[
  {
    "completion_time": 0.04391145706176758,
    "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": -0.000657602048608541,
      "left gripper-book distance": 0.5064932772049696,
      "right gripper-book distance": 0.5065885416881302
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.9451874944120817e-08,
    "bimanual_gripper_vertical_difference": 4.035083378539639e-11,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07158041000366211,
    "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": 0.0005674375990556424,
      "left gripper-book distance": 0.5041702744680456,
      "right gripper-book distance": 0.504256185127841
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 4.705042440156237e-06,
    "bimanual_gripper_vertical_difference": 4.996788538491614e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.09864664077758789,
    "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": 0.0007380219397270515,
      "left gripper-book distance": 0.5031614771711981,
      "right gripper-book distance": 0.5032523696434039
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4663035735900757e-05,
    "bimanual_gripper_vertical_difference": 1.2695109408156213e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.12652969360351562,
    "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": 0.5026708056029797,
      "right gripper-book distance": 0.5027645145220846
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 8.810841510523311e-05,
    "bimanual_gripper_vertical_difference": 1.2469687504790272e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.15535473823547363,
    "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": 0.5024222589965311,
      "right gripper-book distance": 0.5024914927992122
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 7.664017140959767e-05,
    "bimanual_gripper_vertical_difference": 1.544988892376864e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1829981803894043,
    "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": 0.5021339965291862,
      "right gripper-book distance": 0.5022295680693606
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 7.857028660348548e-05,
    "bimanual_gripper_vertical_difference": 3.2453755978896956e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21052193641662598,
    "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": 0.0006989515326791818,
      "left gripper-book distance": 0.5018923589076401,
      "right gripper-book distance": 0.5019838057718116
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.747240774730167e-05,
    "bimanual_gripper_vertical_difference": 5.258221667604955e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2389390468597412,
    "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": 0.0006042795767430276,
      "left gripper-book distance": 0.5018815497477713,
      "right gripper-book distance": 0.501953716523825
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 5.911426260830796e-05,
    "bimanual_gripper_vertical_difference": 7.561201748051971e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.26764607429504395,
    "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": 0.0005262332895652477,
      "left gripper-book distance": 0.5012304006109717,
      "right gripper-book distance": 0.5011549403144695
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0027338830699116024,
    "bimanual_gripper_vertical_difference": 2.1030237109926413e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.29651522636413574,
    "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": 0.0005471885453844916,
      "left gripper-book distance": 0.499932090255974,
      "right gripper-book distance": 0.49399327406720067
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.08242421265724112,
    "bimanual_gripper_vertical_difference": 0.0009576835501436731,
    "task_success": 0.0
  },
  {
    "completion_time": 0.324878454208374,
    "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": 0.0004260956568110652,
      "left gripper-book distance": 0.49850406302094913,
      "right gripper-book distance": 0.4833280655652004
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.1712582208183127,
    "bimanual_gripper_vertical_difference": 0.003193235374362749,
    "task_success": 0.0
  },
  {
    "completion_time": 0.35280394554138184,
    "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": 0.0005017399467521777,
      "left gripper-book distance": 0.4973982405793069,
      "right gripper-book distance": 0.4708276569234677
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.29150402450353013,
    "bimanual_gripper_vertical_difference": 0.0068931364975502825,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3803997039794922,
    "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": 0.49669735694758066,
      "right gripper-book distance": 0.4536227961064385
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4371157041163572,
    "bimanual_gripper_vertical_difference": 0.012486769246172246,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4076359272003174,
    "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": 0.000655369582706733,
      "left gripper-book distance": 0.49548358820678867,
      "right gripper-book distance": 0.42891216827877965
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5902949187696518,
    "bimanual_gripper_vertical_difference": 0.02040337433809858,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4353158473968506,
    "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": 0.4927807903742533,
      "right gripper-book distance": 0.39578982137578606
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7395643985650164,
    "bimanual_gripper_vertical_difference": 0.030848023820995718,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4631829261779785,
    "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": 0.000540832695982596,
      "left gripper-book distance": 0.48814621092636257,
      "right gripper-book distance": 0.3594668924938761
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8664451493416165,
    "bimanual_gripper_vertical_difference": 0.04334644542731497,
    "task_success": 0.0
  },
  {
    "completion_time": 0.49048423767089844,
    "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": 0.0005064368611521486,
      "left gripper-book distance": 0.4822775760121208,
      "right gripper-book distance": 0.3267694933228779
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9604126543110877,
    "bimanual_gripper_vertical_difference": 0.05663905877424694,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5185496807098389,
    "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": 0.000563283730251718,
      "left gripper-book distance": 0.4756638040677717,
      "right gripper-book distance": 0.29699308151023535
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9871526920784177,
    "bimanual_gripper_vertical_difference": 0.06950394940455523,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5471413135528564,
    "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": 0.0006393359269576404,
      "left gripper-book distance": 0.4691687038194684,
      "right gripper-book distance": 0.2684837102849023
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.00135098502349,
    "bimanual_gripper_vertical_difference": 0.08110414272184548,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5766174793243408,
    "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": 0.0007188927615990881,
      "left gripper-book distance": 0.4637297709885899,
      "right gripper-book distance": 0.24446371754975796
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0293664758540744,
    "bimanual_gripper_vertical_difference": 0.09092707734658237,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6079003810882568,
    "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": 0.0006824478899478681,
      "left gripper-book distance": 0.45970651808102087,
      "right gripper-book distance": 0.23375758373277095
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0523639443141153,
    "bimanual_gripper_vertical_difference": 0.09867799233511894,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6376197338104248,
    "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": 0.0005426481893560098,
      "left gripper-book distance": 0.45745726598208974,
      "right gripper-book distance": 0.2397758824261148
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0100696659089368,
    "bimanual_gripper_vertical_difference": 0.10476936496716203,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6686933040618896,
    "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": 0.0005697036614688011,
      "left gripper-book distance": 0.4560096680963836,
      "right gripper-book distance": 0.23749579768053666
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9882040352493506,
    "bimanual_gripper_vertical_difference": 0.11031917849935768,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6985201835632324,
    "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": 0.0006010377382656973,
      "left gripper-book distance": 0.45505000314574623,
      "right gripper-book distance": 0.23724427003568974
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9471766018281486,
    "bimanual_gripper_vertical_difference": 0.11537459977037916,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7273833751678467,
    "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": 0.0006473717550294911,
      "left gripper-book distance": 0.4540841756368901,
      "right gripper-book distance": 0.23385857538465624
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9244497669650157,
    "bimanual_gripper_vertical_difference": 0.12027604570729204,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7567994594573975,
    "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": 0.0005612031070907353,
      "left gripper-book distance": 0.45317330244654663,
      "right gripper-book distance": 0.23118080867875085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9201602318458606,
    "bimanual_gripper_vertical_difference": 0.12495547152339376,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7862725257873535,
    "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": 0.0005296430565490118,
      "left gripper-book distance": 0.4526995797974157,
      "right gripper-book distance": 0.22360350195214948
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9332254168490747,
    "bimanual_gripper_vertical_difference": 0.12945230380878653,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8149852752685547,
    "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": 0.000528608468079339,
      "left gripper-book distance": 0.4523452334872503,
      "right gripper-book distance": 0.2120371464593715
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9520377129618279,
    "bimanual_gripper_vertical_difference": 0.1337531509485734,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8446056842803955,
    "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": 0.0004459523369280127,
      "left gripper-book distance": 0.4514142960563632,
      "right gripper-book distance": 0.20028803894469907
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9830796335592894,
    "bimanual_gripper_vertical_difference": 0.1377773184032839,
    "task_success": 0.0
  },
  {
    "completion_time": 0.873410701751709,
    "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": 0.0005564488552032287,
      "left gripper-book distance": 0.449821830046334,
      "right gripper-book distance": 0.19121740529920758
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9930102652797353,
    "bimanual_gripper_vertical_difference": 0.14142592906362114,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9040055274963379,
    "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": 0.000717953412129102,
      "left gripper-book distance": 0.44822888347697365,
      "right gripper-book distance": 0.18245162898930742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0038084707794275,
    "bimanual_gripper_vertical_difference": 0.14484502188102452,
    "task_success": 0.0
  },
  {
    "completion_time": 0.931584358215332,
    "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": 0.0007149249903571908,
      "left gripper-book distance": 0.4472398506719398,
      "right gripper-book distance": 0.1752694631589078
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0190004973530509,
    "bimanual_gripper_vertical_difference": 0.1480117797043576,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9591495990753174,
    "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": 0.0004954007159501117,
      "left gripper-book distance": 0.44671789495795583,
      "right gripper-book distance": 0.1702487549156857
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0350978008127836,
    "bimanual_gripper_vertical_difference": 0.1509297261328862,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9867985248565674,
    "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": 0.000573971728990097,
      "left gripper-book distance": 0.4464436122906061,
      "right gripper-book distance": 0.16539250796777233
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.04156328686368,
    "bimanual_gripper_vertical_difference": 0.15363750041582647,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0142886638641357,
    "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": 0.0005610522991711386,
      "left gripper-book distance": 0.44647170119916896,
      "right gripper-book distance": 0.15887507141179305
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0276695935442541,
    "bimanual_gripper_vertical_difference": 0.15619651176567756,
    "task_success": 0.0
  },
  {
    "completion_time": 1.041959285736084,
    "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": 0.000594688064811888,
      "left gripper-book distance": 0.4466755805141085,
      "right gripper-book distance": 0.1501990253535988
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0071961391588606,
    "bimanual_gripper_vertical_difference": 0.15867064511978055,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0705318450927734,
    "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": 0.0006015228534441697,
      "left gripper-book distance": 0.4469974737435011,
      "right gripper-book distance": 0.14043139230872814
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0068721938693792,
    "bimanual_gripper_vertical_difference": 0.16107593409257992,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0986425876617432,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0012103379209978948,
      "left gripper-book distance": 0.44687429540858176,
      "right gripper-book distance": 0.13191002992350992
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.017398038878562,
    "bimanual_gripper_vertical_difference": 0.1633928103112652,
    "task_success": 0.0
  },
  {
    "completion_time": 1.126114845275879,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.001227564122204039,
      "left gripper-book distance": 0.4473233870112429,
      "right gripper-book distance": 0.1337690039789846
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0274990517369484,
    "bimanual_gripper_vertical_difference": 0.16557918119987014,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1554186344146729,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.002290217568165609,
      "left gripper-book distance": 0.446037473610936,
      "right gripper-book distance": 0.13502593685885936
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0324040605346665,
    "bimanual_gripper_vertical_difference": 0.16766188182694025,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1860077381134033,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0013191037184530074,
      "left gripper-book distance": 0.44665308629609424,
      "right gripper-book distance": 0.13771848471001386
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0295711576242281,
    "bimanual_gripper_vertical_difference": 0.16962560715613306,
    "task_success": 0.0
  },
  {
    "completion_time": 1.214660406112671,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.001397159707309914,
      "left gripper-book distance": 0.4465050735188842,
      "right gripper-book distance": 0.13914602096304887
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.019414449866368,
    "bimanual_gripper_vertical_difference": 0.17149517726503727,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2438969612121582,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000831389008120631,
      "left gripper-book distance": 0.44781804055272145,
      "right gripper-book distance": 0.13948350985096586
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0035536844860828,
    "bimanual_gripper_vertical_difference": 0.17327117781018594,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2733030319213867,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007641687633962446,
      "left gripper-book distance": 0.4481614843563797,
      "right gripper-book distance": 0.13981023683571892
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9845798416620447,
    "bimanual_gripper_vertical_difference": 0.1749668537271246,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3025717735290527,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007009374745829966,
      "left gripper-book distance": 0.4482907809939807,
      "right gripper-book distance": 0.14023371538381835
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9642516077956503,
    "bimanual_gripper_vertical_difference": 0.17657313594496618,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3318095207214355,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006592983429399846,
      "left gripper-book distance": 0.44851083324283897,
      "right gripper-book distance": 0.14055294159227552
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.945816037911064,
    "bimanual_gripper_vertical_difference": 0.17809965236319167,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3614192008972168,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005008531644700165,
      "left gripper-book distance": 0.4488638985019131,
      "right gripper-book distance": 0.14452142359244857
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9389567818854035,
    "bimanual_gripper_vertical_difference": 0.17953487716618013,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3908212184906006,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00046998177517143525,
      "left gripper-book distance": 0.4490599616788373,
      "right gripper-book distance": 0.15124701411080554
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9271233860714424,
    "bimanual_gripper_vertical_difference": 0.18085244648127372,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4199302196502686,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004914520071042094,
      "left gripper-book distance": 0.44940343919312414,
      "right gripper-book distance": 0.15877909831663825
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9206335118363531,
    "bimanual_gripper_vertical_difference": 0.18203772097230117,
    "task_success": 0.0
  },
  {
    "completion_time": 1.449120044708252,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006346357278838033,
      "left gripper-book distance": 0.44946882501793745,
      "right gripper-book distance": 0.16568940982548044
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9209533530288764,
    "bimanual_gripper_vertical_difference": 0.1830804356089188,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4786479473114014,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006827323671346752,
      "left gripper-book distance": 0.4495657639716134,
      "right gripper-book distance": 0.1687762180105571
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9272785501817239,
    "bimanual_gripper_vertical_difference": 0.18402139234285264,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5086426734924316,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006601997092361422,
      "left gripper-book distance": 0.44963299867190865,
      "right gripper-book distance": 0.16797541829787874
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9392477383507143,
    "bimanual_gripper_vertical_difference": 0.1848869804826139,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5377411842346191,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006252757478693027,
      "left gripper-book distance": 0.44945634160860365,
      "right gripper-book distance": 0.165575694981219
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9570828504462334,
    "bimanual_gripper_vertical_difference": 0.18567121108870233,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5662107467651367,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0005906459945366205,
      "left gripper-book distance": 0.44907357486327637,
      "right gripper-book distance": 0.16431511321282155
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9764874288312911,
    "bimanual_gripper_vertical_difference": 0.18634859597554876,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5944263935089111,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00045555639247008006,
      "left gripper-book distance": 0.44856799772897954,
      "right gripper-book distance": 0.16429727751816392
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9933070644659122,
    "bimanual_gripper_vertical_difference": 0.18691985719528878,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6229979991912842,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006203661604363697,
      "left gripper-book distance": 0.4476345407255008,
      "right gripper-book distance": 0.1636882912375913
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.013589006329299,
    "bimanual_gripper_vertical_difference": 0.18743374354821432,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6520273685455322,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006847451836824447,
      "left gripper-book distance": 0.44649212404006783,
      "right gripper-book distance": 0.16341844379384002
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0370009238243056,
    "bimanual_gripper_vertical_difference": 0.18793083563382124,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6797540187835693,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006889999370039979,
      "left gripper-book distance": 0.44512620291650984,
      "right gripper-book distance": 0.16279821224781785
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0608801888319903,
    "bimanual_gripper_vertical_difference": 0.18845221337572787,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7077460289001465,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006715177392330185,
      "left gripper-book distance": 0.44307136419704657,
      "right gripper-book distance": 0.16161138030310088
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0851935610353534,
    "bimanual_gripper_vertical_difference": 0.189010461924667,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7361159324645996,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006113083551201326,
      "left gripper-book distance": 0.44040009705492067,
      "right gripper-book distance": 0.16007044581646213
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1109779412736382,
    "bimanual_gripper_vertical_difference": 0.18960407814258406,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7664871215820312,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006274866469132556,
      "left gripper-book distance": 0.437429461796155,
      "right gripper-book distance": 0.15751039900081648
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.137937885717656,
    "bimanual_gripper_vertical_difference": 0.19024310952540346,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7947325706481934,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006441064591234946,
      "left gripper-book distance": 0.43462213364530977,
      "right gripper-book distance": 0.15379539739861312
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1654950273465519,
    "bimanual_gripper_vertical_difference": 0.19093900405679576,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8260884284973145,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006089797680161047,
      "left gripper-book distance": 0.4322777426948003,
      "right gripper-book distance": 0.14887817391098818
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.19281080573506,
    "bimanual_gripper_vertical_difference": 0.1917046397618435,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8548715114593506,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.000670522902565196,
      "left gripper-book distance": 0.430432426049836,
      "right gripper-book distance": 0.14275994924462007
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2200720229384905,
    "bimanual_gripper_vertical_difference": 0.1925547914658679,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8825058937072754,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004913907426503661,
      "left gripper-book distance": 0.42932758287740114,
      "right gripper-book distance": 0.13530775193241398
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2472631825578833,
    "bimanual_gripper_vertical_difference": 0.19350429658762686,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9094550609588623,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0004092969565578919,
      "left gripper-book distance": 0.42873523902552635,
      "right gripper-book distance": 0.12628279314983498
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2738709544088258,
    "bimanual_gripper_vertical_difference": 0.19454995252697432,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9362733364105225,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": -0.0005346618319876928,
      "left gripper-book distance": 0.42913639797040704,
      "right gripper-book distance": 0.12072999707096516
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2985954316251977,
    "bimanual_gripper_vertical_difference": 0.1956353723154791,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9630217552185059,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0006706582130852068,
      "left gripper-book distance": 0.42718694224191667,
      "right gripper-book distance": 0.11553787194808274
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3221121453663809,
    "bimanual_gripper_vertical_difference": 0.19673807421712977,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9904775619506836,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0015155630288489208,
      "left gripper-book distance": 0.42526281071962774,
      "right gripper-book distance": 0.11179250945686137
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3482860549954332,
    "bimanual_gripper_vertical_difference": 0.1977801842757242,
    "task_success": 0.0
  },
  {
    "completion_time": 2.019047498703003,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0027802832071760486,
      "left gripper-book distance": 0.42202537122718403,
      "right gripper-book distance": 0.11491365779718003
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3706594948651827,
    "bimanual_gripper_vertical_difference": 0.19876746055150582,
    "task_success": 0.0
  },
  {
    "completion_time": 2.047264814376831,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.002039110527673027,
      "left gripper-book distance": 0.42448051214465404,
      "right gripper-book distance": 0.11571163958162749
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3865874915726837,
    "bimanual_gripper_vertical_difference": 0.19974152656636615,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0759260654449463,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0028304512733572373,
      "left gripper-book distance": 0.42530513505946815,
      "right gripper-book distance": 0.1178010686225867
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3976729326813169,
    "bimanual_gripper_vertical_difference": 0.20068098146180716,
    "task_success": 0.0
  },
  {
    "completion_time": 2.105048179626465,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.005428056008487392,
      "left gripper-book distance": 0.4241321425422384,
      "right gripper-book distance": 0.12191766734067065
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4075845861261733,
    "bimanual_gripper_vertical_difference": 0.20157538734423905,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1330928802490234,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.01144315116528316,
      "left gripper-book distance": 0.41962650939158624,
      "right gripper-book distance": 0.1282473159799017
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.420102712804576,
    "bimanual_gripper_vertical_difference": 0.20237590867552124,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1613261699676514,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.020650000703019367,
      "left gripper-book distance": 0.415613067064911,
      "right gripper-book distance": 0.1341795789090539
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.442367104292165,
    "bimanual_gripper_vertical_difference": 0.20301245735867154,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1893973350524902,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.032808230889734724,
      "left gripper-book distance": 0.4168610761691063,
      "right gripper-book distance": 0.13882662760998946
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4748949434988383,
    "bimanual_gripper_vertical_difference": 0.2034306679393025,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2177574634552,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.048812702748342374,
      "left gripper-book distance": 0.4240715423971962,
      "right gripper-book distance": 0.14201353884445642
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5109724093611103,
    "bimanual_gripper_vertical_difference": 0.20361258786148792,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2485127449035645,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.07238529777242464,
      "left gripper-book distance": 0.42944337847793657,
      "right gripper-book distance": 0.14404608366683996
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 1.5482407119428054,
    "bimanual_gripper_vertical_difference": 0.2035042040755043,
    "task_success": 1.0
  }
]