[
  {
    "completion_time": 0.04414558410644531,
    "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": 0.07175707817077637,
    "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": 0.09982156753540039,
    "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": 0.12876629829406738,
    "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": 0.49711148137501904,
      "right gripper-book distance": 0.5016685140504099
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.24598465554173246,
    "bimanual_gripper_vertical_difference": 0.0009072085116221262,
    "task_success": 0.0
  },
  {
    "completion_time": 0.15665936470031738,
    "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": 0.0005268709697481277,
      "left gripper-book distance": 0.4859093663238048,
      "right gripper-book distance": 0.5010658457844664
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5949022776224853,
    "bimanual_gripper_vertical_difference": 0.0021420560173167845,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1842496395111084,
    "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": 0.4643896612805,
      "right gripper-book distance": 0.5014350933252271
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8722981510200625,
    "bimanual_gripper_vertical_difference": 0.004773753206081828,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21260881423950195,
    "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": 0.42937870296921465,
      "right gripper-book distance": 0.5024409023851125
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1193196365944738,
    "bimanual_gripper_vertical_difference": 0.010442933541758561,
    "task_success": 0.0
  },
  {
    "completion_time": 0.24032354354858398,
    "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": 0.0006042795767431386,
      "left gripper-book distance": 0.38457164399807037,
      "right gripper-book distance": 0.5031548882463638
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3390535983430247,
    "bimanual_gripper_vertical_difference": 0.019636000578955315,
    "task_success": 0.0
  },
  {
    "completion_time": 0.26844310760498047,
    "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": 0.33563076971725897,
      "right gripper-book distance": 0.502861992778197
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5073849457286788,
    "bimanual_gripper_vertical_difference": 0.03190588432222097,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2962157726287842,
    "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": 0.28603302257268526,
      "right gripper-book distance": 0.5022935413090602
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6375308620564657,
    "bimanual_gripper_vertical_difference": 0.04668869265088538,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3253350257873535,
    "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": 0.2507360179040722,
      "right gripper-book distance": 0.5029612491763849
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6826219805335207,
    "bimanual_gripper_vertical_difference": 0.061753237242516204,
    "task_success": 0.0
  },
  {
    "completion_time": 0.35680437088012695,
    "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": 0.0005017399467523997,
      "left gripper-book distance": 0.22975760911895718,
      "right gripper-book distance": 0.5048399423548912
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.7195516617800333,
    "bimanual_gripper_vertical_difference": 0.07526345941261538,
    "task_success": 0.0
  },
  {
    "completion_time": 0.38599514961242676,
    "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": 0.0006576387411729723,
      "left gripper-book distance": 0.2197800564750339,
      "right gripper-book distance": 0.5074715225694385
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.7711745291139007,
    "bimanual_gripper_vertical_difference": 0.0864734837750199,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4155714511871338,
    "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": 0.22142794189111353,
      "right gripper-book distance": 0.5098150057591431
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8335590524946834,
    "bimanual_gripper_vertical_difference": 0.09512088362106776,
    "task_success": 0.0
  },
  {
    "completion_time": 0.44539666175842285,
    "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": 0.23300697793213135,
      "right gripper-book distance": 0.5113351109901862
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8424865227705196,
    "bimanual_gripper_vertical_difference": 0.10130216478878426,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4746708869934082,
    "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": 0.2506971411625146,
      "right gripper-book distance": 0.5121349368134124
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.840321369646145,
    "bimanual_gripper_vertical_difference": 0.10531288484931232,
    "task_success": 0.0
  },
  {
    "completion_time": 0.503929853439331,
    "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": 0.0005064368611520376,
      "left gripper-book distance": 0.2553921110992216,
      "right gripper-book distance": 0.5130104149924173
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.864856752734429,
    "bimanual_gripper_vertical_difference": 0.10850791771938095,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5356142520904541,
    "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": 0.000563283730251829,
      "left gripper-book distance": 0.2569217223190727,
      "right gripper-book distance": 0.5141339770565778
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8578297276833378,
    "bimanual_gripper_vertical_difference": 0.11127767112353425,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5659315586090088,
    "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": 0.2440366336293835,
      "right gripper-book distance": 0.515084591715149
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8450556569465169,
    "bimanual_gripper_vertical_difference": 0.11446782026474878,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5942463874816895,
    "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": 0.0007188927615994212,
      "left gripper-book distance": 0.21437508422635188,
      "right gripper-book distance": 0.5151518317439318
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8500740322963825,
    "bimanual_gripper_vertical_difference": 0.11887632181573934,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6245534420013428,
    "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": 0.0006824478899482012,
      "left gripper-book distance": 0.1916184026364939,
      "right gripper-book distance": 0.5142555802112783
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8567514446197166,
    "bimanual_gripper_vertical_difference": 0.12399975571802659,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6523308753967285,
    "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": 0.0005426481893562318,
      "left gripper-book distance": 0.17634881548509926,
      "right gripper-book distance": 0.5129800979984158
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8607991306329452,
    "bimanual_gripper_vertical_difference": 0.1294032897508363,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6801483631134033,
    "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": 0.0005697075028380238,
      "left gripper-book distance": 0.16659835416678898,
      "right gripper-book distance": 0.5119346250060248
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8385957288619672,
    "bimanual_gripper_vertical_difference": 0.13482314407537827,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7085754871368408,
    "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": 0.0006010403311925705,
      "left gripper-book distance": 0.1663314593497306,
      "right gripper-book distance": 0.5116497586472163
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.7683421383930078,
    "bimanual_gripper_vertical_difference": 0.13985416804439463,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7364327907562256,
    "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": 0.000647374701733594,
      "left gripper-book distance": 0.16516526731316594,
      "right gripper-book distance": 0.512681916297531
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.717513202548142,
    "bimanual_gripper_vertical_difference": 0.14461177973713088,
    "task_success": 0.0
  },
  {
    "completion_time": 0.76454758644104,
    "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": 0.0005612060741774227,
      "left gripper-book distance": 0.16296860257795445,
      "right gripper-book distance": 0.5144854517185597
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.7010775631528514,
    "bimanual_gripper_vertical_difference": 0.14918725946448258,
    "task_success": 0.0
  },
  {
    "completion_time": 0.792938232421875,
    "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": 0.0005296460048441753,
      "left gripper-book distance": 0.16027841845431282,
      "right gripper-book distance": 0.516146504865786
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.658063618187995,
    "bimanual_gripper_vertical_difference": 0.15353803448759784,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8213019371032715,
    "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": 0.0005286113918291369,
      "left gripper-book distance": 0.1575665672171447,
      "right gripper-book distance": 0.5171467729118908
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6196814374347601,
    "bimanual_gripper_vertical_difference": 0.15763652679058562,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8494865894317627,
    "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": 0.0004459552269702183,
      "left gripper-book distance": 0.15571489273517264,
      "right gripper-book distance": 0.5179205614906209
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6029348381401132,
    "bimanual_gripper_vertical_difference": 0.161490335686835,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8776707649230957,
    "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": 0.000556451716391293,
      "left gripper-book distance": 0.15315021105786955,
      "right gripper-book distance": 0.5181608308254443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5574464315629293,
    "bimanual_gripper_vertical_difference": 0.16514774065176624,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9058303833007812,
    "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": 0.0007179562498073055,
      "left gripper-book distance": 0.14644193572417247,
      "right gripper-book distance": 0.5177736403644286
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5307254824190453,
    "bimanual_gripper_vertical_difference": 0.16875537397051146,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9347569942474365,
    "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": 0.0007149278168104845,
      "left gripper-book distance": 0.1366266071805886,
      "right gripper-book distance": 0.5170684350120759
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5109631501323684,
    "bimanual_gripper_vertical_difference": 0.17241444159355584,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9634065628051758,
    "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": 0.0004954037761218943,
      "left gripper-book distance": 0.13312557302510883,
      "right gripper-book distance": 0.5165370305420405
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4693807007707171,
    "bimanual_gripper_vertical_difference": 0.17589743297384902,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9925105571746826,
    "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": 0.0005739707604687228,
      "left gripper-book distance": 0.1325465861864412,
      "right gripper-book distance": 0.5159264409634999
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4304501679585877,
    "bimanual_gripper_vertical_difference": 0.1791209572772121,
    "task_success": 0.0
  },
  {
    "completion_time": 1.021104335784912,
    "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": 0.0005610498585765233,
      "left gripper-book distance": 0.13160491244581798,
      "right gripper-book distance": 0.5153166722231259
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4054327109289566,
    "bimanual_gripper_vertical_difference": 0.18213823949545857,
    "task_success": 0.0
  },
  {
    "completion_time": 1.049267292022705,
    "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": 0.0005946854884286701,
      "left gripper-book distance": 0.12969316235782014,
      "right gripper-book distance": 0.5145185634310172
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3896705214986853,
    "bimanual_gripper_vertical_difference": 0.18499574752873169,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0783648490905762,
    "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": 0.0006015201938954773,
      "left gripper-book distance": 0.1264727729332647,
      "right gripper-book distance": 0.5137503281337686
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3764189756968472,
    "bimanual_gripper_vertical_difference": 0.18771485365428817,
    "task_success": 0.0
  },
  {
    "completion_time": 1.107342004776001,
    "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": 0.0005323165583259737,
      "left gripper-book distance": 0.12339585027379427,
      "right gripper-book distance": 0.5130879497452168
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3625912900395363,
    "bimanual_gripper_vertical_difference": 0.19028682919425155,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1357109546661377,
    "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": 0.0012294341877010506,
      "left gripper-book distance": 0.12228302125997004,
      "right gripper-book distance": 0.5116206630527582
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3424938520514378,
    "bimanual_gripper_vertical_difference": 0.19269737630144826,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1633963584899902,
    "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": 0.0007325336768456703,
      "left gripper-book distance": 0.1235536660716847,
      "right gripper-book distance": 0.5110586900510322
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.317462722257528,
    "bimanual_gripper_vertical_difference": 0.19496400114143958,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1907644271850586,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0008631944263649549,
      "left gripper-book distance": 0.12472641923352057,
      "right gripper-book distance": 0.5102328446276235
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2910886582703587,
    "bimanual_gripper_vertical_difference": 0.19709474018744189,
    "task_success": 0.0
  },
  {
    "completion_time": 1.215688943862915,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0012303208628313689,
      "left gripper-book distance": 0.1263162065505326,
      "right gripper-book distance": 0.5088804495206121
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2674413584761315,
    "bimanual_gripper_vertical_difference": 0.19909330993824373,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2411203384399414,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0018224506536637097,
      "left gripper-book distance": 0.12811832717003627,
      "right gripper-book distance": 0.5074652854802064
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2445795877174943,
    "bimanual_gripper_vertical_difference": 0.20095549275259622,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2693278789520264,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0026160525609193463,
      "left gripper-book distance": 0.12975659029507824,
      "right gripper-book distance": 0.506244890001693
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2199525333819727,
    "bimanual_gripper_vertical_difference": 0.2026900239074247,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2961127758026123,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.003143127864992601,
      "left gripper-book distance": 0.13100915471508642,
      "right gripper-book distance": 0.5058196716000698
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.194831633784451,
    "bimanual_gripper_vertical_difference": 0.20431908986187836,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3231284618377686,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false
    },
    "target_distance": {
      "book lift distance": 0.0034367606337382117,
      "left gripper-book distance": 0.13194956986332218,
      "right gripper-book distance": 0.5056267857399296
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1704313445351753,
    "bimanual_gripper_vertical_difference": 0.20585955933494213,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3504505157470703,
    "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": 0.003612703048164745,
      "left gripper-book distance": 0.1327184613621441,
      "right gripper-book distance": 0.5053400736255906
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1471776869400043,
    "bimanual_gripper_vertical_difference": 0.20732085938021982,
    "task_success": 0.0
  },
  {
    "completion_time": 1.376103162765503,
    "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": 0.0037347319097810194,
      "left gripper-book distance": 0.1334411715139337,
      "right gripper-book distance": 0.5050132312270155
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1252428166340176,
    "bimanual_gripper_vertical_difference": 0.20870816511235843,
    "task_success": 0.0
  },
  {
    "completion_time": 1.402714490890503,
    "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": 0.003875507505246456,
      "left gripper-book distance": 0.13400940154358534,
      "right gripper-book distance": 0.5047484295420955
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.103935661036678,
    "bimanual_gripper_vertical_difference": 0.21002955419553518,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4294321537017822,
    "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": 0.003805041830359457,
      "left gripper-book distance": 0.13422450177541365,
      "right gripper-book distance": 0.5048076117845945
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0833341819228617,
    "bimanual_gripper_vertical_difference": 0.2113018060307111,
    "task_success": 0.0
  },
  {
    "completion_time": 1.456967830657959,
    "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": 0.0034220682674409586,
      "left gripper-book distance": 0.13371748374921524,
      "right gripper-book distance": 0.5051722231485906
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0634334384110025,
    "bimanual_gripper_vertical_difference": 0.21254892075709636,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4850003719329834,
    "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": 0.002773635401931762,
      "left gripper-book distance": 0.13258806895180605,
      "right gripper-book distance": 0.5056441532800126
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0445768923867513,
    "bimanual_gripper_vertical_difference": 0.21378656712013258,
    "task_success": 0.0
  },
  {
    "completion_time": 1.513380527496338,
    "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": 0.002034512703395275,
      "left gripper-book distance": 0.13121508384155858,
      "right gripper-book distance": 0.5061420749386076
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0264528619636935,
    "bimanual_gripper_vertical_difference": 0.21502272964674063,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5408084392547607,
    "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": 0.001328501443868646,
      "left gripper-book distance": 0.12971576715548946,
      "right gripper-book distance": 0.5064329369250196
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.00992066278593,
    "bimanual_gripper_vertical_difference": 0.216264149264971,
    "task_success": 0.0
  },
  {
    "completion_time": 1.566516637802124,
    "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": 0.0006646778227645811,
      "left gripper-book distance": 0.12821387619832808,
      "right gripper-book distance": 0.5066240536238442
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9942281296722008,
    "bimanual_gripper_vertical_difference": 0.2175075002158042,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5923542976379395,
    "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": 0.0007332131623154492,
      "left gripper-book distance": 0.12743770795600348,
      "right gripper-book distance": 0.5066821625151011
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9785624586461065,
    "bimanual_gripper_vertical_difference": 0.21871554675563437,
    "task_success": 0.0
  },
  {
    "completion_time": 1.617983341217041,
    "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": 0.0007508751380207457,
      "left gripper-book distance": 0.12697061922066763,
      "right gripper-book distance": 0.5064963571311806
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9625590281332377,
    "bimanual_gripper_vertical_difference": 0.2198838846117216,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6434082984924316,
    "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": 0.0007219296272947817,
      "left gripper-book distance": 0.1269497869132124,
      "right gripper-book distance": 0.5061326032334943
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9465111569947241,
    "bimanual_gripper_vertical_difference": 0.22100848122444045,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6686232089996338,
    "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": 0.000824389095879785,
      "left gripper-book distance": 0.12708151067078433,
      "right gripper-book distance": 0.50560955296412
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.931289776730531,
    "bimanual_gripper_vertical_difference": 0.22208711755537008,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6935107707977295,
    "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": 0.00068628569605933,
      "left gripper-book distance": 0.12729811510934919,
      "right gripper-book distance": 0.5053625943227449
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9173737297041874,
    "bimanual_gripper_vertical_difference": 0.2231245837104447,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7216076850891113,
    "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": 0.0008466094009859093,
      "left gripper-book distance": 0.1274486540306481,
      "right gripper-book distance": 0.5047122457202109
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.904971045709276,
    "bimanual_gripper_vertical_difference": 0.2241214501111447,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7487671375274658,
    "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": 0.0008835644125172459,
      "left gripper-book distance": 0.12815794678332543,
      "right gripper-book distance": 0.5040179552088969
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8930340783810924,
    "bimanual_gripper_vertical_difference": 0.22507706323745688,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7753195762634277,
    "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": 0.0010247135737754265,
      "left gripper-book distance": 0.12902864727467223,
      "right gripper-book distance": 0.503546575086475
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8805083919930414,
    "bimanual_gripper_vertical_difference": 0.22599240207982757,
    "task_success": 0.0
  },
  {
    "completion_time": 1.801579236984253,
    "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": 0.001056460551362104,
      "left gripper-book distance": 0.1293042794357757,
      "right gripper-book distance": 0.5035648388731602
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.866848232716298,
    "bimanual_gripper_vertical_difference": 0.22687708135733312,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8277595043182373,
    "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": 0.0009610746950474702,
      "left gripper-book distance": 0.12906749868332926,
      "right gripper-book distance": 0.5040625307669971
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8538292612776821,
    "bimanual_gripper_vertical_difference": 0.22774090141828934,
    "task_success": 0.0
  },
  {
    "completion_time": 1.853607177734375,
    "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": 0.0008861399078886611,
      "left gripper-book distance": 0.12875470836687086,
      "right gripper-book distance": 0.5048316752023336
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.841222326334614,
    "bimanual_gripper_vertical_difference": 0.22858694041878386,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8810114860534668,
    "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": 0.0007952864265320381,
      "left gripper-book distance": 0.12828128868776426,
      "right gripper-book distance": 0.5058810364493677
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8301050889943811,
    "bimanual_gripper_vertical_difference": 0.2294186084562439,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9094173908233643,
    "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": 0.0005313075927136923,
      "left gripper-book distance": 0.12860689284794577,
      "right gripper-book distance": 0.5070196529379611
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8221060695033731,
    "bimanual_gripper_vertical_difference": 0.23023139398786366,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9387009143829346,
    "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": 0.0004913670074992993,
      "left gripper-book distance": 0.13003532187852015,
      "right gripper-book distance": 0.5080354617338847
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8156562446535687,
    "bimanual_gripper_vertical_difference": 0.23101894550884994,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9671635627746582,
    "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": 0.0005100141865733709,
      "left gripper-book distance": 0.13273968472202033,
      "right gripper-book distance": 0.5090950373253589
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8090755172765322,
    "bimanual_gripper_vertical_difference": 0.23177182344415945,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9961373805999756,
    "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": 0.0007161022117573301,
      "left gripper-book distance": 0.1367202382342393,
      "right gripper-book distance": 0.50997720497853
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8028081928715504,
    "bimanual_gripper_vertical_difference": 0.23247930897546415,
    "task_success": 0.0
  },
  {
    "completion_time": 2.025303363800049,
    "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": 0.0007289318830082658,
      "left gripper-book distance": 0.14234255164435972,
      "right gripper-book distance": 0.511096420887818
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7980021227022391,
    "bimanual_gripper_vertical_difference": 0.23313406126754582,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0535964965820312,
    "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": 0.0007300642948137037,
      "left gripper-book distance": 0.1497861637187937,
      "right gripper-book distance": 0.5123181747609151
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7942763985413932,
    "bimanual_gripper_vertical_difference": 0.23372217603959136,
    "task_success": 0.0
  },
  {
    "completion_time": 2.082902193069458,
    "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": 0.0007311188895728904,
      "left gripper-book distance": 0.15825833474196094,
      "right gripper-book distance": 0.5134307099667881
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7884226040494292,
    "bimanual_gripper_vertical_difference": 0.2342218250629184,
    "task_success": 0.0
  },
  {
    "completion_time": 2.112070322036743,
    "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": 0.0007321729896654361,
      "left gripper-book distance": 0.1647412931357185,
      "right gripper-book distance": 0.5143925860347426
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.782115546156232,
    "bimanual_gripper_vertical_difference": 0.23463394036061117,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1435797214508057,
    "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": 0.0007332271096565091,
      "left gripper-book distance": 0.16877031468283,
      "right gripper-book distance": 0.5151396688730822
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7796953871913812,
    "bimanual_gripper_vertical_difference": 0.23496918198319722,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1710944175720215,
    "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": 0.0007342812529624876,
      "left gripper-book distance": 0.16993372688460717,
      "right gripper-book distance": 0.515518232933237
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7810569846805319,
    "bimanual_gripper_vertical_difference": 0.23525265256473873,
    "task_success": 0.0
  },
  {
    "completion_time": 2.198483943939209,
    "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": 0.0007353354195982487,
      "left gripper-book distance": 0.16856459440627564,
      "right gripper-book distance": 0.5155008838162324
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7855244769190649,
    "bimanual_gripper_vertical_difference": 0.23550964077555894,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2252519130706787,
    "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": 0.0007363896095561318,
      "left gripper-book distance": 0.1650577880893062,
      "right gripper-book distance": 0.5150970795243774
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7939730701585089,
    "bimanual_gripper_vertical_difference": 0.23576129510483065,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2545135021209717,
    "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": 0.0007374438228279212,
      "left gripper-book distance": 0.16067677833282143,
      "right gripper-book distance": 0.5143830440607491
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8086482075770884,
    "bimanual_gripper_vertical_difference": 0.23601755052621134,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2849135398864746,
    "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": 0.0007384980594060675,
      "left gripper-book distance": 0.1568307379415033,
      "right gripper-book distance": 0.5134720896468622
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8324320480020327,
    "bimanual_gripper_vertical_difference": 0.2362756946415169,
    "task_success": 0.0
  },
  {
    "completion_time": 2.313062906265259,
    "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": 0.000739552319282355,
      "left gripper-book distance": 0.15502270895857279,
      "right gripper-book distance": 0.5124054262311241
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.859946338074235,
    "bimanual_gripper_vertical_difference": 0.2365210696200982,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3421671390533447,
    "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": 0.0007406066024489011,
      "left gripper-book distance": 0.15501322331566988,
      "right gripper-book distance": 0.5113514287071307
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8854177354039608,
    "bimanual_gripper_vertical_difference": 0.23674504108787398,
    "task_success": 0.0
  },
  {
    "completion_time": 2.370208978652954,
    "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": 0.0007416609088976012,
      "left gripper-book distance": 0.15493960909744248,
      "right gripper-book distance": 0.5103753452177769
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8999915796148357,
    "bimanual_gripper_vertical_difference": 0.23695742299667258,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3990683555603027,
    "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": 0.0007427152386207947,
      "left gripper-book distance": 0.15464385325255348,
      "right gripper-book distance": 0.5095977982238119
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9043398478682989,
    "bimanual_gripper_vertical_difference": 0.23717003701615916,
    "task_success": 0.0
  },
  {
    "completion_time": 2.427198886871338,
    "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": 0.000743769591610266,
      "left gripper-book distance": 0.15474952679924867,
      "right gripper-book distance": 0.5088825333225638
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9058359486520626,
    "bimanual_gripper_vertical_difference": 0.23739021751134012,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4544003009796143,
    "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": 0.0007448239678581325,
      "left gripper-book distance": 0.15490405716839345,
      "right gripper-book distance": 0.5077829145407375
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9054550050877908,
    "bimanual_gripper_vertical_difference": 0.2376215134492064,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4815609455108643,
    "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": 0.0007212265376642657,
      "left gripper-book distance": 0.1552259165125956,
      "right gripper-book distance": 0.5063468471012192
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.906686867861982,
    "bimanual_gripper_vertical_difference": 0.23786506483645534,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5089669227600098,
    "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": 0.0007354798000800411,
      "left gripper-book distance": 0.15618931499418684,
      "right gripper-book distance": 0.5047101307131481
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9137464051558675,
    "bimanual_gripper_vertical_difference": 0.23811569976091318,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5374722480773926,
    "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": 0.000736622257498265,
      "left gripper-book distance": 0.15803013246024078,
      "right gripper-book distance": 0.5031417727482792
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9261712708898932,
    "bimanual_gripper_vertical_difference": 0.23836336566866412,
    "task_success": 0.0
  },
  {
    "completion_time": 2.564678907394409,
    "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": 0.0007376774919577445,
      "left gripper-book distance": 0.1606443926019638,
      "right gripper-book distance": 0.5017979463888366
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9419142486539678,
    "bimanual_gripper_vertical_difference": 0.23859697830082552,
    "task_success": 0.0
  },
  {
    "completion_time": 2.593712329864502,
    "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": 0.0007387321691968429,
      "left gripper-book distance": 0.1635386668460518,
      "right gripper-book distance": 0.5007221033296073
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9583134662589824,
    "bimanual_gripper_vertical_difference": 0.2388137772116071,
    "task_success": 0.0
  },
  {
    "completion_time": 2.621609687805176,
    "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": 0.0005099116689059047,
      "left gripper-book distance": 0.16660898726393,
      "right gripper-book distance": 0.5002332896247557
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.974002574198762,
    "bimanual_gripper_vertical_difference": 0.23901721603744355,
    "task_success": 0.0
  },
  {
    "completion_time": 2.649427652359009,
    "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": 0.0007160736295138692,
      "left gripper-book distance": 0.16930314430350996,
      "right gripper-book distance": 0.4998724225314919
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9894831469341442,
    "bimanual_gripper_vertical_difference": 0.23921570216440383,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6761021614074707,
    "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": 0.0007289030637603888,
      "left gripper-book distance": 0.17191496752422816,
      "right gripper-book distance": 0.5000482361953525
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0047343154148045,
    "bimanual_gripper_vertical_difference": 0.23941844784647856,
    "task_success": 0.0
  },
  {
    "completion_time": 2.704036235809326,
    "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": 0.0007300355433836891,
      "left gripper-book distance": 0.1743733249310857,
      "right gripper-book distance": 0.5003851900559136
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.019347855559896,
    "bimanual_gripper_vertical_difference": 0.23963114958030193,
    "task_success": 0.0
  },
  {
    "completion_time": 2.733170986175537,
    "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": 0.0007310902079812331,
      "left gripper-book distance": 0.1768101248950535,
      "right gripper-book distance": 0.5006960893247254
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0298352971478364,
    "bimanual_gripper_vertical_difference": 0.2398492550891565,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7619080543518066,
    "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": 0.0007321443779376713,
      "left gripper-book distance": 0.17936615905623174,
      "right gripper-book distance": 0.5009436563872677
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0430218774095168,
    "bimanual_gripper_vertical_difference": 0.24006799477559293,
    "task_success": 0.0
  },
  {
    "completion_time": 2.790428638458252,
    "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": 0.0007331985678048492,
      "left gripper-book distance": 0.18193554080345428,
      "right gripper-book distance": 0.5011158899350243
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0567507510630008,
    "bimanual_gripper_vertical_difference": 0.24028924819457181,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8191850185394287,
    "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": 0.0007342527809994781,
      "left gripper-book distance": 0.18439142603162612,
      "right gripper-book distance": 0.5013358677828365
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0681830105356562,
    "bimanual_gripper_vertical_difference": 0.2405140376240565,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8488075733184814,
    "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": 0.0007353070175361021,
      "left gripper-book distance": 0.18659594850007255,
      "right gripper-book distance": 0.5017122264212958
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0774859839445168,
    "bimanual_gripper_vertical_difference": 0.24074266270463765,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8765764236450195,
    "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": 0.0007363612774072825,
      "left gripper-book distance": 0.1884191049803943,
      "right gripper-book distance": 0.5022596891432453
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0817344307104966,
    "bimanual_gripper_vertical_difference": 0.24097949240898572,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9040541648864746,
    "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": 0.0007374155606046928,
      "left gripper-book distance": 0.1898036734250982,
      "right gripper-book distance": 0.5029078922436795
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0829572532098304,
    "bimanual_gripper_vertical_difference": 0.24122727111742365,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9324429035186768,
    "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": 0.0007384698671204504,
      "left gripper-book distance": 0.19077158574147465,
      "right gripper-book distance": 0.5033887196685287
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0849873240348302,
    "bimanual_gripper_vertical_difference": 0.24148805750468189,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9596662521362305,
    "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": 0.0007395241969468946,
      "left gripper-book distance": 0.19173643203159893,
      "right gripper-book distance": 0.5036120061594942
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0910534110976715,
    "bimanual_gripper_vertical_difference": 0.24176409043345215,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9865798950195312,
    "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": 0.000740578550075921,
      "left gripper-book distance": 0.19267616149076275,
      "right gripper-book distance": 0.5036600351977399
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0983181149027699,
    "bimanual_gripper_vertical_difference": 0.24206184389576677,
    "task_success": 0.0
  },
  {
    "completion_time": 3.015749454498291,
    "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": 0.0007416329264995358,
      "left gripper-book distance": 0.19371289965445151,
      "right gripper-book distance": 0.5036989709713698
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1022873026197726,
    "bimanual_gripper_vertical_difference": 0.24238816123058798,
    "task_success": 0.0
  },
  {
    "completion_time": 3.042207956314087,
    "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": 0.0007426873262098566,
      "left gripper-book distance": 0.19519284556177638,
      "right gripper-book distance": 0.503936603500596
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1025280489380083,
    "bimanual_gripper_vertical_difference": 0.24274155879167023,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0682194232940674,
    "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": 0.0007437417491988896,
      "left gripper-book distance": 0.1948071894126091,
      "right gripper-book distance": 0.5026791995401179
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0929624931517374,
    "bimanual_gripper_vertical_difference": 0.24309262905074605,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0949933528900146,
    "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": 0.0007447961954584192,
      "left gripper-book distance": 0.19440282129905018,
      "right gripper-book distance": 0.5014815915268457
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0832203155772142,
    "bimanual_gripper_vertical_difference": 0.24343371727228916,
    "task_success": 0.0
  },
  {
    "completion_time": 3.123081922531128,
    "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": 0.0007241516315896757,
      "left gripper-book distance": 0.1940958303399943,
      "right gripper-book distance": 0.5007010458396355
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0735942302446775,
    "bimanual_gripper_vertical_difference": 0.24376589907800092,
    "task_success": 0.0
  },
  {
    "completion_time": 3.150360584259033,
    "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": 0.0007354788672395696,
      "left gripper-book distance": 0.19388181976941854,
      "right gripper-book distance": 0.5001759942776779
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0641011199454218,
    "bimanual_gripper_vertical_difference": 0.2440904042557497,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1774981021881104,
    "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": 0.0007366019245222954,
      "left gripper-book distance": 0.19374775292557236,
      "right gripper-book distance": 0.49984154325044156
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0547484004021472,
    "bimanual_gripper_vertical_difference": 0.24440806816888772,
    "task_success": 0.0
  },
  {
    "completion_time": 3.204883575439453,
    "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": 0.000737657100072342,
      "left gripper-book distance": 0.1936611773430503,
      "right gripper-book distance": 0.4996250195919874
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0455403640358636,
    "bimanual_gripper_vertical_difference": 0.24471946735512942,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2328529357910156,
    "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": 0.0007387118471284815,
      "left gripper-book distance": 0.19360511933965946,
      "right gripper-book distance": 0.4994847146009156
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0364790202980112,
    "bimanual_gripper_vertical_difference": 0.24502501590216516,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2618660926818848,
    "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": 0.0004960527964232853,
      "left gripper-book distance": 0.19333881875344142,
      "right gripper-book distance": 0.4988589220628961
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.028965946951851,
    "bimanual_gripper_vertical_difference": 0.24532660278166923,
    "task_success": 0.0
  },
  {
    "completion_time": 3.290755271911621,
    "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": 0.0007186882834008257,
      "left gripper-book distance": 0.19254744592311174,
      "right gripper-book distance": 0.4984419123051104
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0312273500581306,
    "bimanual_gripper_vertical_difference": 0.2456499435981771,
    "task_success": 0.0
  },
  {
    "completion_time": 3.319155216217041,
    "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": 0.0007289071846175998,
      "left gripper-book distance": 0.190673716515444,
      "right gripper-book distance": 0.4990434406469016
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0391684165389223,
    "bimanual_gripper_vertical_difference": 0.24603164983691395,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3473219871520996,
    "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": 0.0007300223638794234,
      "left gripper-book distance": 0.18873888551372972,
      "right gripper-book distance": 0.4993911489757913
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0514141776896484,
    "bimanual_gripper_vertical_difference": 0.24648807799948977,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3755249977111816,
    "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": 0.0007310769842032716,
      "left gripper-book distance": 0.18704485560747064,
      "right gripper-book distance": 0.4989139155217953
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0660459751099198,
    "bimanual_gripper_vertical_difference": 0.24701887103588557,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4059972763061523,
    "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": 0.0007321312247359213,
      "left gripper-book distance": 0.18531172454166353,
      "right gripper-book distance": 0.4978767816221664
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0770177952909308,
    "bimanual_gripper_vertical_difference": 0.2476115134415243,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4339497089385986,
    "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": 0.0007331854859560227,
      "left gripper-book distance": 0.1835862252866599,
      "right gripper-book distance": 0.4968745935996873
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0868366233849815,
    "bimanual_gripper_vertical_difference": 0.24825667367538348,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4626331329345703,
    "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": 0.0007342397705210058,
      "left gripper-book distance": 0.18186907971222158,
      "right gripper-book distance": 0.49625140266221407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0965321767625091,
    "bimanual_gripper_vertical_difference": 0.2489494929569692,
    "task_success": 0.0
  },
  {
    "completion_time": 3.491664171218872,
    "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": 0.0007352940784406403,
      "left gripper-book distance": 0.18022560183658953,
      "right gripper-book distance": 0.49583397150444014
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1063796373749522,
    "bimanual_gripper_vertical_difference": 0.24968510936782956,
    "task_success": 0.0
  },
  {
    "completion_time": 3.519364833831787,
    "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": 0.0007363484097071549,
      "left gripper-book distance": 0.17904715783026698,
      "right gripper-book distance": 0.49538118349848
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1099821519584117,
    "bimanual_gripper_vertical_difference": 0.25045504208286967,
    "task_success": 0.0
  },
  {
    "completion_time": 3.546973466873169,
    "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": 0.0007374027643123338,
      "left gripper-book distance": 0.1783007813999832,
      "right gripper-book distance": 0.49490312948283105
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1085825345027367,
    "bimanual_gripper_vertical_difference": 0.25124669486777984,
    "task_success": 0.0
  },
  {
    "completion_time": 3.573728322982788,
    "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": 0.0007384571422485164,
      "left gripper-book distance": 0.17763056420377468,
      "right gripper-book distance": 0.4945888139546172
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.106079697343685,
    "bimanual_gripper_vertical_difference": 0.25205051102279896,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6000266075134277,
    "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": 0.0007395115435078203,
      "left gripper-book distance": 0.17660595781552704,
      "right gripper-book distance": 0.4944777600559223
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1030541107368341,
    "bimanual_gripper_vertical_difference": 0.25286337162141637,
    "task_success": 0.0
  },
  {
    "completion_time": 3.627027988433838,
    "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": 0.0007405659680818077,
      "left gripper-book distance": 0.17483915926183277,
      "right gripper-book distance": 0.49464351789550587
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0994567779525357,
    "bimanual_gripper_vertical_difference": 0.25368335534423087,
    "task_success": 0.0
  },
  {
    "completion_time": 3.653773307800293,
    "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": 0.0007416204159632622,
      "left gripper-book distance": 0.1721576977272605,
      "right gripper-book distance": 0.49525109730310607
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.09500435672305,
    "bimanual_gripper_vertical_difference": 0.2545107309842642,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6802926063537598,
    "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": 0.000742674887143524,
      "left gripper-book distance": 0.16901375820154108,
      "right gripper-book distance": 0.4961327397532642
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0897203597203549,
    "bimanual_gripper_vertical_difference": 0.2553445132886588,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7089734077453613,
    "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": 0.0007437293816151547,
      "left gripper-book distance": 0.16538077880003793,
      "right gripper-book distance": 0.49709967073002226
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0841784898331501,
    "bimanual_gripper_vertical_difference": 0.25618355403875903,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7366340160369873,
    "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": 0.0007447838993699385,
      "left gripper-book distance": 0.16123888787009388,
      "right gripper-book distance": 0.49799954574841954
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0788931772242003,
    "bimanual_gripper_vertical_difference": 0.25702669144953366,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7644894123077393,
    "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": 0.0007264296240059309,
      "left gripper-book distance": 0.156960165027815,
      "right gripper-book distance": 0.49891201490183645
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0738459479545694,
    "bimanual_gripper_vertical_difference": 0.25787327323888376,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7924466133117676,
    "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": 0.0007354794605302084,
      "left gripper-book distance": 0.15238339725363412,
      "right gripper-book distance": 0.4999149289307922
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.069219435889923,
    "bimanual_gripper_vertical_difference": 0.2587244920443627,
    "task_success": 0.0
  },
  {
    "completion_time": 3.819627046585083,
    "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": 0.00073658743398064,
      "left gripper-book distance": 0.1479884110377654,
      "right gripper-book distance": 0.5009602416969946
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0647625660422035,
    "bimanual_gripper_vertical_difference": 0.25958194715953764,
    "task_success": 0.0
  },
  {
    "completion_time": 3.846360921859741,
    "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": 0.0007376425799968667,
      "left gripper-book distance": 0.1441717727036415,
      "right gripper-book distance": 0.5018883365640331
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0602014153968995,
    "bimanual_gripper_vertical_difference": 0.2604460313704255,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8729262351989746,
    "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": 0.0007087991419335582,
      "left gripper-book distance": 0.14097187033604838,
      "right gripper-book distance": 0.5025835879569496
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0553365287770027,
    "bimanual_gripper_vertical_difference": 0.2613137031500427,
    "task_success": 0.0
  },
  {
    "completion_time": 3.899704694747925,
    "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": 0.0005420359447176892,
      "left gripper-book distance": 0.13815823951636005,
      "right gripper-book distance": 0.503082855901028
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0504577787092284,
    "bimanual_gripper_vertical_difference": 0.26218086315750155,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9290990829467773,
    "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": 0.0007207189126769986,
      "left gripper-book distance": 0.13552512713148993,
      "right gripper-book distance": 0.5032428172448958
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0453557923284205,
    "bimanual_gripper_vertical_difference": 0.26305039006462433,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9593281745910645,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007289060788580048,
      "left gripper-book distance": 0.13275558427712011,
      "right gripper-book distance": 0.5035711708162652
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0407524985029943,
    "bimanual_gripper_vertical_difference": 0.26392640954932334,
    "task_success": 0.0
  },
  {
    "completion_time": 3.988062858581543,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007300078089382822,
      "left gripper-book distance": 0.1298002727330741,
      "right gripper-book distance": 0.5039267794829626
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0363431215479926,
    "bimanual_gripper_vertical_difference": 0.26480485975177126,
    "task_success": 0.0
  },
  {
    "completion_time": 4.016306638717651,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007310624106496855,
      "left gripper-book distance": 0.12781133620194216,
      "right gripper-book distance": 0.5042391949589774
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0302034640361932,
    "bimanual_gripper_vertical_difference": 0.26568174892148627,
    "task_success": 0.0
  },
  {
    "completion_time": 4.042102813720703,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0001887253290671076,
      "left gripper-book distance": 0.1289959280816582,
      "right gripper-book distance": 0.5045059810079071
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.024620722989431,
    "bimanual_gripper_vertical_difference": 0.26659423202458793,
    "task_success": 0.0
  },
  {
    "completion_time": 4.0675272941589355,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": -0.0017360579711390711,
      "left gripper-book distance": 0.12956713291089608,
      "right gripper-book distance": 0.505703932516236
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0206129772793286,
    "bimanual_gripper_vertical_difference": 0.2675105759275926,
    "task_success": 0.0
  },
  {
    "completion_time": 4.0927276611328125,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": -0.001378981816380187,
      "left gripper-book distance": 0.1299836527387687,
      "right gripper-book distance": 0.5044744951337925
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0162557466954791,
    "bimanual_gripper_vertical_difference": 0.2684162285909369,
    "task_success": 0.0
  },
  {
    "completion_time": 4.118942975997925,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": -0.0008391994855551088,
      "left gripper-book distance": 0.130446307221802,
      "right gripper-book distance": 0.502845688568797
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0129809333005366,
    "bimanual_gripper_vertical_difference": 0.2693001122532751,
    "task_success": 0.0
  },
  {
    "completion_time": 4.145202398300171,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.0007568857161209808,
      "left gripper-book distance": 0.1295985500525916,
      "right gripper-book distance": 0.5004657145860613
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0122815073871838,
    "bimanual_gripper_vertical_difference": 0.2701400436478178,
    "task_success": 0.0
  },
  {
    "completion_time": 4.17120099067688,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.002672268716743198,
      "left gripper-book distance": 0.1309397133986878,
      "right gripper-book distance": 0.4976781630458853
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0095954067013633,
    "bimanual_gripper_vertical_difference": 0.2709452771126273,
    "task_success": 0.0
  },
  {
    "completion_time": 4.196056365966797,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.00486015557297681,
      "left gripper-book distance": 0.1367469109337655,
      "right gripper-book distance": 0.4914866705529355
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0085604952150964,
    "bimanual_gripper_vertical_difference": 0.27166373318357284,
    "task_success": 0.0
  },
  {
    "completion_time": 4.222789525985718,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.015240734563592429,
      "left gripper-book distance": 0.13816682568849611,
      "right gripper-book distance": 0.4800518168107131
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0105472995832179,
    "bimanual_gripper_vertical_difference": 0.27229259532790034,
    "task_success": 0.0
  },
  {
    "completion_time": 4.249859571456909,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.027777469474434713,
      "left gripper-book distance": 0.1381119698449648,
      "right gripper-book distance": 0.46837852878867453
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0162822016183612,
    "bimanual_gripper_vertical_difference": 0.27283362659870264,
    "task_success": 0.0
  },
  {
    "completion_time": 4.2763144969940186,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.03985844441568431,
      "left gripper-book distance": 0.13804788844449548,
      "right gripper-book distance": 0.4601057917851226
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.025856713288826,
    "bimanual_gripper_vertical_difference": 0.2732916258424861,
    "task_success": 0.0
  },
  {
    "completion_time": 4.303547620773315,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.05165638643658954,
      "left gripper-book distance": 0.13800124334408387,
      "right gripper-book distance": 0.4561522785659931
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0371645910293459,
    "bimanual_gripper_vertical_difference": 0.27367371005071295,
    "task_success": 0.0
  },
  {
    "completion_time": 4.33191704750061,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true
    },
    "target_distance": {
      "book lift distance": 0.06331886793014418,
      "left gripper-book distance": 0.13799129558360376,
      "right gripper-book distance": 0.4570412556332454
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 1.0495001817049978,
    "bimanual_gripper_vertical_difference": 0.2739913090953174,
    "task_success": 1.0
  }
]