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    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.06516133604496999,
      "left gripper-book distance": 0.1414250179548681,
      "right gripper-book distance": 0.44762479553701867
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 1.2455511755143291,
    "bimanual_gripper_vertical_difference": 0.272315945285548,
    "task_success": 1.0
  }
]