[
  {
    "completion_time": 0.04397130012512207,
    "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": -0.00065760204860843,
      "left gripper-book distance": 0.5063885695767403,
      "right gripper-book distance": 0.5066343022775975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.001828830561653394,
    "bimanual_gripper_vertical_difference": 0.0001528238457972897,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07281041145324707,
    "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": 0.0005674375990557534,
      "left gripper-book distance": 0.5038914939912404,
      "right gripper-book distance": 0.5041280212084048
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0013212222229386263,
    "bimanual_gripper_vertical_difference": 0.0001531918779009711,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10213446617126465,
    "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": 0.0007380219397271626,
      "left gripper-book distance": 0.5027498226550026,
      "right gripper-book distance": 0.5029713836212901
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0010534671658479998,
    "bimanual_gripper_vertical_difference": 0.00014683198490872407,
    "task_success": 0.0
  },
  {
    "completion_time": 0.13061761856079102,
    "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": 0.0006505387417128361,
      "left gripper-book distance": 0.5021732790386711,
      "right gripper-book distance": 0.5023844250186053
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008863447989087584,
    "bimanual_gripper_vertical_difference": 0.0001404314330649692,
    "task_success": 0.0
  },
  {
    "completion_time": 0.15944266319274902,
    "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": 0.0005268709697482388,
      "left gripper-book distance": 0.5018694129356088,
      "right gripper-book distance": 0.5020474930317067
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0008422645803745153,
    "bimanual_gripper_vertical_difference": 0.00013492083897479468,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1879594326019287,
    "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": 0.0005808829610109978,
      "left gripper-book distance": 0.5007358427330747,
      "right gripper-book distance": 0.5002636176079164
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.03025321166895015,
    "bimanual_gripper_vertical_difference": 0.0003451586409019362,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21576619148254395,
    "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": 0.0006989515326794038,
      "left gripper-book distance": 0.49910671093582226,
      "right gripper-book distance": 0.4940479478147902
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.17659043227803778,
    "bimanual_gripper_vertical_difference": 0.002121126392608514,
    "task_success": 0.0
  },
  {
    "completion_time": 0.24348163604736328,
    "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": 0.0006042795767432496,
      "left gripper-book distance": 0.49785041942490754,
      "right gripper-book distance": 0.48513589698219656
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36388005947150914,
    "bimanual_gripper_vertical_difference": 0.00607179708469649,
    "task_success": 0.0
  },
  {
    "completion_time": 0.27237558364868164,
    "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": 0.0005262332895653588,
      "left gripper-book distance": 0.4964856461814696,
      "right gripper-book distance": 0.4748445930408406
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5635169014798345,
    "bimanual_gripper_vertical_difference": 0.011957516970500823,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3018171787261963,
    "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": 0.0005471885453846026,
      "left gripper-book distance": 0.49501590395215095,
      "right gripper-book distance": 0.462167341891927
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.761727674056021,
    "bimanual_gripper_vertical_difference": 0.01932895811095283,
    "task_success": 0.0
  },
  {
    "completion_time": 0.32998037338256836,
    "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": 0.00042609565681128725,
      "left gripper-book distance": 0.493628480875989,
      "right gripper-book distance": 0.4424020863152661
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.937611544749798,
    "bimanual_gripper_vertical_difference": 0.02818836087522966,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3587770462036133,
    "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": 0.0005017399467522887,
      "left gripper-book distance": 0.4915367552433547,
      "right gripper-book distance": 0.4099415532047829
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.064237453566865,
    "bimanual_gripper_vertical_difference": 0.03901224614564813,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3878152370452881,
    "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": 0.0006576387411730833,
      "left gripper-book distance": 0.4889774433701125,
      "right gripper-book distance": 0.3800663125643111
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.087272625335785,
    "bimanual_gripper_vertical_difference": 0.050416191010479554,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4160780906677246,
    "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": 0.000655369582706844,
      "left gripper-book distance": 0.486515714057437,
      "right gripper-book distance": 0.3566657149110953
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0810039745058522,
    "bimanual_gripper_vertical_difference": 0.06101133150207066,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4459373950958252,
    "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": 0.000569687400069463,
      "left gripper-book distance": 0.4842904509228425,
      "right gripper-book distance": 0.33622828895342033
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0736219056334197,
    "bimanual_gripper_vertical_difference": 0.07047976716449984,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4756464958190918,
    "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": 0.000540832695982818,
      "left gripper-book distance": 0.48239926376066655,
      "right gripper-book distance": 0.3177860583117442
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.077573081128,
    "bimanual_gripper_vertical_difference": 0.07887055498267037,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5048718452453613,
    "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": 0.0005064368611523706,
      "left gripper-book distance": 0.48100514139727824,
      "right gripper-book distance": 0.30078048262268164
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0728590163073872,
    "bimanual_gripper_vertical_difference": 0.0863433271105928,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5349969863891602,
    "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": 0.00056328373025194,
      "left gripper-book distance": 0.4799209847995397,
      "right gripper-book distance": 0.28526180496106024
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0546798511418742,
    "bimanual_gripper_vertical_difference": 0.09303105130517383,
    "task_success": 0.0
  },
  {
    "completion_time": 0.563819408416748,
    "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": 0.0006393359269578625,
      "left gripper-book distance": 0.47915207680403527,
      "right gripper-book distance": 0.27188385383702574
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.028395232875572,
    "bimanual_gripper_vertical_difference": 0.0990154914409454,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5922248363494873,
    "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": 0.0007188927615993101,
      "left gripper-book distance": 0.4789341572525971,
      "right gripper-book distance": 0.26111092744509995
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0035047587726877,
    "bimanual_gripper_vertical_difference": 0.10437180578206454,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6236381530761719,
    "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": 0.0006824478899480901,
      "left gripper-book distance": 0.47917164930145045,
      "right gripper-book distance": 0.25252386898537177
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9822112576969149,
    "bimanual_gripper_vertical_difference": 0.10917927802487959,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6524536609649658,
    "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": 0.0005426481893561208,
      "left gripper-book distance": 0.47956408587383903,
      "right gripper-book distance": 0.24547134452134967
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9632808528473498,
    "bimanual_gripper_vertical_difference": 0.11349707369357344,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6823818683624268,
    "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": 0.0005697075028379128,
      "left gripper-book distance": 0.4802102328006687,
      "right gripper-book distance": 0.23942593274043225
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.949064490872082,
    "bimanual_gripper_vertical_difference": 0.11738556695766081,
    "task_success": 0.0
  },
  {
    "completion_time": 0.711754322052002,
    "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": 0.0006010423932946152,
      "left gripper-book distance": 0.4812552107956263,
      "right gripper-book distance": 0.23401520362568912
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9377997505517836,
    "bimanual_gripper_vertical_difference": 0.12089692736038478,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7405636310577393,
    "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": 0.000647375942930406,
      "left gripper-book distance": 0.4825982025028493,
      "right gripper-book distance": 0.22873795622772533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9258417372115071,
    "bimanual_gripper_vertical_difference": 0.12410795532785585,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7701597213745117,
    "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": 0.0005612072356449005,
      "left gripper-book distance": 0.48441868505352,
      "right gripper-book distance": 0.22300798094529622
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9138609961667391,
    "bimanual_gripper_vertical_difference": 0.1271144525911188,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7978084087371826,
    "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": 0.0005296471480112919,
      "left gripper-book distance": 0.4864917225131242,
      "right gripper-book distance": 0.21698496520189345
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9030364211545275,
    "bimanual_gripper_vertical_difference": 0.12999175380619304,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8260059356689453,
    "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": 0.0005286125105281592,
      "left gripper-book distance": 0.4883249990780295,
      "right gripper-book distance": 0.21081745359205403
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8938592497952369,
    "bimanual_gripper_vertical_difference": 0.1327545021622432,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8552114963531494,
    "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": 0.00044595630905464034,
      "left gripper-book distance": 0.49012992709596825,
      "right gripper-book distance": 0.20520044171415863
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8843162605023333,
    "bimanual_gripper_vertical_difference": 0.13540119816368523,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8848400115966797,
    "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": 0.0005564527648699302,
      "left gripper-book distance": 0.4914164745439,
      "right gripper-book distance": 0.20034257830278698
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8757992898576673,
    "bimanual_gripper_vertical_difference": 0.13791164250093269,
    "task_success": 0.0
  },
  {
    "completion_time": 0.917304277420044,
    "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": 0.0007179572734083983,
      "left gripper-book distance": 0.4921726546285758,
      "right gripper-book distance": 0.19571457870765888
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8569572491352284,
    "bimanual_gripper_vertical_difference": 0.1402899277666508,
    "task_success": 0.0
  },
  {
    "completion_time": 0.947030782699585,
    "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": 0.0007149288319033831,
      "left gripper-book distance": 0.49254006574404774,
      "right gripper-book distance": 0.1911279480639069
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8349477592547216,
    "bimanual_gripper_vertical_difference": 0.14255433502714476,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9762911796569824,
    "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": 0.0004954045080119984,
      "left gripper-book distance": 0.49273885109000454,
      "right gripper-book distance": 0.1859228283073493
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.813716057353133,
    "bimanual_gripper_vertical_difference": 0.1447500295233389,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0059850215911865,
    "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": 0.0005739754973544953,
      "left gripper-book distance": 0.49267900390175356,
      "right gripper-book distance": 0.17901337422140387
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7978322762996354,
    "bimanual_gripper_vertical_difference": 0.1469314530231045,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0358185768127441,
    "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": 0.0005610560285211896,
      "left gripper-book distance": 0.4925199374728837,
      "right gripper-book distance": 0.17158457286043802
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7884351055145342,
    "bimanual_gripper_vertical_difference": 0.14912131077474558,
    "task_success": 0.0
  },
  {
    "completion_time": 1.065974473953247,
    "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": 0.000594691752376475,
      "left gripper-book distance": 0.49222798074821433,
      "right gripper-book distance": 0.16507567804483608
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7820969593375122,
    "bimanual_gripper_vertical_difference": 0.15129057447130595,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0955140590667725,
    "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": 0.0006015265241112733,
      "left gripper-book distance": 0.4920454595504409,
      "right gripper-book distance": 0.16021921470972603
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7764445580333741,
    "bimanual_gripper_vertical_difference": 0.15339464568128464,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1248657703399658,
    "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": 0.000532322864888024,
      "left gripper-book distance": 0.49225453035228756,
      "right gripper-book distance": 0.15844855861178772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7619419754930115,
    "bimanual_gripper_vertical_difference": 0.1553852426839816,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1554064750671387,
    "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": 0.0005703172786533095,
      "left gripper-book distance": 0.4931738228786518,
      "right gripper-book distance": 0.15772841758294281
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7747876410421072,
    "bimanual_gripper_vertical_difference": 0.1573053131304907,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1846981048583984,
    "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": 0.0006559804077158615,
      "left gripper-book distance": 0.4945890582298488,
      "right gripper-book distance": 0.15825130376902793
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7990107036557089,
    "bimanual_gripper_vertical_difference": 0.1591912992711611,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2155630588531494,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005253992487870285,
      "left gripper-book distance": 0.4965418138108721,
      "right gripper-book distance": 0.16090655873399543
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8149289193224588,
    "bimanual_gripper_vertical_difference": 0.16103176035076225,
    "task_success": 0.0
  },
  {
    "completion_time": 1.244110345840454,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.000578214567344193,
      "left gripper-book distance": 0.49846322519021224,
      "right gripper-book distance": 0.16438622703236844
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8236004152041703,
    "bimanual_gripper_vertical_difference": 0.16282470745747962,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2721846103668213,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.000446551645111537,
      "left gripper-book distance": 0.5002808471684155,
      "right gripper-book distance": 0.16840210319074586
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8295410617966011,
    "bimanual_gripper_vertical_difference": 0.16455670363932284,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3005645275115967,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005486019950653453,
      "left gripper-book distance": 0.5015410783392991,
      "right gripper-book distance": 0.1724028553800855
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8368561342318845,
    "bimanual_gripper_vertical_difference": 0.16621311359342242,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3289735317230225,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005600830639422849,
      "left gripper-book distance": 0.5021786362526617,
      "right gripper-book distance": 0.1761923008831688
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8442181132329076,
    "bimanual_gripper_vertical_difference": 0.16779261994897954,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3572313785552979,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005850896153901664,
      "left gripper-book distance": 0.5021553592383188,
      "right gripper-book distance": 0.17873714629818807
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8488165658310772,
    "bimanual_gripper_vertical_difference": 0.16928719076594886,
    "task_success": 0.0
  },
  {
    "completion_time": 1.387049913406372,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005914573947322088,
      "left gripper-book distance": 0.5017575939851965,
      "right gripper-book distance": 0.1746529288295813
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8592613273123095,
    "bimanual_gripper_vertical_difference": 0.17075524166831796,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4162976741790771,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005217829515399286,
      "left gripper-book distance": 0.5012997669797615,
      "right gripper-book distance": 0.16407107739667312
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8818625465179936,
    "bimanual_gripper_vertical_difference": 0.1723199903327267,
    "task_success": 0.0
  },
  {
    "completion_time": 1.445955753326416,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.000522354604727826,
      "left gripper-book distance": 0.5006490730035359,
      "right gripper-book distance": 0.14895184837054626
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9180807225616533,
    "bimanual_gripper_vertical_difference": 0.1740368701873713,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4767508506774902,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.000552795822075125,
      "left gripper-book distance": 0.49993296617652716,
      "right gripper-book distance": 0.13493537981676754
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9442955114437452,
    "bimanual_gripper_vertical_difference": 0.1758545228287392,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5076217651367188,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0006686413838015159,
      "left gripper-book distance": 0.49902564761979673,
      "right gripper-book distance": 0.13254821915560178
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9403563277225423,
    "bimanual_gripper_vertical_difference": 0.17754713027883107,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5387353897094727,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0006484561966653146,
      "left gripper-book distance": 0.4979197229139801,
      "right gripper-book distance": 0.13068020678065725
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9265581444317866,
    "bimanual_gripper_vertical_difference": 0.17915000112658494,
    "task_success": 0.0
  },
  {
    "completion_time": 1.569399356842041,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0006307859260776816,
      "left gripper-book distance": 0.49662228229159927,
      "right gripper-book distance": 0.12930453165657854
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9133439604624232,
    "bimanual_gripper_vertical_difference": 0.18067367783298052,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5995848178863525,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0006389386971549227,
      "left gripper-book distance": 0.49541686344085434,
      "right gripper-book distance": 0.1279758301496539
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9022992212479712,
    "bimanual_gripper_vertical_difference": 0.18212710888331254,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6285803318023682,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005459973998348522,
      "left gripper-book distance": 0.4942418814994063,
      "right gripper-book distance": 0.12624230931752772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8934519379202946,
    "bimanual_gripper_vertical_difference": 0.1835197539628479,
    "task_success": 0.0
  },
  {
    "completion_time": 1.658860683441162,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0005566090042489202,
      "left gripper-book distance": 0.4928203280839921,
      "right gripper-book distance": 0.12397625573236316
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8870453985359605,
    "bimanual_gripper_vertical_difference": 0.1848551755682645,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6880595684051514,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0009154620172193706,
      "left gripper-book distance": 0.4909232502543443,
      "right gripper-book distance": 0.12221178448624544
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8798730976682819,
    "bimanual_gripper_vertical_difference": 0.18612529887005813,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7167775630950928,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006775654836315148,
      "left gripper-book distance": 0.48975497564381104,
      "right gripper-book distance": 0.12332004467049644
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8730930619416452,
    "bimanual_gripper_vertical_difference": 0.18733936643151988,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7461564540863037,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0010126494065965108,
      "left gripper-book distance": 0.48833632139882405,
      "right gripper-book distance": 0.12368821118833533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8649855475265121,
    "bimanual_gripper_vertical_difference": 0.1884979335211097,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7741446495056152,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0008032708576614089,
      "left gripper-book distance": 0.4863708730609506,
      "right gripper-book distance": 0.12411568992531768
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8555491470476612,
    "bimanual_gripper_vertical_difference": 0.1896148922682745,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8067593574523926,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007950068393075549,
      "left gripper-book distance": 0.48415485475637915,
      "right gripper-book distance": 0.1246558009613108
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8446998444243085,
    "bimanual_gripper_vertical_difference": 0.190676046315293,
    "task_success": 0.0
  },
  {
    "completion_time": 1.837350845336914,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0008161036234928254,
      "left gripper-book distance": 0.48168848915744517,
      "right gripper-book distance": 0.12456508855199219
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.834520395393816,
    "bimanual_gripper_vertical_difference": 0.1916839951377222,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8702480792999268,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00101245048235854,
      "left gripper-book distance": 0.4790186677627855,
      "right gripper-book distance": 0.12414708138465826
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8241413690211146,
    "bimanual_gripper_vertical_difference": 0.19263763883032353,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8992767333984375,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0012022312858422923,
      "left gripper-book distance": 0.47679201834219703,
      "right gripper-book distance": 0.1237839527981357
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8136762911864572,
    "bimanual_gripper_vertical_difference": 0.1935405611235721,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9305918216705322,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0013075490153394709,
      "left gripper-book distance": 0.47501006152146097,
      "right gripper-book distance": 0.12350168205801929
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8028411670700412,
    "bimanual_gripper_vertical_difference": 0.19439887088683214,
    "task_success": 0.0
  },
  {
    "completion_time": 1.961188554763794,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.001326429213393432,
      "left gripper-book distance": 0.4738743759489863,
      "right gripper-book distance": 0.12340501470130348
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7909259652686096,
    "bimanual_gripper_vertical_difference": 0.19522031687877883,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9900989532470703,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0003507559610372857,
      "left gripper-book distance": 0.47368781471335725,
      "right gripper-book distance": 0.12458644029765559
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7884601684883952,
    "bimanual_gripper_vertical_difference": 0.19600558769734086,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0207483768463135,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007846215771640797,
      "left gripper-book distance": 0.47294022739465263,
      "right gripper-book distance": 0.1255255045636814
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7927067185801424,
    "bimanual_gripper_vertical_difference": 0.19675274065860673,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0488526821136475,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007739146212881742,
      "left gripper-book distance": 0.4725030000147332,
      "right gripper-book distance": 0.12657652158979954
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8003216586422076,
    "bimanual_gripper_vertical_difference": 0.1974780290553907,
    "task_success": 0.0
  },
  {
    "completion_time": 2.078500509262085,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.001041058018968033,
      "left gripper-book distance": 0.4718579534946448,
      "right gripper-book distance": 0.12746088099948924
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8027353397715069,
    "bimanual_gripper_vertical_difference": 0.19818215610978057,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1078414916992188,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0013670083880962247,
      "left gripper-book distance": 0.4714104550824699,
      "right gripper-book distance": 0.1281753642720824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8015417307705657,
    "bimanual_gripper_vertical_difference": 0.19887117601871407,
    "task_success": 0.0
  },
  {
    "completion_time": 2.138289451599121,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0015952492981045063,
      "left gripper-book distance": 0.4711542510007917,
      "right gripper-book distance": 0.1285410733496273
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7976994188974003,
    "bimanual_gripper_vertical_difference": 0.19954942657565977,
    "task_success": 0.0
  },
  {
    "completion_time": 2.167428970336914,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0017216200031228146,
      "left gripper-book distance": 0.47163031782544507,
      "right gripper-book distance": 0.12899604130095577
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7921036144047099,
    "bimanual_gripper_vertical_difference": 0.2002153256206676,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1966328620910645,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004803748997368462,
      "left gripper-book distance": 0.4737867612192359,
      "right gripper-book distance": 0.1308286225473903
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7860991367210649,
    "bimanual_gripper_vertical_difference": 0.20086606877137816,
    "task_success": 0.0
  },
  {
    "completion_time": 2.22607684135437,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005047539211564533,
      "left gripper-book distance": 0.474446219365368,
      "right gripper-book distance": 0.13856923484956882
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7854721917337905,
    "bimanual_gripper_vertical_difference": 0.20144766314226756,
    "task_success": 0.0
  },
  {
    "completion_time": 2.25429630279541,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006478070145754522,
      "left gripper-book distance": 0.47508256707178537,
      "right gripper-book distance": 0.15689476397980592
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7885255880067915,
    "bimanual_gripper_vertical_difference": 0.20187336259814775,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2834315299987793,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006230158172659817,
      "left gripper-book distance": 0.4763589140933779,
      "right gripper-book distance": 0.182371782055022
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.789261606313197,
    "bimanual_gripper_vertical_difference": 0.20210420595081902,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3128163814544678,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004982890454574562,
      "left gripper-book distance": 0.4780827054028458,
      "right gripper-book distance": 0.18621409840536807
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7817900426957269,
    "bimanual_gripper_vertical_difference": 0.20233922156810866,
    "task_success": 0.0
  },
  {
    "completion_time": 2.341850757598877,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005538830107812975,
      "left gripper-book distance": 0.4800064053477751,
      "right gripper-book distance": 0.18883391589014006
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.776276796946292,
    "bimanual_gripper_vertical_difference": 0.20263619877893776,
    "task_success": 0.0
  },
  {
    "completion_time": 2.371652364730835,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005139048545027558,
      "left gripper-book distance": 0.48231576940432624,
      "right gripper-book distance": 0.19901992185820955
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7862748605153487,
    "bimanual_gripper_vertical_difference": 0.20299973234647073,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4029600620269775,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005751475056576805,
      "left gripper-book distance": 0.48424519400984833,
      "right gripper-book distance": 0.21731705373133067
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8074008705698101,
    "bimanual_gripper_vertical_difference": 0.20339920323259641,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4322257041931152,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006387726802934424,
      "left gripper-book distance": 0.485211188356851,
      "right gripper-book distance": 0.24125894148483337
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8345389465347844,
    "bimanual_gripper_vertical_difference": 0.2036895836691952,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4620866775512695,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005057903498315586,
      "left gripper-book distance": 0.48476304062499254,
      "right gripper-book distance": 0.26948872367524346
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8672932594069959,
    "bimanual_gripper_vertical_difference": 0.20371326645870555,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4907524585723877,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006589432810517604,
      "left gripper-book distance": 0.48295203547511956,
      "right gripper-book distance": 0.30200167111365656
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9030658165879583,
    "bimanual_gripper_vertical_difference": 0.2033465211579339,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5194976329803467,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005051288389986697,
      "left gripper-book distance": 0.4804195361912411,
      "right gripper-book distance": 0.3196951239737132
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9349805078308738,
    "bimanual_gripper_vertical_difference": 0.20279756414015906,
    "task_success": 0.0
  },
  {
    "completion_time": 2.549457311630249,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006581733521336952,
      "left gripper-book distance": 0.4769793178419423,
      "right gripper-book distance": 0.31878679781529323
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9674056657417398,
    "bimanual_gripper_vertical_difference": 0.20230907973415108,
    "task_success": 0.0
  },
  {
    "completion_time": 2.578526735305786,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005052762586618131,
      "left gripper-book distance": 0.4733998910363629,
      "right gripper-book distance": 0.30887725206806327
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0024904725469794,
    "bimanual_gripper_vertical_difference": 0.20199861186926504,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6069583892822266,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006582717272255456,
      "left gripper-book distance": 0.46994389436286665,
      "right gripper-book distance": 0.2971965316068493
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0386642296231834,
    "bimanual_gripper_vertical_difference": 0.20191700679532235,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6363816261291504,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004929648080032045,
      "left gripper-book distance": 0.46771764402153804,
      "right gripper-book distance": 0.288580999319562
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0752111329987037,
    "bimanual_gripper_vertical_difference": 0.20209418208950627,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6643805503845215,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00048181629579879814,
      "left gripper-book distance": 0.46648980575269344,
      "right gripper-book distance": 0.287172028455956
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1090352393515683,
    "bimanual_gripper_vertical_difference": 0.20254243556824833,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6919753551483154,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004885635017798373,
      "left gripper-book distance": 0.4653725731842101,
      "right gripper-book distance": 0.29548005698341445
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1413919283813156,
    "bimanual_gripper_vertical_difference": 0.20325426972729416,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7201836109161377,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005451989332913021,
      "left gripper-book distance": 0.46376093447291084,
      "right gripper-book distance": 0.3147298882376443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1702837260296592,
    "bimanual_gripper_vertical_difference": 0.20422126432640428,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7481937408447266,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004933771765441852,
      "left gripper-book distance": 0.4609977470223186,
      "right gripper-book distance": 0.3440084980887879
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1969020989782944,
    "bimanual_gripper_vertical_difference": 0.20544078399379664,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7755064964294434,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00058461845294,
      "left gripper-book distance": 0.45545316489762766,
      "right gripper-book distance": 0.3770525082361116
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.223243156274744,
    "bimanual_gripper_vertical_difference": 0.20679718527020513,
    "task_success": 0.0
  },
  {
    "completion_time": 2.806180000305176,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000496969022917293,
      "left gripper-book distance": 0.44852671961302054,
      "right gripper-book distance": 0.40776970059800316
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2454990063967073,
    "bimanual_gripper_vertical_difference": 0.2081910420273122,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8343091011047363,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004449918539047859,
      "left gripper-book distance": 0.44157330497421415,
      "right gripper-book distance": 0.42975171840791293
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2562521371516782,
    "bimanual_gripper_vertical_difference": 0.20957259742142295,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8620834350585938,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004672717323663811,
      "left gripper-book distance": 0.43558124576055623,
      "right gripper-book distance": 0.4410199067893589
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.260756641262908,
    "bimanual_gripper_vertical_difference": 0.21093356463868088,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8905816078186035,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005470529855934325,
      "left gripper-book distance": 0.4316138277433964,
      "right gripper-book distance": 0.4428790512257384
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.269909806996088,
    "bimanual_gripper_vertical_difference": 0.212284014847753,
    "task_success": 0.0
  },
  {
    "completion_time": 2.918088674545288,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004878038869315926,
      "left gripper-book distance": 0.42989044253211706,
      "right gripper-book distance": 0.43587446485362874
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.289099107817546,
    "bimanual_gripper_vertical_difference": 0.213637704458995,
    "task_success": 0.0
  },
  {
    "completion_time": 2.945673704147339,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005450925508434512,
      "left gripper-book distance": 0.428683838403111,
      "right gripper-book distance": 0.4202278018881008
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.309515312222613,
    "bimanual_gripper_vertical_difference": 0.2149343341088964,
    "task_success": 0.0
  },
  {
    "completion_time": 2.975783109664917,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004939733556523773,
      "left gripper-book distance": 0.42797231816750386,
      "right gripper-book distance": 0.40151549025541095
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3257123533953576,
    "bimanual_gripper_vertical_difference": 0.216096382894266,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0030252933502197,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00043479347304786753,
      "left gripper-book distance": 0.4275224240807766,
      "right gripper-book distance": 0.385242469613244
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.339741024156794,
    "bimanual_gripper_vertical_difference": 0.2170704932358816,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0303561687469482,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000505442317057736,
      "left gripper-book distance": 0.4270346770191867,
      "right gripper-book distance": 0.37290536789447326
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3543919821128951,
    "bimanual_gripper_vertical_difference": 0.217809845137115,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0584757328033447,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005884627699348499,
      "left gripper-book distance": 0.42498309433465536,
      "right gripper-book distance": 0.3641401041586841
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3685676315940296,
    "bimanual_gripper_vertical_difference": 0.21823971631990005,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0868735313415527,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004896319594643872,
      "left gripper-book distance": 0.42304475108483314,
      "right gripper-book distance": 0.36354182006785596
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3839941083835,
    "bimanual_gripper_vertical_difference": 0.21827327963976667,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1156578063964844,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006079119982881354,
      "left gripper-book distance": 0.42187937067596426,
      "right gripper-book distance": 0.36615962642277644
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3956980354225834,
    "bimanual_gripper_vertical_difference": 0.21804079553961167,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1440982818603516,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00046523369222029043,
      "left gripper-book distance": 0.4219260457522546,
      "right gripper-book distance": 0.36332862585727843
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4091852685083301,
    "bimanual_gripper_vertical_difference": 0.2177090997105683,
    "task_success": 0.0
  },
  {
    "completion_time": 3.171614408493042,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006389300029367995,
      "left gripper-book distance": 0.4224087748547255,
      "right gripper-book distance": 0.35395553742406644
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4263143427071017,
    "bimanual_gripper_vertical_difference": 0.21737621313260022,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1992452144622803,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005830016374690494,
      "left gripper-book distance": 0.4235318078873908,
      "right gripper-book distance": 0.34035982867608316
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4440246484970451,
    "bimanual_gripper_vertical_difference": 0.21710047809554348,
    "task_success": 0.0
  },
  {
    "completion_time": 3.226627826690674,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005830106892320552,
      "left gripper-book distance": 0.4251786328060454,
      "right gripper-book distance": 0.32420782453866487
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.459774729300679,
    "bimanual_gripper_vertical_difference": 0.21699189530970342,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2535130977630615,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005829113833969446,
      "left gripper-book distance": 0.42728340638023826,
      "right gripper-book distance": 0.3193042357994811
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.470181436865082,
    "bimanual_gripper_vertical_difference": 0.21707522837761756,
    "task_success": 0.0
  },
  {
    "completion_time": 3.280064582824707,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005827914018523561,
      "left gripper-book distance": 0.4295735371231112,
      "right gripper-book distance": 0.32581416713012246
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4735675200782503,
    "bimanual_gripper_vertical_difference": 0.2172764515982259,
    "task_success": 0.0
  },
  {
    "completion_time": 3.30658221244812,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006278811411098983,
      "left gripper-book distance": 0.43183931701391315,
      "right gripper-book distance": 0.3341514485441191
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4771900784351035,
    "bimanual_gripper_vertical_difference": 0.21755262924401203,
    "task_success": 0.0
  },
  {
    "completion_time": 3.334320545196533,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00045532763557321054,
      "left gripper-book distance": 0.43405135646650084,
      "right gripper-book distance": 0.3405832573765306
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4844899433371679,
    "bimanual_gripper_vertical_difference": 0.21788816034640632,
    "task_success": 0.0
  },
  {
    "completion_time": 3.362865447998047,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00045527386012989,
      "left gripper-book distance": 0.43572193519668756,
      "right gripper-book distance": 0.344049389364306
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4963144678291935,
    "bimanual_gripper_vertical_difference": 0.2182761095679806,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3902781009674072,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005055939090424788,
      "left gripper-book distance": 0.43724350477019175,
      "right gripper-book distance": 0.3443042599352347
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5085514198683463,
    "bimanual_gripper_vertical_difference": 0.21871831156256827,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4186623096466064,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00043341029731891467,
      "left gripper-book distance": 0.4391699799489152,
      "right gripper-book distance": 0.34324133563289283
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5194589739308157,
    "bimanual_gripper_vertical_difference": 0.21921368134918884,
    "task_success": 0.0
  },
  {
    "completion_time": 3.445937156677246,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004361155825648444,
      "left gripper-book distance": 0.44147321544334556,
      "right gripper-book distance": 0.33236811711408776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5295791776026448,
    "bimanual_gripper_vertical_difference": 0.2196968624044645,
    "task_success": 0.0
  },
  {
    "completion_time": 3.47398042678833,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005256561075286381,
      "left gripper-book distance": 0.4438748341651415,
      "right gripper-book distance": 0.3116411522797277
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5395263810263031,
    "bimanual_gripper_vertical_difference": 0.22009475722149363,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5021581649780273,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000443389649464887,
      "left gripper-book distance": 0.44621047038571443,
      "right gripper-book distance": 0.2871553711378203
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5498290340548901,
    "bimanual_gripper_vertical_difference": 0.2203639283357671,
    "task_success": 0.0
  },
  {
    "completion_time": 3.532670497894287,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006137943257346068,
      "left gripper-book distance": 0.44828800848122935,
      "right gripper-book distance": 0.26456909785334887
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.560893729513006,
    "bimanual_gripper_vertical_difference": 0.22048819312193405,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5605087280273438,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000511444761794988,
      "left gripper-book distance": 0.4505424379489282,
      "right gripper-book distance": 0.2514393272266287
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5686502027282963,
    "bimanual_gripper_vertical_difference": 0.2205607251202744,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5884361267089844,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005524978030366778,
      "left gripper-book distance": 0.4528370887127713,
      "right gripper-book distance": 0.24367029074924834
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5749444363770257,
    "bimanual_gripper_vertical_difference": 0.2206916380279879,
    "task_success": 0.0
  },
  {
    "completion_time": 3.616450548171997,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006396486626852882,
      "left gripper-book distance": 0.45503548899176655,
      "right gripper-book distance": 0.23922513979228907
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5811332343964268,
    "bimanual_gripper_vertical_difference": 0.22092167565856566,
    "task_success": 0.0
  },
  {
    "completion_time": 3.643644332885742,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005610178016809408,
      "left gripper-book distance": 0.4573306133264196,
      "right gripper-book distance": 0.2350535541633902
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5869911141673778,
    "bimanual_gripper_vertical_difference": 0.2211949253453172,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6699821949005127,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005348782011266318,
      "left gripper-book distance": 0.45973514074204946,
      "right gripper-book distance": 0.23182946386609937
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5927467164497604,
    "bimanual_gripper_vertical_difference": 0.22149364898601792,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6979238986968994,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00042988789598141786,
      "left gripper-book distance": 0.4620688479962525,
      "right gripper-book distance": 0.2298717548869564
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5984019403666485,
    "bimanual_gripper_vertical_difference": 0.22181380350998747,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7294812202453613,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005984934302354361,
      "left gripper-book distance": 0.46380476096372597,
      "right gripper-book distance": 0.22955607971651368
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6039007086560195,
    "bimanual_gripper_vertical_difference": 0.22215179428030915,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7579073905944824,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00048668714997202045,
      "left gripper-book distance": 0.46527161540824424,
      "right gripper-book distance": 0.2303761292283837
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.603992751278389,
    "bimanual_gripper_vertical_difference": 0.22250439341657663,
    "task_success": 0.0
  },
  {
    "completion_time": 3.785421133041382,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006230332898524704,
      "left gripper-book distance": 0.46604858586952963,
      "right gripper-book distance": 0.23088384734071138
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6002123574511031,
    "bimanual_gripper_vertical_difference": 0.22287049935249773,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8127288818359375,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004893050081727912,
      "left gripper-book distance": 0.4668744363105821,
      "right gripper-book distance": 0.23140056191349975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5939841131103838,
    "bimanual_gripper_vertical_difference": 0.22324508129529752,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8405725955963135,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005446427380033647,
      "left gripper-book distance": 0.46751375723497907,
      "right gripper-book distance": 0.2318681040989649
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.586031767008573,
    "bimanual_gripper_vertical_difference": 0.2236213006274964,
    "task_success": 0.0
  },
  {
    "completion_time": 3.868605375289917,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000544270722225404,
      "left gripper-book distance": 0.46817814908028643,
      "right gripper-book distance": 0.23205132749912813
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5771291059618162,
    "bimanual_gripper_vertical_difference": 0.223997472003275,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8955655097961426,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006582543451724154,
      "left gripper-book distance": 0.4687176261349337,
      "right gripper-book distance": 0.23101010416730458
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5683748986622335,
    "bimanual_gripper_vertical_difference": 0.22437894345351142,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9225738048553467,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005571340546632886,
      "left gripper-book distance": 0.4692794114033925,
      "right gripper-book distance": 0.22858495659619407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5604976316180201,
    "bimanual_gripper_vertical_difference": 0.22477303633874063,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9496841430664062,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005016990043563707,
      "left gripper-book distance": 0.46995600464976356,
      "right gripper-book distance": 0.2248623601738155
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5536936072254794,
    "bimanual_gripper_vertical_difference": 0.2251830835950497,
    "task_success": 0.0
  },
  {
    "completion_time": 3.978123188018799,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005667716040949067,
      "left gripper-book distance": 0.4706354493566024,
      "right gripper-book distance": 0.22036543032161085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5471902072156156,
    "bimanual_gripper_vertical_difference": 0.22560768812485218,
    "task_success": 0.0
  },
  {
    "completion_time": 4.006665945053101,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005597215194843574,
      "left gripper-book distance": 0.4713145780202902,
      "right gripper-book distance": 0.21556858097856654
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5403471941062152,
    "bimanual_gripper_vertical_difference": 0.2260487698321808,
    "task_success": 0.0
  },
  {
    "completion_time": 4.034972429275513,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004369120816202221,
      "left gripper-book distance": 0.4720153022113176,
      "right gripper-book distance": 0.2096658332924964
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5361027809710375,
    "bimanual_gripper_vertical_difference": 0.2265145711987624,
    "task_success": 0.0
  },
  {
    "completion_time": 4.062448978424072,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005508290817035633,
      "left gripper-book distance": 0.47243895481416903,
      "right gripper-book distance": 0.20122756360777305
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5355369140304518,
    "bimanual_gripper_vertical_difference": 0.22701410991188864,
    "task_success": 0.0
  },
  {
    "completion_time": 4.091197967529297,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00045598535232771464,
      "left gripper-book distance": 0.4728694227489582,
      "right gripper-book distance": 0.19156382611859224
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5368404899807022,
    "bimanual_gripper_vertical_difference": 0.22754985091282925,
    "task_success": 0.0
  },
  {
    "completion_time": 4.1196417808532715,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005156841118726385,
      "left gripper-book distance": 0.47318886280281613,
      "right gripper-book distance": 0.18158049732553821
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5393639682173006,
    "bimanual_gripper_vertical_difference": 0.22812028130946932,
    "task_success": 0.0
  },
  {
    "completion_time": 4.14776611328125,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00045851971945143344,
      "left gripper-book distance": 0.4736390969837537,
      "right gripper-book distance": 0.17209177080599533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.542738872381455,
    "bimanual_gripper_vertical_difference": 0.22871918576317338,
    "task_success": 0.0
  },
  {
    "completion_time": 4.176536798477173,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005785310646285735,
      "left gripper-book distance": 0.47380808008703834,
      "right gripper-book distance": 0.1630295213080041
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.546570076250878,
    "bimanual_gripper_vertical_difference": 0.22934086237536308,
    "task_success": 0.0
  },
  {
    "completion_time": 4.2043375968933105,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006596773241268616,
      "left gripper-book distance": 0.4740313278938659,
      "right gripper-book distance": 0.15430012431434334
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5509950966673793,
    "bimanual_gripper_vertical_difference": 0.22998913527704412,
    "task_success": 0.0
  },
  {
    "completion_time": 4.232706546783447,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005393491688442387,
      "left gripper-book distance": 0.4746412671132775,
      "right gripper-book distance": 0.1466006340418439
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5558630471325274,
    "bimanual_gripper_vertical_difference": 0.2306657878847475,
    "task_success": 0.0
  },
  {
    "completion_time": 4.261912107467651,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00044276223484096544,
      "left gripper-book distance": 0.4752194249505167,
      "right gripper-book distance": 0.1409263109670263
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5608612657584309,
    "bimanual_gripper_vertical_difference": 0.2313638417607559,
    "task_success": 0.0
  },
  {
    "completion_time": 4.291021108627319,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005849703885422164,
      "left gripper-book distance": 0.4756400974124815,
      "right gripper-book distance": 0.13788918593110022
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.565641231616857,
    "bimanual_gripper_vertical_difference": 0.23207354966750646,
    "task_success": 0.0
  },
  {
    "completion_time": 4.319077730178833,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005761578626504171,
      "left gripper-book distance": 0.4761732629818498,
      "right gripper-book distance": 0.13751596765437485
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5702107644635903,
    "bimanual_gripper_vertical_difference": 0.2327857310765723,
    "task_success": 0.0
  },
  {
    "completion_time": 4.346336603164673,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005359762097837395,
      "left gripper-book distance": 0.47701484695613044,
      "right gripper-book distance": 0.13922899620981238
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5744622028816122,
    "bimanual_gripper_vertical_difference": 0.23349140377755612,
    "task_success": 0.0
  },
  {
    "completion_time": 4.373417615890503,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005683636086633026,
      "left gripper-book distance": 0.4781889188058585,
      "right gripper-book distance": 0.14201963485837993
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.574675013538463,
    "bimanual_gripper_vertical_difference": 0.23418295036609268,
    "task_success": 0.0
  },
  {
    "completion_time": 4.4004809856414795,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005723830510525607,
      "left gripper-book distance": 0.47974571269779637,
      "right gripper-book distance": 0.14300320288389157
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5694199750206619,
    "bimanual_gripper_vertical_difference": 0.2348604521585043,
    "task_success": 0.0
  },
  {
    "completion_time": 4.427441596984863,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006290906907338023,
      "left gripper-book distance": 0.4813818732509369,
      "right gripper-book distance": 0.14073354107236768
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5621336783999988,
    "bimanual_gripper_vertical_difference": 0.23553169835414098,
    "task_success": 0.0
  },
  {
    "completion_time": 4.454192876815796,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006176910836489524,
      "left gripper-book distance": 0.48288566756758455,
      "right gripper-book distance": 0.1352530563101299
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5585783671473163,
    "bimanual_gripper_vertical_difference": 0.23620604730974884,
    "task_success": 0.0
  },
  {
    "completion_time": 4.482667446136475,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00048358057948627575,
      "left gripper-book distance": 0.4843215520209923,
      "right gripper-book distance": 0.12739699356930254
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.559443122068763,
    "bimanual_gripper_vertical_difference": 0.23689045863075145,
    "task_success": 0.0
  },
  {
    "completion_time": 4.511254549026489,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006283291056892182,
      "left gripper-book distance": 0.4854848802965045,
      "right gripper-book distance": 0.118854133716232
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5635139516886831,
    "bimanual_gripper_vertical_difference": 0.237587861055725,
    "task_success": 0.0
  },
  {
    "completion_time": 4.539286851882935,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0016610780490807775,
      "left gripper-book distance": 0.48397693867261987,
      "right gripper-book distance": 0.11967853946658578
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5606485268220602,
    "bimanual_gripper_vertical_difference": 0.23829872094548935,
    "task_success": 0.0
  },
  {
    "completion_time": 4.566635847091675,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00017916512252214023,
      "left gripper-book distance": 0.4852930790744829,
      "right gripper-book distance": 0.11876661681165027
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5620697091550968,
    "bimanual_gripper_vertical_difference": 0.2390177603913985,
    "task_success": 0.0
  },
  {
    "completion_time": 4.594313144683838,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006393354384134353,
      "left gripper-book distance": 0.4862742055120053,
      "right gripper-book distance": 0.11632887628671533
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5678781562561734,
    "bimanual_gripper_vertical_difference": 0.23974180517465074,
    "task_success": 0.0
  },
  {
    "completion_time": 4.622986793518066,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 2,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005810747835024443,
      "left gripper-book distance": 0.48740649456538293,
      "right gripper-book distance": 0.11716278041713414
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5667471286634886,
    "bimanual_gripper_vertical_difference": 0.24046096940847753,
    "task_success": 0.0
  },
  {
    "completion_time": 4.658002138137817,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005363113244754025,
      "left gripper-book distance": 0.4880863034375213,
      "right gripper-book distance": 0.11876180773009741
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.55881888628995,
    "bimanual_gripper_vertical_difference": 0.24117468454321564,
    "task_success": 0.0
  },
  {
    "completion_time": 4.686640739440918,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005377038172191817,
      "left gripper-book distance": 0.4886106142707539,
      "right gripper-book distance": 0.12046717461632503
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5523807616702228,
    "bimanual_gripper_vertical_difference": 0.24187516798476888,
    "task_success": 0.0
  },
  {
    "completion_time": 4.715904712677002,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005075018997433567,
      "left gripper-book distance": 0.48908418459546615,
      "right gripper-book distance": 0.12182917985823469
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5479407340543743,
    "bimanual_gripper_vertical_difference": 0.24256182398553833,
    "task_success": 0.0
  },
  {
    "completion_time": 4.744304180145264,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005204145716672937,
      "left gripper-book distance": 0.4895168616838158,
      "right gripper-book distance": 0.12244886504720406
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5443898996129424,
    "bimanual_gripper_vertical_difference": 0.24324041138592767,
    "task_success": 0.0
  },
  {
    "completion_time": 4.771716833114624,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.002410244108403403,
      "left gripper-book distance": 0.48677112273318596,
      "right gripper-book distance": 0.12465267079664966
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5408750750621465,
    "bimanual_gripper_vertical_difference": 0.24391501278216451,
    "task_success": 0.0
  },
  {
    "completion_time": 4.800196886062622,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.003675028094109356,
      "left gripper-book distance": 0.48556149507366303,
      "right gripper-book distance": 0.12621511137853486
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5379143498002834,
    "bimanual_gripper_vertical_difference": 0.24458064714634922,
    "task_success": 0.0
  },
  {
    "completion_time": 4.828949928283691,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.005222515431104968,
      "left gripper-book distance": 0.4844275186087822,
      "right gripper-book distance": 0.12762266258050167
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5330326737627442,
    "bimanual_gripper_vertical_difference": 0.24523139969157723,
    "task_success": 0.0
  },
  {
    "completion_time": 4.858186721801758,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.010017052357122802,
      "left gripper-book distance": 0.4811033584345493,
      "right gripper-book distance": 0.1304704899857085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.527504700988882,
    "bimanual_gripper_vertical_difference": 0.24583978133263568,
    "task_success": 0.0
  },
  {
    "completion_time": 4.887404203414917,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.018133821219797897,
      "left gripper-book distance": 0.4757023966666837,
      "right gripper-book distance": 0.13461237156903144
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.527223385440926,
    "bimanual_gripper_vertical_difference": 0.24638143405135704,
    "task_success": 0.0
  },
  {
    "completion_time": 4.917496204376221,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.035557388877414775,
      "left gripper-book distance": 0.4640242299697819,
      "right gripper-book distance": 0.13606766604614953
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5311232651777074,
    "bimanual_gripper_vertical_difference": 0.2468362759464974,
    "task_success": 0.0
  },
  {
    "completion_time": 4.9480485916137695,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 3,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.06005980077256301,
      "left gripper-book distance": 0.44710970602558225,
      "right gripper-book distance": 0.1365684250767634
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 1.5381020773636578,
    "bimanual_gripper_vertical_difference": 0.24718711580197747,
    "task_success": 1.0
  }
]