 0.005836282868422554,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7556247711181641,
    "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": 0.0007156866742872303,
      "left gripper-book distance": 0.49644586556416737,
      "right gripper-book distance": 0.4514607006040759
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7928524200341213,
    "bimanual_gripper_vertical_difference": 0.009098395697829397,
    "task_success": 0.0
  },
  {
    "completion_time": 0.785353422164917,
    "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": 0.0007162821162798316,
      "left gripper-book distance": 0.4961212530276519,
      "right gripper-book distance": 0.40952970363233554
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8542223428657594,
    "bimanual_gripper_vertical_difference": 0.01415682415942805,
    "task_success": 0.0
  },
  {
    "completion_time": 0.815065860748291,
    "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": 0.0006835368044623147,
      "left gripper-book distance": 0.4961638809185201,
      "right gripper-book distance": 0.35957426892838223
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9232514525041398,
    "bimanual_gripper_vertical_difference": 0.02131739092174966,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8472445011138916,
    "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": 0.0006458373776763171,
      "left gripper-book distance": 0.49663617608271365,
      "right gripper-book distance": 0.31899362670217185
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9916127696427328,
    "bimanual_gripper_vertical_difference": 0.030502009973056344,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8754317760467529,
    "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": 0.0006775310910803745,
      "left gripper-book distance": 0.4965688402256607,
      "right gripper-book distance": 0.31230959661637353
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.038923611670812,
    "bimanual_gripper_vertical_difference": 0.04095804396463892,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9032309055328369,
    "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": 0.0006809046134751418,
      "left gripper-book distance": 0.49509009316136515,
      "right gripper-book distance": 0.32299480685013504
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.031648245564985,
    "bimanual_gripper_vertical_difference": 0.05157178299857536,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9312970638275146,
    "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": 0.0007167718988210225,
      "left gripper-book distance": 0.4938498203044425,
      "right gripper-book distance": 0.32437715492511165
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0147965842175855,
    "bimanual_gripper_vertical_difference": 0.06148729458001595,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9601733684539795,
    "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": 0.0007271354206858094,
      "left gripper-book distance": 0.4930469530342455,
      "right gripper-book distance": 0.3151870751193751
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0199167411619776,
    "bimanual_gripper_vertical_difference": 0.07026180935550784,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9891226291656494,
    "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": 0.0001409249713137939,
      "left gripper-book distance": 0.49301991109850396,
      "right gripper-book distance": 0.30565308538491687
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.035673764606743,
    "bimanual_gripper_vertical_difference": 0.07775851577600773,
    "task_success": 0.0
  },
  {
    "completion_time": 1.017698049545288,
    "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": 0.0007063500196103911,
      "left gripper-book distance": 0.49167080518118683,
      "right gripper-book distance": 0.2995698421644681
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.055985391000108,
    "bimanual_gripper_vertical_difference": 0.08392396007892432,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0457262992858887,
    "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": 0.0007271849064655056,
      "left gripper-book distance": 0.48899632612542193,
      "right gripper-book distance": 0.2914075851820909
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0653692680050773,
    "bimanual_gripper_vertical_difference": 0.0888759383433068,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0740561485290527,
    "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": 0.0007282911099335543,
      "left gripper-book distance": 0.48576715000806625,
      "right gripper-book distance": 0.28086886634258207
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0806383271113782,
    "bimanual_gripper_vertical_difference": 0.09279894957493344,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1028950214385986,
    "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": 0.0007190109232112496,
      "left gripper-book distance": 0.4825122291765533,
      "right gripper-book distance": 0.271817637197086
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0996776313067005,
    "bimanual_gripper_vertical_difference": 0.09583766656067805,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1312510967254639,
    "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": 0.0007222121682985971,
      "left gripper-book distance": 0.48052135142917185,
      "right gripper-book distance": 0.26647647867663604
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1222894048974965,
    "bimanual_gripper_vertical_difference": 0.09814655872159839,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1613199710845947,
    "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": 0.0006572182406374694,
      "left gripper-book distance": 0.4799425516075338,
      "right gripper-book distance": 0.24679448781727364
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1216600960819854,
    "bimanual_gripper_vertical_difference": 0.1004608312363557,
    "task_success": 0.0
  },
  {
    "completion_time": 1.190605640411377,
    "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": 0.0007216086506636188,
      "left gripper-book distance": 0.48058819057919616,
      "right gripper-book distance": 0.21751909623287208
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1321427807967812,
    "bimanual_gripper_vertical_difference": 0.10315700981164536,
    "task_success": 0.0
  },
  {
    "completion_time": 1.221405029296875,
    "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": 0.0006764303673085781,
      "left gripper-book distance": 0.4811826721322429,
      "right gripper-book distance": 0.20027621610489876
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1365211571097913,
    "bimanual_gripper_vertical_difference": 0.1060259394852852,
    "task_success": 0.0
  },
  {
    "completion_time": 1.250007152557373,
    "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": 0.0007303763400557939,
      "left gripper-book distance": 0.47974728366567015,
      "right gripper-book distance": 0.1919624663827528
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1152380179275814,
    "bimanual_gripper_vertical_difference": 0.10894835808603662,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2780466079711914,
    "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": 0.0006825800972817264,
      "left gripper-book distance": 0.47845208845781323,
      "right gripper-book distance": 0.1883193082691156
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0945158923844183,
    "bimanual_gripper_vertical_difference": 0.1118263336663592,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3076508045196533,
    "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": 0.0007436992262194186,
      "left gripper-book distance": 0.47699428857340315,
      "right gripper-book distance": 0.18535490161372248
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0719618719259758,
    "bimanual_gripper_vertical_difference": 0.11462978556746668,
    "task_success": 0.0
  },
  {
    "completion_time": 1.336139440536499,
    "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": 0.0007293157450474208,
      "left gripper-book distance": 0.4749989451756826,
      "right gripper-book distance": 0.17829886725302224
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0526878207190327,
    "bimanual_gripper_vertical_difference": 0.11741848619771456,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3647286891937256,
    "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": 0.0007699917770346287,
      "left gripper-book distance": 0.4727341082579715,
      "right gripper-book distance": 0.16781791888630132
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0422857303578423,
    "bimanual_gripper_vertical_difference": 0.1201918617308567,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3939440250396729,
    "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": 0.0007729306917448886,
      "left gripper-book distance": 0.47081184190539627,
      "right gripper-book distance": 0.1572715091313512
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0364375308767115,
    "bimanual_gripper_vertical_difference": 0.12290095535188367,
    "task_success": 0.0
  },
  {
    "completion_time": 1.422119379043579,
    "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": 0.0007731814131293202,
      "left gripper-book distance": 0.4693734141919966,
      "right gripper-book distance": 0.15002925132413392
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0318847225305399,
    "bimanual_gripper_vertical_difference": 0.1254942423006327,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4502251148223877,
    "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": 0.0007734141786425175,
      "left gripper-book distance": 0.46857740104501255,
      "right gripper-book distance": 0.14755386625501568
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0281771425443083,
    "bimanual_gripper_vertical_difference": 0.12794651716414748,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4787311553955078,
    "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": 0.0007736468451607914,
      "left gripper-book distance": 0.46758788213943203,
      "right gripper-book distance": 0.14771758002843896
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0231841740687935,
    "bimanual_gripper_vertical_difference": 0.13026682572703657,
    "task_success": 0.0
  },
  {
    "completion_time": 1.508985996246338,
    "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": 0.0007738795321017289,
      "left gripper-book distance": 0.4666938690777372,
      "right gripper-book distance": 0.14419374862238638
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0122573731809943,
    "bimanual_gripper_vertical_difference": 0.13255468333022893,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5373597145080566,
    "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": 8.330009436741115e-05,
      "left gripper-book distance": 0.4669350162752105,
      "right gripper-book distance": 0.1373291347375596
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.99696963308748,
    "bimanual_gripper_vertical_difference": 0.13488933811793874,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5660145282745361,
    "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": -0.0013388704150119057,
      "left gripper-book distance": 0.4687338690185275,
      "right gripper-book distance": 0.13665395089364618
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9807639837168812,
    "bimanual_gripper_vertical_difference": 0.13715789934536474,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5955867767333984,
    "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": -0.0015460411245780126,
      "left gripper-book distance": 0.46943888820928975,
      "right gripper-book distance": 0.13620993471372037
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.967348452813027,
    "bimanual_gripper_vertical_difference": 0.1393388809727457,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6250901222229004,
    "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": -0.001191880377787946,
      "left gripper-book distance": 0.4694107195336748,
      "right gripper-book distance": 0.13471217445158168
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9628778020954041,
    "bimanual_gripper_vertical_difference": 0.141438928641099,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6541845798492432,
    "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": -0.0008216442567949844,
      "left gripper-book distance": 0.46883568129350167,
      "right gripper-book distance": 0.1331543199505526
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9632049811899558,
    "bimanual_gripper_vertical_difference": 0.14345768662374694,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6843326091766357,
    "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": -0.0006262242630484804,
      "left gripper-book distance": 0.4678775432588792,
      "right gripper-book distance": 0.13038350716702457
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9629668787237018,
    "bimanual_gripper_vertical_difference": 0.14541293855223023,
    "task_success": 0.0
  },
  {
    "completion_time": 1.713996171951294,
    "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": 0.0005317996851621487,
      "left gripper-book distance": 0.4663852456543948,
      "right gripper-book distance": 0.12813789356001926
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9594876776162763,
    "bimanual_gripper_vertical_difference": 0.14728857075950955,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7425789833068848,
    "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": 0.0006036947704805007,
      "left gripper-book distance": 0.46627866881709246,
      "right gripper-book distance": 0.12610763891369084
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9475387791201194,
    "bimanual_gripper_vertical_difference": 0.1491128013662879,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7735066413879395,
    "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": 0.0008121890105042828,
      "left gripper-book distance": 0.46637691909112156,
      "right gripper-book distance": 0.12696634906187665
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9449319828059081,
    "bimanual_gripper_vertical_difference": 0.15087532747526625,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8071246147155762,
    "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": 0.0008152226974681431,
      "left gripper-book distance": 0.46666456726620476,
      "right gripper-book distance": 0.13190087047264704
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9505960945875171,
    "bimanual_gripper_vertical_difference": 0.15255800845890716,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8369503021240234,
    "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": 0.000815697972211038,
      "left gripper-book distance": 0.4670144264621278,
      "right gripper-book distance": 0.1400157792756488
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9537519340216677,
    "bimanual_gripper_vertical_difference": 0.15413213888347707,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8660223484039307,
    "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": 0.0008161539963199571,
      "left gripper-book distance": 0.4674099647984808,
      "right gripper-book distance": 0.14413229376899386
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9484971410481093,
    "bimanual_gripper_vertical_difference": 0.1556495011375174,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8948285579681396,
    "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": 0.00081660992618382,
      "left gripper-book distance": 0.4676970942849801,
      "right gripper-book distance": 0.14182365507294012
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9383368940171917,
    "bimanual_gripper_vertical_difference": 0.15719528919221193,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9236679077148438,
    "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": -0.0010363889164604068,
      "left gripper-book distance": 0.46941009905161557,
      "right gripper-book distance": 0.14135902497240266
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9272787694721634,
    "bimanual_gripper_vertical_difference": 0.15874085901609886,
    "task_success": 0.0
  },
  {
    "completion_time": 1.952282190322876,
    "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": 0.003366053180131612,
      "left gripper-book distance": 0.4660083771304272,
      "right gripper-book distance": 0.13772131930707415
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9162259683193557,
    "bimanual_gripper_vertical_difference": 0.16024536328683084,
    "task_success": 0.0
  },
  {
    "completion_time": 1.981182336807251,
    "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": 0.0037893240068525014,
      "left gripper-book distance": 0.4660775414732593,
      "right gripper-book distance": 0.13755019404117105
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9033789143522589,
    "bimanual_gripper_vertical_difference": 0.16170887804148915,
    "task_success": 0.0
  },
  {
    "completion_time": 2.010106086730957,
    "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": 0.00024684402219177226,
      "left gripper-book distance": 0.46940285941927506,
      "right gripper-book distance": 0.14039651251628987
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8914389205584429,
    "bimanual_gripper_vertical_difference": 0.16313120959171648,
    "task_success": 0.0
  },
  {
    "completion_time": 2.038910150527954,
    "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": 0.001731770125295684,
      "left gripper-book distance": 0.4684294915441923,
      "right gripper-book distance": 0.1391966242095815
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8836540073839703,
    "bimanual_gripper_vertical_difference": 0.1645034651609753,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0682151317596436,
    "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": -0.0016045702129409145,
      "left gripper-book distance": 0.4711121073838449,
      "right gripper-book distance": 0.14047610928350915
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8783636076196236,
    "bimanual_gripper_vertical_difference": 0.16585106491425106,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0973453521728516,
    "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": 0.0014386868207800774,
      "left gripper-book distance": 0.4687337698263712,
      "right gripper-book distance": 0.13757776650360515
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8773826202758082,
    "bimanual_gripper_vertical_difference": 0.1671460020693162,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1260955333709717,
    "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": -0.0012368078308560015,
      "left gripper-book distance": 0.47079654243990743,
      "right gripper-book distance": 0.1374509540143883
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8753615267372327,
    "bimanual_gripper_vertical_difference": 0.16842042781224137,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1544888019561768,
    "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": -0.0008163320832921261,
      "left gripper-book distance": 0.47022186006711225,
      "right gripper-book distance": 0.13587305363635302
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8734078450407363,
    "bimanual_gripper_vertical_difference": 0.169656906272823,
    "task_success": 0.0
  },
  {
    "completion_time": 2.182884454727173,
    "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": -0.00080791291469684,
      "left gripper-book distance": 0.4699030037391534,
      "right gripper-book distance": 0.13443626170025347
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8704960380476229,
    "bimanual_gripper_vertical_difference": 0.1708640488300762,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2122609615325928,
    "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": -0.0008132102162010657,
      "left gripper-book distance": 0.4696929392329815,
      "right gripper-book distance": 0.13311857123806428
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8671403500187544,
    "bimanual_gripper_vertical_difference": 0.17204225805239992,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2414603233337402,
    "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": -0.0006334742364347834,
      "left gripper-book distance": 0.46944771128284274,
      "right gripper-book distance": 0.131831594985176
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8636585915799888,
    "bimanual_gripper_vertical_difference": 0.17318963780665228,
    "task_success": 0.0
  },
  {
    "completion_time": 2.270547389984131,
    "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": 0.0006719401628645372,
      "left gripper-book distance": 0.4685195994491584,
      "right gripper-book distance": 0.13036129656180737
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8596941685705595,
    "bimanual_gripper_vertical_difference": 0.1742976522641931,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3003063201904297,
    "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": 0.0005857218516625018,
      "left gripper-book distance": 0.46857487752403815,
      "right gripper-book distance": 0.12923110253273748
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8544397343035217,
    "bimanual_gripper_vertical_difference": 0.17538120697940854,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3287017345428467,
    "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": -0.00040257463768889057,
      "left gripper-book distance": 0.46940485583656116,
      "right gripper-book distance": 0.12800869289026137
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8461772273555028,
    "bimanual_gripper_vertical_difference": 0.17645342024591798,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3583638668060303,
    "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": 0.00056122212514087,
      "left gripper-book distance": 0.46864545050878004,
      "right gripper-book distance": 0.12783207440337013
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8374805122871344,
    "bimanual_gripper_vertical_difference": 0.17748750661710233,
    "task_success": 0.0
  },
  {
    "completion_time": 2.389930486679077,
    "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": -0.0006289265756077578,
      "left gripper-book distance": 0.46913381548592814,
      "right gripper-book distance": 0.12939599923186484
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8398916510479836,
    "bimanual_gripper_vertical_difference": 0.1785044042877935,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4197962284088135,
    "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": 0.0005280578563611193,
      "left gripper-book distance": 0.4674230788718702,
      "right gripper-book distance": 0.13200538324900035
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8466400817102404,
    "bimanual_gripper_vertical_difference": 0.17947319841541653,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4504361152648926,
    "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": 0.0007572671048016177,
      "left gripper-book distance": 0.46708968202502016,
      "right gripper-book distance": 0.13772843722560596
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.845707906411556,
    "bimanual_gripper_vertical_difference": 0.1803846279466517,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4798097610473633,
    "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": 0.0007588157063742607,
      "left gripper-book distance": 0.4669529272383673,
      "right gripper-book distance": 0.1441974323323718
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8451302336014054,
    "bimanual_gripper_vertical_difference": 0.18123288054065062,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5093581676483154,
    "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": 0.0007595600025174232,
      "left gripper-book distance": 0.46675991349385354,
      "right gripper-book distance": 0.15026888093293167
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8529154020418969,
    "bimanual_gripper_vertical_difference": 0.18199977116819566,
    "task_success": 0.0
  },
  {
    "completion_time": 2.539430856704712,
    "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": 0.0007602989746434696,
      "left gripper-book distance": 0.466773700029094,
      "right gripper-book distance": 0.15718229941266942
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8705738240869589,
    "bimanual_gripper_vertical_difference": 0.18264422049808626,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5688562393188477,
    "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": 0.0007610379581658444,
      "left gripper-book distance": 0.46718183971316796,
      "right gripper-book distance": 0.16769149558779595
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8949551181995538,
    "bimanual_gripper_vertical_difference": 0.18309775361879932,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5975728034973145,
    "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": 0.0007617769887161563,
      "left gripper-book distance": 0.46664515391568606,
      "right gripper-book distance": 0.17987144927268625
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9141201733905301,
    "bimanual_gripper_vertical_difference": 0.18336987459310986,
    "task_success": 0.0
  },
  {
    "completion_time": 2.627908229827881,
    "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": 0.0007625160665353237,
      "left gripper-book distance": 0.46518420999286325,
      "right gripper-book distance": 0.17830811928470808
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9178058055326127,
    "bimanual_gripper_vertical_difference": 0.18366711193138205,
    "task_success": 0.0
  },
  {
    "completion_time": 2.656646728515625,
    "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": 0.0007632551916272323,
      "left gripper-book distance": 0.4640808476727092,
      "right gripper-book distance": 0.1649805116965873
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9135917498631375,
    "bimanual_gripper_vertical_difference": 0.18412277867934645,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6863818168640137,
    "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": 0.0007639943639951019,
      "left gripper-book distance": 0.46336768603208145,
      "right gripper-book distance": 0.15733040675951893
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9129035074560762,
    "bimanual_gripper_vertical_difference": 0.18463800749427833,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7178866863250732,
    "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": 0.0007647335836413749,
      "left gripper-book distance": 0.46290797981712245,
      "right gripper-book distance": 0.15696006727978973
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.904150251812514,
    "bimanual_gripper_vertical_difference": 0.1851396626122488,
    "task_success": 0.0
  },
  {
    "completion_time": 2.747462511062622,
    "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": 0.0007654728505689379,
      "left gripper-book distance": 0.4614920872698872,
      "right gripper-book distance": 0.1579451014447528
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8969014663093483,
    "bimanual_gripper_vertical_difference": 0.18559890464287948,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7769699096679688,
    "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": 0.0007662121647804554,
      "left gripper-book distance": 0.45959305712366666,
      "right gripper-book distance": 0.1566339479859126
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8997344531546,
    "bimanual_gripper_vertical_difference": 0.18604518188338118,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8065743446350098,
    "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": 0.000766951526278814,
      "left gripper-book distance": 0.45803058671593033,
      "right gripper-book distance": 0.15456250403680052
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9067863252688777,
    "bimanual_gripper_vertical_difference": 0.1865057849621259,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8366284370422363,
    "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": 0.0007676909350667893,
      "left gripper-book distance": 0.45696195320343985,
      "right gripper-book distance": 0.15298196734481548
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9166747894239364,
    "bimanual_gripper_vertical_difference": 0.18699492750658256,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8680403232574463,
    "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": 0.0007684303911469348,
      "left gripper-book distance": 0.4563585282398617,
      "right gripper-book distance": 0.1530511595210346
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9283907677070519,
    "bimanual_gripper_vertical_difference": 0.18750471161773982,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8975632190704346,
    "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": 0.000769169894522248,
      "left gripper-book distance": 0.45594790827566883,
      "right gripper-book distance": 0.1544602578907879
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9398290532747747,
    "bimanual_gripper_vertical_difference": 0.1880237160994868,
    "task_success": 0.0
  },
  {
    "completion_time": 2.927847385406494,
    "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": 0.0007699094451953936,
      "left gripper-book distance": 0.45561552258803895,
      "right gripper-book distance": 0.15654480012134242
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9479045005072788,
    "bimanual_gripper_vertical_difference": 0.1885452438793364,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9572813510894775,
    "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": 0.0007706490431691471,
      "left gripper-book distance": 0.45531615898953304,
      "right gripper-book distance": 0.15929410159782403
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9548326708955698,
    "bimanual_gripper_vertical_difference": 0.18906315342477023,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9891717433929443,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007713886884460619,
      "left gripper-book distance": 0.4551484203094928,
      "right gripper-book distance": 0.16244255414891082
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9602338245405261,
    "bimanual_gripper_vertical_difference": 0.1895751416784199,
    "task_success": 0.0
  },
  {
    "completion_time": 3.019253969192505,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007721283810291357,
      "left gripper-book distance": 0.45508369101290846,
      "right gripper-book distance": 0.16553179676219967
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9643175909522741,
    "bimanual_gripper_vertical_difference": 0.19008300063684203,
    "task_success": 0.0
  },
  {
    "completion_time": 3.048736333847046,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007728681209211441,
      "left gripper-book distance": 0.45511894587774493,
      "right gripper-book distance": 0.1685346127241094
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.967712298863791,
    "bimanual_gripper_vertical_difference": 0.19058801506224798,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0775671005249023,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007736079081246405,
      "left gripper-book distance": 0.45519427981540617,
      "right gripper-book distance": 0.17149253996129518
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9707972203444094,
    "bimanual_gripper_vertical_difference": 0.19108811439411674,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1055386066436768,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007743477426425116,
      "left gripper-book distance": 0.45519923728153666,
      "right gripper-book distance": 0.17411855175108562
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9729908315666596,
    "bimanual_gripper_vertical_difference": 0.19158084361826158,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1332530975341797,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007750876244776439,
      "left gripper-book distance": 0.45521472370987803,
      "right gripper-book distance": 0.17599343797584682
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9738218945593203,
    "bimanual_gripper_vertical_difference": 0.19206786645880314,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1612930297851562,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007758275536324799,
      "left gripper-book distance": 0.45533686361689335,
      "right gripper-book distance": 0.17728472512600396
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9746953270888727,
    "bimanual_gripper_vertical_difference": 0.19255148369569702,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1893842220306396,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007765675301100172,
      "left gripper-book distance": 0.45550674265620245,
      "right gripper-book distance": 0.17816987218375882
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9775873670552458,
    "bimanual_gripper_vertical_difference": 0.19303402717051288,
    "task_success": 0.0
  },
  {
    "completion_time": 3.217636823654175,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007773075539129204,
      "left gripper-book distance": 0.45561545361978206,
      "right gripper-book distance": 0.17760215966589488
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9809239016243615,
    "bimanual_gripper_vertical_difference": 0.19352677030600404,
    "task_success": 0.0
  },
  {
    "completion_time": 3.245722770690918,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.000778047625043965,
      "left gripper-book distance": 0.45577015734278375,
      "right gripper-book distance": 0.17489482456322739
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9816181314591268,
    "bimanual_gripper_vertical_difference": 0.19404389944417186,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2738304138183594,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007787877435060375,
      "left gripper-book distance": 0.4560133557749438,
      "right gripper-book distance": 0.17095563101451486
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9811403366299064,
    "bimanual_gripper_vertical_difference": 0.1945907551179764,
    "task_success": 0.0
  },
  {
    "completion_time": 3.302799940109253,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007795279093016916,
      "left gripper-book distance": 0.4563397359424715,
      "right gripper-book distance": 0.16704201595840396
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9799400011329397,
    "bimanual_gripper_vertical_difference": 0.1951637952905945,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3319196701049805,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005144940397684428,
      "left gripper-book distance": 0.4568406053498867,
      "right gripper-book distance": 0.163532149191083
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9775283764690084,
    "bimanual_gripper_vertical_difference": 0.19575774865618772,
    "task_success": 0.0
  },
  {
    "completion_time": 3.360550880432129,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005519118223742403,
      "left gripper-book distance": 0.4570458550325639,
      "right gripper-book distance": 0.16020708580724421
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9750131285775663,
    "bimanual_gripper_vertical_difference": 0.19636784309407018,
    "task_success": 0.0
  },
  {
    "completion_time": 3.38931941986084,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005786473698898842,
      "left gripper-book distance": 0.45732497589285726,
      "right gripper-book distance": 0.1577170693708283
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9747629872016282,
    "bimanual_gripper_vertical_difference": 0.19698938270648814,
    "task_success": 0.0
  },
  {
    "completion_time": 3.417349338531494,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005900051045204524,
      "left gripper-book distance": 0.45763814287176235,
      "right gripper-book distance": 0.1562254343486457
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.977077774243353,
    "bimanual_gripper_vertical_difference": 0.19761796570614687,
    "task_success": 0.0
  },
  {
    "completion_time": 3.445200204849243,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.00048820164176055503,
      "left gripper-book distance": 0.4580558592300654,
      "right gripper-book distance": 0.15521816669382665
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9813451430563949,
    "bimanual_gripper_vertical_difference": 0.1982482475209156,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4742584228515625,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005069623468602069,
      "left gripper-book distance": 0.45838974498721574,
      "right gripper-book distance": 0.15447508665769868
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9884858602463781,
    "bimanual_gripper_vertical_difference": 0.19887584954771848,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5025393962860107,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005336453031088428,
      "left gripper-book distance": 0.4586639228602766,
      "right gripper-book distance": 0.15381113536376442
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9969313593736315,
    "bimanual_gripper_vertical_difference": 0.1995073545953614,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5306832790374756,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005676889990613443,
      "left gripper-book distance": 0.4587916062579585,
      "right gripper-book distance": 0.15230731764884287
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0026825509251545,
    "bimanual_gripper_vertical_difference": 0.2001594877363681,
    "task_success": 0.0
  },
  {
    "completion_time": 3.561213493347168,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005490860211224691,
      "left gripper-book distance": 0.4588382416953027,
      "right gripper-book distance": 0.15001655547691592
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.005635836649047,
    "bimanual_gripper_vertical_difference": 0.20084568098096692,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5898518562316895,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005756611473580753,
      "left gripper-book distance": 0.45893531179816127,
      "right gripper-book distance": 0.14713474284783087
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.008004983324114,
    "bimanual_gripper_vertical_difference": 0.20157393457141126,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6167938709259033,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -0.0016001471289357472,
      "left gripper-book distance": 0.46108480082152753,
      "right gripper-book distance": 0.14525549957192968
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.011002368864843,
    "bimanual_gripper_vertical_difference": 0.20232329380333372,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6476848125457764,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -0.0022696911106749873,
      "left gripper-book distance": 0.4620239375818841,
      "right gripper-book distance": 0.1446263374592863
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0143268103728054,
    "bimanual_gripper_vertical_difference": 0.2030547313002346,
    "task_success": 0.0
  },
  {
    "completion_time": 3.677461862564087,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -0.0017037198465490455,
      "left gripper-book distance": 0.46189384391505334,
      "right gripper-book distance": 0.14398965610497144
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.01137039511082,
    "bimanual_gripper_vertical_difference": 0.20376694696881975,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7067883014678955,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -0.0015256400537682069,
      "left gripper-book distance": 0.4624273197572323,
      "right gripper-book distance": 0.14342079773117367
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0084618098715132,
    "bimanual_gripper_vertical_difference": 0.204462929643695,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7355284690856934,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -0.0011945344727282148,
      "left gripper-book distance": 0.4618101536996734,
      "right gripper-book distance": 0.1437432700255801
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0052520983957423,
    "bimanual_gripper_vertical_difference": 0.20513535221320883,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7656311988830566,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0001369667239072836,
      "left gripper-book distance": 0.4593245433074553,
      "right gripper-book distance": 0.14372025982644762
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9978659349024519,
    "bimanual_gripper_vertical_difference": 0.20577189345774388,
    "task_success": 0.0
  },
  {
    "completion_time": 3.794868230819702,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -3.053443426104252e-05,
      "left gripper-book distance": 0.4582634821786596,
      "right gripper-book distance": 0.14386426589458184
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9904176631292627,
    "bimanual_gripper_vertical_difference": 0.20638934173360793,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8244469165802,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.00020177195921855517,
      "left gripper-book distance": 0.4573681295276044,
      "right gripper-book distance": 0.14378646941685994
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9833041586881291,
    "bimanual_gripper_vertical_difference": 0.2069906594658201,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8543741703033447,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 1.6844781455027658e-05,
      "left gripper-book distance": 0.4569887587730653,
      "right gripper-book distance": 0.14399935009019876
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9759524262093157,
    "bimanual_gripper_vertical_difference": 0.20757694140255933,
    "task_success": 0.0
  },
  {
    "completion_time": 3.884650230407715,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -7.73046437474445e-06,
      "left gripper-book distance": 0.4561173761102402,
      "right gripper-book distance": 0.1442114984241598
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9687714218020379,
    "bimanual_gripper_vertical_difference": 0.2081484946338151,
    "task_success": 0.0
  },
  {
    "completion_time": 3.914483070373535,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -0.00017001705654162702,
      "left gripper-book distance": 0.45419839306739296,
      "right gripper-book distance": 0.14441800400991434
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9640466188197666,
    "bimanual_gripper_vertical_difference": 0.20869983771377093,
    "task_success": 0.0
  },
  {
    "completion_time": 3.94340443611145,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.00044189893967472305,
      "left gripper-book distance": 0.45127642605901214,
      "right gripper-book distance": 0.1437501991477139
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9604456365638936,
    "bimanual_gripper_vertical_difference": 0.2092293765563285,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9739181995391846,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.00042618909410729877,
      "left gripper-book distance": 0.44936657905772476,
      "right gripper-book distance": 0.14319571997131017
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9561179583894991,
    "bimanual_gripper_vertical_difference": 0.20974257715736924,
    "task_success": 0.0
  },
  {
    "completion_time": 4.003321886062622,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.00057050540416137,
      "left gripper-book distance": 0.44823230475311365,
      "right gripper-book distance": 0.14299776047470092
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9519198883844906,
    "bimanual_gripper_vertical_difference": 0.21024248212717006,
    "task_success": 0.0
  },
  {
    "completion_time": 4.033812046051025,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.00048489695832054647,
      "left gripper-book distance": 0.4475714008475745,
      "right gripper-book distance": 0.1426747556558759
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9478586510351661,
    "bimanual_gripper_vertical_difference": 0.21073382437334007,
    "task_success": 0.0
  },
  {
    "completion_time": 4.064346551895142,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007144615586269776,
      "left gripper-book distance": 0.44693437461859176,
      "right gripper-book distance": 0.14131253076271175
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9434607988231674,
    "bimanual_gripper_vertical_difference": 0.21121469693981565,
    "task_success": 0.0
  },
  {
    "completion_time": 4.093894004821777,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0007865177917878441,
      "left gripper-book distance": 0.4468294906645791,
      "right gripper-book distance": 0.1407109335451874
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9399338194662978,
    "bimanual_gripper_vertical_difference": 0.21167124375371008,
    "task_success": 0.0
  },
  {
    "completion_time": 4.123310804367065,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005466539261860248,
      "left gripper-book distance": 0.44729504284694993,
      "right gripper-book distance": 0.14151811848451612
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.936557509730787,
    "bimanual_gripper_vertical_difference": 0.2120918648419004,
    "task_success": 0.0
  },
  {
    "completion_time": 4.155118942260742,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005094929478688393,
      "left gripper-book distance": 0.44770349092737677,
      "right gripper-book distance": 0.14266448767423187
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9331784946675584,
    "bimanual_gripper_vertical_difference": 0.21248194762310552,
    "task_success": 0.0
  },
  {
    "completion_time": 4.185013771057129,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.000544608582917494,
      "left gripper-book distance": 0.44807295080667636,
      "right gripper-book distance": 0.14138696521002783
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9285551683890788,
    "bimanual_gripper_vertical_difference": 0.21287860543703768,
    "task_success": 0.0
  },
  {
    "completion_time": 4.213956832885742,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005724081371950573,
      "left gripper-book distance": 0.4483316715224723,
      "right gripper-book distance": 0.13603287540106393
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9289397830505497,
    "bimanual_gripper_vertical_difference": 0.21333591656703252,
    "task_success": 0.0
  },
  {
    "completion_time": 4.2422051429748535,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": -0.0015549333011642963,
      "left gripper-book distance": 0.4506599405939187,
      "right gripper-book distance": 0.13659631999467894
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9250476684818655,
    "bimanual_gripper_vertical_difference": 0.21376401659106647,
    "task_success": 0.0
  },
  {
    "completion_time": 4.270281076431274,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0006438837000577458,
      "left gripper-book distance": 0.4494695487883753,
      "right gripper-book distance": 0.1372449600743987
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9220188690684432,
    "bimanual_gripper_vertical_difference": 0.21414525448831734,
    "task_success": 0.0
  },
  {
    "completion_time": 4.299755573272705,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0019000113821469045,
      "left gripper-book distance": 0.447442567295649,
      "right gripper-book distance": 0.13927893110050615
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9204847671951494,
    "bimanual_gripper_vertical_difference": 0.21451607171122894,
    "task_success": 0.0
  },
  {
    "completion_time": 4.331052541732788,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.006356929730655714,
      "left gripper-book distance": 0.4439990198469829,
      "right gripper-book distance": 0.143660239666235
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9255314694574526,
    "bimanual_gripper_vertical_difference": 0.21483336412711318,
    "task_success": 0.0
  },
  {
    "completion_time": 4.362219572067261,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.012561979624594044,
      "left gripper-book distance": 0.4396179781358722,
      "right gripper-book distance": 0.149351363964773
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9368380559687476,
    "bimanual_gripper_vertical_difference": 0.21507681185795535,
    "task_success": 0.0
  },
  {
    "completion_time": 4.39266300201416,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.022833026088265984,
      "left gripper-book distance": 0.4308176433611253,
      "right gripper-book distance": 0.15604099579345448
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9487529292592264,
    "bimanual_gripper_vertical_difference": 0.2152117503616177,
    "task_success": 0.0
  },
  {
    "completion_time": 4.4217493534088135,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.04035328591757936,
      "left gripper-book distance": 0.41805905329797804,
      "right gripper-book distance": 0.16017807365524456
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9581155502471016,
    "bimanual_gripper_vertical_difference": 0.21522056415062812,
    "task_success": 0.0
  },
  {
    "completion_time": 4.451845407485962,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.06250187682426955,
      "left gripper-book distance": 0.4038386433544161,
      "right gripper-book distance": 0.16445881311268903
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 0.966824848932848,
    "bimanual_gripper_vertical_difference": 0.21507231366134227,
    "task_success": 1.0
  }
]