[
  {
    "completion_time": 0.1128091812133789,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": -0.0006777192245058794,
      "book-upper shelf": 0.5898026266308499,
      "book-lower shelf": 0.3715452921798471
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00631222798905734,
    "bimanual_gripper_vertical_difference": 0.0001643890273745896,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1295185089111328,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007001558252591744,
      "book-upper shelf": 0.5885539372170615,
      "book-lower shelf": 0.37047677031190873
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00925483158481686,
    "bimanual_gripper_vertical_difference": 0.0003272283048906255,
    "task_success": 0.0
  },
  {
    "completion_time": 0.14979028701782227,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007386964915890859,
      "book-upper shelf": 0.5885166758795647,
      "book-lower shelf": 0.37044319060614495
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.016298898752233778,
    "bimanual_gripper_vertical_difference": 0.0005600742241162285,
    "task_success": 0.0
  },
  {
    "completion_time": 0.16640067100524902,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007506610231023947,
      "book-upper shelf": 0.5885064850611745,
      "book-lower shelf": 0.3704349532248768
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.02110258769312945,
    "bimanual_gripper_vertical_difference": 0.0007937871569380639,
    "task_success": 0.0
  },
  {
    "completion_time": 0.18361902236938477,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007617196965881146,
      "book-upper shelf": 0.5884971286271199,
      "book-lower shelf": 0.3704274393963931
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.024159199428578637,
    "bimanual_gripper_vertical_difference": 0.0010557913681561448,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2007601261138916,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007727790828936376,
      "book-upper shelf": 0.588487761157415,
      "book-lower shelf": 0.3704199085932663
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.027894574819827583,
    "bimanual_gripper_vertical_difference": 0.0013600047753651312,
    "task_success": 0.0
  },
  {
    "completion_time": 0.21749401092529297,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004351365924156747,
      "book-upper shelf": 0.5887925015250428,
      "book-lower shelf": 0.37067964802271675
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.028828072535444664,
    "bimanual_gripper_vertical_difference": 0.0016843274607941502,
    "task_success": 0.0
  },
  {
    "completion_time": 0.23419904708862305,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007416310436340057,
      "book-upper shelf": 0.5885217598379452,
      "book-lower shelf": 0.3704532178305803
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0287334143686412,
    "bimanual_gripper_vertical_difference": 0.002013041731472709,
    "task_success": 0.0
  },
  {
    "completion_time": 0.253063440322876,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007543014828937933,
      "book-upper shelf": 0.5885000537339983,
      "book-lower shelf": 0.3704271555933732
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.029254811465571788,
    "bimanual_gripper_vertical_difference": 0.0023363955178414336,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2706890106201172,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007660157129257827,
      "book-upper shelf": 0.5884900827532874,
      "book-lower shelf": 0.3704191011916303
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.08208032330034494,
    "bimanual_gripper_vertical_difference": 0.0029373644941367073,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3737194538116455,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007770663935106059,
      "book-upper shelf": 0.5884807214870822,
      "book-lower shelf": 0.37041157446581274
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.21476553651199445,
    "bimanual_gripper_vertical_difference": 0.004029315221058649,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3907201290130615,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007185709982405752,
      "book-upper shelf": 0.5885330884392481,
      "book-lower shelf": 0.3704558881524108
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.36711489909794737,
    "bimanual_gripper_vertical_difference": 0.006190472963736242,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4078652858734131,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000777786487644816,
      "book-upper shelf": 0.5884821532276977,
      "book-lower shelf": 0.3704143277657447
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5110552554019114,
    "bimanual_gripper_vertical_difference": 0.00953274412939162,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4246177673339844,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006134014319724157,
      "book-upper shelf": 0.5886199834762478,
      "book-lower shelf": 0.37052403845599746
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5967531090256911,
    "bimanual_gripper_vertical_difference": 0.014130352218527462,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4416689872741699,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006948208817774137,
      "book-upper shelf": 0.5885467052951113,
      "book-lower shelf": 0.3704617354705574
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6242056129094131,
    "bimanual_gripper_vertical_difference": 0.01948825085069973,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4589416980743408,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007611563838753055,
      "book-upper shelf": 0.5884998547618724,
      "book-lower shelf": 0.3704313959518059
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.610641180177998,
    "bimanual_gripper_vertical_difference": 0.02470373941586989,
    "task_success": 0.0
  },
  {
    "completion_time": 0.47623324394226074,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007833015210583216,
      "book-upper shelf": 0.5884802839226291,
      "book-lower shelf": 0.37041502398053094
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5851631141869307,
    "bimanual_gripper_vertical_difference": 0.029004899775042968,
    "task_success": 0.0
  },
  {
    "completion_time": 0.49335408210754395,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007945135188495156,
      "book-upper shelf": 0.5884707982035241,
      "book-lower shelf": 0.37040740693381324
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5932903550928168,
    "bimanual_gripper_vertical_difference": 0.0324863466040271,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5103874206542969,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007569894893459939,
      "book-upper shelf": 0.5884976550994696,
      "book-lower shelf": 0.3704251316020915
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6216560338905501,
    "bimanual_gripper_vertical_difference": 0.03576142375581046,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5272586345672607,
    "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,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007662997609696465,
      "book-upper shelf": 0.5884898778697644,
      "book-lower shelf": 0.3704189645027278
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6016823949383923,
    "bimanual_gripper_vertical_difference": 0.038963487902485085,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6318275928497314,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000725338644135709,
      "book-upper shelf": 0.5885205367697608,
      "book-lower shelf": 0.37044044569394996
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5846437589519313,
    "bimanual_gripper_vertical_difference": 0.04145598761669121,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6493651866912842,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007593547748493412,
      "book-upper shelf": 0.5884952784388812,
      "book-lower shelf": 0.3704229280087186
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5897717158612722,
    "bimanual_gripper_vertical_difference": 0.04339539569725249,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6662819385528564,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007722122581108604,
      "book-upper shelf": 0.5884842566088375,
      "book-lower shelf": 0.3704139640912172
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6066108855708633,
    "bimanual_gripper_vertical_difference": 0.044722347923947636,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6831059455871582,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007833449466569942,
      "book-upper shelf": 0.5884748322558846,
      "book-lower shelf": 0.370406391694807
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6328703919338018,
    "bimanual_gripper_vertical_difference": 0.045334146035487466,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7006590366363525,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007841750327511887,
      "book-upper shelf": 0.5884747696654001,
      "book-lower shelf": 0.3704068440491038
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6520503944592067,
    "bimanual_gripper_vertical_difference": 0.045448450627106535,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7211253643035889,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007096229938670096,
      "book-upper shelf": 0.5885304204610399,
      "book-lower shelf": 0.3704457021511474
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.66047542066457,
    "bimanual_gripper_vertical_difference": 0.04527774018055467,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7381434440612793,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007433847708032681,
      "book-upper shelf": 0.5885104703674926,
      "book-lower shelf": 0.3704364481977836
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6569251124948934,
    "bimanual_gripper_vertical_difference": 0.04497013129244825,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7552351951599121,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007649852651566702,
      "book-upper shelf": 0.5884913908274876,
      "book-lower shelf": 0.3704204943880834
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6474916581099539,
    "bimanual_gripper_vertical_difference": 0.04462406349249185,
    "task_success": 0.0
  },
  {
    "completion_time": 0.772249698638916,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007761023565331371,
      "book-upper shelf": 0.5884819819154048,
      "book-lower shelf": 0.3704129361069344
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6306407116461785,
    "bimanual_gripper_vertical_difference": 0.044248043260983645,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7890715599060059,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007871805143634392,
      "book-upper shelf": 0.588472598371344,
      "book-lower shelf": 0.3704053923325214
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6262158177831659,
    "bimanual_gripper_vertical_difference": 0.04379408413381,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8915348052978516,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007982626015194949,
      "book-upper shelf": 0.5884632006211205,
      "book-lower shelf": 0.3703978286844406
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6315101883307348,
    "bimanual_gripper_vertical_difference": 0.04311319745234079,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9086720943450928,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007367068773606045,
      "book-upper shelf": 0.5885165944944118,
      "book-lower shelf": 0.3704417388576827
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6516593008897085,
    "bimanual_gripper_vertical_difference": 0.04189869261760931,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9254677295684814,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000771354974626326,
      "book-upper shelf": 0.5884852867898119,
      "book-lower shelf": 0.3704150308993273
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.65627723118313,
    "bimanual_gripper_vertical_difference": 0.04108896805379724,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9430866241455078,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007653184686489123,
      "book-upper shelf": 0.5884873529433441,
      "book-lower shelf": 0.37041430081054477
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6486554355663502,
    "bimanual_gripper_vertical_difference": 0.0405895218735387,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9600226879119873,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007007762254926941,
      "book-upper shelf": 0.5885448798843974,
      "book-lower shelf": 0.37046279365311724
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6553314899114877,
    "bimanual_gripper_vertical_difference": 0.04006796519173689,
    "task_success": 0.0
  },
  {
    "completion_time": 0.976994514465332,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007118674715076434,
      "book-upper shelf": 0.5885281108603048,
      "book-lower shelf": 0.3704435247106081
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6681404097094499,
    "bimanual_gripper_vertical_difference": 0.039257466811886584,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9942286014556885,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007727941722939224,
      "book-upper shelf": 0.5884846249223242,
      "book-lower shelf": 0.3704149360526932
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6710111283151446,
    "bimanual_gripper_vertical_difference": 0.03821063307754417,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0112919807434082,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007844018162848077,
      "book-upper shelf": 0.5884747714561276,
      "book-lower shelf": 0.37040699764659385
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6635525549725315,
    "bimanual_gripper_vertical_difference": 0.0374188891319667,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0283210277557373,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007955713885057225,
      "book-upper shelf": 0.5884653119689803,
      "book-lower shelf": 0.370399394048909
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6514332346818473,
    "bimanual_gripper_vertical_difference": 0.03679199993470833,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0452513694763184,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007425403936560659,
      "book-upper shelf": 0.5885134913072895,
      "book-lower shelf": 0.37044068628917065
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6450888121987339,
    "bimanual_gripper_vertical_difference": 0.03627238367770691,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1511406898498535,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006869774018900543,
      "book-upper shelf": 0.5885477839780172,
      "book-lower shelf": 0.3704582360238464
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6550766071978221,
    "bimanual_gripper_vertical_difference": 0.035809036191722925,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1682956218719482,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007306519633961672,
      "book-upper shelf": 0.5885156137494808,
      "book-lower shelf": 0.3704361561418605
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6697126713642639,
    "bimanual_gripper_vertical_difference": 0.03526376690560551,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1860320568084717,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000744326403937734,
      "book-upper shelf": 0.5885038275838841,
      "book-lower shelf": 0.3704265206614395
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6799598153996943,
    "bimanual_gripper_vertical_difference": 0.034604632391570085,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2030696868896484,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007554591224663287,
      "book-upper shelf": 0.5884944012254865,
      "book-lower shelf": 0.3704189448576144
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6782139411271173,
    "bimanual_gripper_vertical_difference": 0.03400937680805538,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2202069759368896,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007665856024030582,
      "book-upper shelf": 0.5884849700731157,
      "book-lower shelf": 0.3704113573753813
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6736209716168414,
    "bimanual_gripper_vertical_difference": 0.03358457308836518,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2372548580169678,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007777161658962806,
      "book-upper shelf": 0.5884755245069022,
      "book-lower shelf": 0.37040374979253343
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6653945552188214,
    "bimanual_gripper_vertical_difference": 0.03332338390557376,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2549545764923096,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007630111087373326,
      "book-upper shelf": 0.5884898885153885,
      "book-lower shelf": 0.37041679537538424
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6592187983576673,
    "bimanual_gripper_vertical_difference": 0.03321443636920416,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2747645378112793,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007804025524248415,
      "book-upper shelf": 0.5884746235230494,
      "book-lower shelf": 0.37040410413268055
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6576718627672556,
    "bimanual_gripper_vertical_difference": 0.033241526337087914,
    "task_success": 0.0
  },
  {
    "completion_time": 1.29176926612854,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007730554936133949,
      "book-upper shelf": 0.5884800166472455,
      "book-lower shelf": 0.3704077884734309
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6536043323691396,
    "bimanual_gripper_vertical_difference": 0.03336554008205524,
    "task_success": 0.0
  },
  {
    "completion_time": 1.308884859085083,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005498461938384658,
      "book-upper shelf": 0.5886694115568571,
      "book-lower shelf": 0.37056032768216496
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6462786862553918,
    "bimanual_gripper_vertical_difference": 0.03353193933230674,
    "task_success": 0.0
  },
  {
    "completion_time": 1.411482810974121,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007345281515348523,
      "book-upper shelf": 0.5885125484647822,
      "book-lower shelf": 0.37043386276039314
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6470973252965376,
    "bimanual_gripper_vertical_difference": 0.03372604860585451,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4306859970092773,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007542340235924261,
      "book-upper shelf": 0.5884951469619584,
      "book-lower shelf": 0.3704193152813746
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6543487291793826,
    "bimanual_gripper_vertical_difference": 0.03398261661505554,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4487321376800537,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007654786746171816,
      "book-upper shelf": 0.5884856233436235,
      "book-lower shelf": 0.37041165943617754
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6628980783084236,
    "bimanual_gripper_vertical_difference": 0.03432209990644452,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4657809734344482,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0010523480234216898,
      "book-upper shelf": 0.588477745237894,
      "book-lower shelf": 0.3705897921083307
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.668481533702442,
    "bimanual_gripper_vertical_difference": 0.03467952643330456,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4822676181793213,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008021475738405615,
      "book-upper shelf": 0.5899601575561564,
      "book-lower shelf": 0.3727740785880842
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6680154977557167,
    "bimanual_gripper_vertical_difference": 0.03501558123716917,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4987986087799072,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008638381276712126,
      "book-upper shelf": 0.59077459720778,
      "book-lower shelf": 0.3741022993549871
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.662731427709838,
    "bimanual_gripper_vertical_difference": 0.03531481524151319,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5160083770751953,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006246451980297385,
      "book-upper shelf": 0.5913072488380046,
      "book-lower shelf": 0.3747857756734042
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6570197623238221,
    "bimanual_gripper_vertical_difference": 0.035549113905360294,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5333144664764404,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007498898387700015,
      "book-upper shelf": 0.5912000428980629,
      "book-lower shelf": 0.3746989225559717
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6531559099655064,
    "bimanual_gripper_vertical_difference": 0.03569381831217962,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5503566265106201,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007675667149168452,
      "book-upper shelf": 0.5911846161374251,
      "book-lower shelf": 0.3746861982741393
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6489598412152533,
    "bimanual_gripper_vertical_difference": 0.03575099369249772,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5674989223480225,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007154079246013412,
      "book-upper shelf": 0.5912200161932413,
      "book-lower shelf": 0.3747077778361135
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6428893287567371,
    "bimanual_gripper_vertical_difference": 0.03572936534329565,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6738014221191406,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007572769300501214,
      "book-upper shelf": 0.5911895597272627,
      "book-lower shelf": 0.37468723643265694
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6436910125481157,
    "bimanual_gripper_vertical_difference": 0.03569706991219329,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6912760734558105,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007638789794610634,
      "book-upper shelf": 0.591184332498427,
      "book-lower shelf": 0.37468332733905096
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6474781336001008,
    "bimanual_gripper_vertical_difference": 0.03559969095332075,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7108914852142334,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007599849995647556,
      "book-upper shelf": 0.5911885969846484,
      "book-lower shelf": 0.374687497000545
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6578818363409025,
    "bimanual_gripper_vertical_difference": 0.03536411919868645,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7283105850219727,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007257423042472677,
      "book-upper shelf": 0.5912165846515106,
      "book-lower shelf": 0.37470915435252344
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6713965364138463,
    "bimanual_gripper_vertical_difference": 0.03494944208439644,
    "task_success": 0.0
  },
  {
    "completion_time": 1.745565414428711,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007438253082479029,
      "book-upper shelf": 0.5911994285844957,
      "book-lower shelf": 0.3746939680893197
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6811464514263611,
    "bimanual_gripper_vertical_difference": 0.03443975026068209,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7626311779022217,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007541456914419431,
      "book-upper shelf": 0.591190813710739,
      "book-lower shelf": 0.37468715730932617
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6830802411427377,
    "bimanual_gripper_vertical_difference": 0.03409940733983185,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7798583507537842,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007529879000129913,
      "book-upper shelf": 0.591190218492407,
      "book-lower shelf": 0.3746854573149192
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6848659760720562,
    "bimanual_gripper_vertical_difference": 0.03392479759146836,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7976248264312744,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006126344349888235,
      "book-upper shelf": 0.5913320617492309,
      "book-lower shelf": 0.37481703225853524
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6989109857077686,
    "bimanual_gripper_vertical_difference": 0.03394335510153065,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8151118755340576,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007271931042016622,
      "book-upper shelf": 0.5912139282649067,
      "book-lower shelf": 0.3747059164323998
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7199596750864743,
    "bimanual_gripper_vertical_difference": 0.03413151536268359,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8323683738708496,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007412532914241599,
      "book-upper shelf": 0.5912004223016576,
      "book-lower shelf": 0.3746938458313164
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7426964393390102,
    "bimanual_gripper_vertical_difference": 0.03439966001001095,
    "task_success": 0.0
  },
  {
    "completion_time": 1.935692310333252,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00075042458025254,
      "book-upper shelf": 0.5911928197256622,
      "book-lower shelf": 0.3746878771331632
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7496585227133662,
    "bimanual_gripper_vertical_difference": 0.03480727944960197,
    "task_success": 0.0
  },
  {
    "completion_time": 1.952843189239502,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007553091527292555,
      "book-upper shelf": 0.5911910450820578,
      "book-lower shelf": 0.3746882869376935
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.747909651623232,
    "bimanual_gripper_vertical_difference": 0.03530616171851155,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9702084064483643,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007651217067139449,
      "book-upper shelf": 0.5911834697146678,
      "book-lower shelf": 0.3746827826831114
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7377568175078859,
    "bimanual_gripper_vertical_difference": 0.03578535014314587,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9898252487182617,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007670898763744161,
      "book-upper shelf": 0.5911824661767641,
      "book-lower shelf": 0.37468249267249465
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7342874065053209,
    "bimanual_gripper_vertical_difference": 0.036146371189805876,
    "task_success": 0.0
  },
  {
    "completion_time": 2.007145881652832,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007618590292511884,
      "book-upper shelf": 0.5911864449862408,
      "book-lower shelf": 0.37468533305327395
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7354616958516561,
    "bimanual_gripper_vertical_difference": 0.03641919107929848,
    "task_success": 0.0
  },
  {
    "completion_time": 2.025538206100464,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007717141447698417,
      "book-upper shelf": 0.5911782023417755,
      "book-lower shelf": 0.37467880397141834
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7376583013960535,
    "bimanual_gripper_vertical_difference": 0.0366552365901013,
    "task_success": 0.0
  },
  {
    "completion_time": 2.043691873550415,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007200189561442638,
      "book-upper shelf": 0.5912132171923846,
      "book-lower shelf": 0.3747000802092113
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7393266190249689,
    "bimanual_gripper_vertical_difference": 0.03689267040285837,
    "task_success": 0.0
  },
  {
    "completion_time": 2.060969591140747,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007623759228897464,
      "book-upper shelf": 0.5911824281357071,
      "book-lower shelf": 0.37467933483243443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7347292713439426,
    "bimanual_gripper_vertical_difference": 0.03715686012293302,
    "task_success": 0.0
  },
  {
    "completion_time": 2.077895402908325,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007691808649912257,
      "book-upper shelf": 0.5911770846357575,
      "book-lower shelf": 0.3746753756336393
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7293715222962733,
    "bimanual_gripper_vertical_difference": 0.03747567240426079,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0954179763793945,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007101687093484799,
      "book-upper shelf": 0.5912210935648589,
      "book-lower shelf": 0.3747060349765186
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7248798006769265,
    "bimanual_gripper_vertical_difference": 0.03787329725693468,
    "task_success": 0.0
  },
  {
    "completion_time": 2.199477195739746,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007344621153900777,
      "book-upper shelf": 0.59120710104592,
      "book-lower shelf": 0.37469992098570615
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.727081069846319,
    "bimanual_gripper_vertical_difference": 0.0385247730712308,
    "task_success": 0.0
  },
  {
    "completion_time": 2.217602252960205,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007627751821531747,
      "book-upper shelf": 0.591181860129118,
      "book-lower shelf": 0.3746787009892514
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7299615534156633,
    "bimanual_gripper_vertical_difference": 0.03948751130028997,
    "task_success": 0.0
  },
  {
    "completion_time": 2.234549045562744,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00077205225079513,
      "book-upper shelf": 0.5911741944113826,
      "book-lower shelf": 0.3746727023145111
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7323051499515257,
    "bimanual_gripper_vertical_difference": 0.040546851806643636,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2522668838500977,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007673383341703088,
      "book-upper shelf": 0.5911792883426178,
      "book-lower shelf": 0.3746776418719944
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7402306352654554,
    "bimanual_gripper_vertical_difference": 0.0415265396504252,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2693488597869873,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007620480985647271,
      "book-upper shelf": 0.5911833237615254,
      "book-lower shelf": 0.3746805325483045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7457278232410393,
    "bimanual_gripper_vertical_difference": 0.042417576103365474,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2867138385772705,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007357389042117468,
      "book-upper shelf": 0.5912069515327527,
      "book-lower shelf": 0.3747005240920783
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7424694468370839,
    "bimanual_gripper_vertical_difference": 0.04323478939870344,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3043224811553955,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007542932942479208,
      "book-upper shelf": 0.5911858984161078,
      "book-lower shelf": 0.37467949878481505
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7382624514158127,
    "bimanual_gripper_vertical_difference": 0.044002175896477425,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3212788105010986,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007634690035714931,
      "book-upper shelf": 0.5911782801727576,
      "book-lower shelf": 0.37467350833711893
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7332710359987081,
    "bimanual_gripper_vertical_difference": 0.04473038553683287,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3384363651275635,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007689750364405779,
      "book-upper shelf": 0.5911741275181713,
      "book-lower shelf": 0.3746705744976202
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7278138322303733,
    "bimanual_gripper_vertical_difference": 0.04542405858706329,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3560805320739746,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007099851333918217,
      "book-upper shelf": 0.5912181019138961,
      "book-lower shelf": 0.3747011940206314
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7219289128463968,
    "bimanual_gripper_vertical_difference": 0.046089196668001715,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4580769538879395,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007344660329188235,
      "book-upper shelf": 0.5912039380029359,
      "book-lower shelf": 0.3746949328439605
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7198412700238657,
    "bimanual_gripper_vertical_difference": 0.04658775496791706,
    "task_success": 0.0
  },
  {
    "completion_time": 2.475050449371338,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007628272430244554,
      "book-upper shelf": 0.5911786474516761,
      "book-lower shelf": 0.37467366610083247
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7240736285739782,
    "bimanual_gripper_vertical_difference": 0.046835833741229974,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4924204349517822,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007721791775671116,
      "book-upper shelf": 0.5911709198986829,
      "book-lower shelf": 0.3746676190447403
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7262396835733065,
    "bimanual_gripper_vertical_difference": 0.04683322534784085,
    "task_success": 0.0
  },
  {
    "completion_time": 2.509519100189209,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007675266531270708,
      "book-upper shelf": 0.5911759655688444,
      "book-lower shelf": 0.3746725228214635
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7233995347787163,
    "bimanual_gripper_vertical_difference": 0.04663471867641272,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5266478061676025,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007623350768686254,
      "book-upper shelf": 0.5911799095829826,
      "book-lower shelf": 0.3746753341147045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7186854647008604,
    "bimanual_gripper_vertical_difference": 0.046291617629293146,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5452003479003906,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007360786942082198,
      "book-upper shelf": 0.5912034848830576,
      "book-lower shelf": 0.37469527763461685
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7139936619328915,
    "bimanual_gripper_vertical_difference": 0.045843057582738565,
    "task_success": 0.0
  },
  {
    "completion_time": 2.562429428100586,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007547457185983486,
      "book-upper shelf": 0.5911823297666873,
      "book-lower shelf": 0.3746741653067618
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7135813664875527,
    "bimanual_gripper_vertical_difference": 0.045447491012052844,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5803091526031494,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000763958191163594,
      "book-upper shelf": 0.5911746760340854,
      "book-lower shelf": 0.3746681430093309
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7090821272182167,
    "bimanual_gripper_vertical_difference": 0.045134816437315935,
    "task_success": 0.0
  },
  {
    "completion_time": 2.597641706466675,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007558197185673077,
      "book-upper shelf": 0.5911828364570972,
      "book-lower shelf": 0.37467567059083634
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7019802582787543,
    "bimanual_gripper_vertical_difference": 0.0448498134214793,
    "task_success": 0.0
  },
  {
    "completion_time": 2.614938497543335,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007547312892962621,
      "book-upper shelf": 0.5911830824064693,
      "book-lower shelf": 0.3746753433812466
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6952693108443369,
    "bimanual_gripper_vertical_difference": 0.04457016891165881,
    "task_success": 0.0
  },
  {
    "completion_time": 2.719752073287964,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000710690785349577,
      "book-upper shelf": 0.5912168169957591,
      "book-lower shelf": 0.37469963032637144
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6888997207506807,
    "bimanual_gripper_vertical_difference": 0.04430408250195111,
    "task_success": 0.0
  },
  {
    "completion_time": 2.741295576095581,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007499162601450893,
      "book-upper shelf": 0.5911851074185523,
      "book-lower shelf": 0.3746753742730178
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.682787202940649,
    "bimanual_gripper_vertical_difference": 0.04405052543638883,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7586021423339844,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007600510513829928,
      "book-upper shelf": 0.5911766769814946,
      "book-lower shelf": 0.374668732533096
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6766856044632653,
    "bimanual_gripper_vertical_difference": 0.043796610323632135,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7755184173583984,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007529853955835497,
      "book-upper shelf": 0.5911813957035424,
      "book-lower shelf": 0.3746715346471791
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6727360186438054,
    "bimanual_gripper_vertical_difference": 0.0435344389721732,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7937769889831543,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007400186681683074,
      "book-upper shelf": 0.5911948456151426,
      "book-lower shelf": 0.37468423541149337
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6707519827100948,
    "bimanual_gripper_vertical_difference": 0.04327801465466099,
    "task_success": 0.0
  },
  {
    "completion_time": 2.810983657836914,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007369887132236963,
      "book-upper shelf": 0.5911979903477684,
      "book-lower shelf": 0.374687206178586
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6694134842884547,
    "bimanual_gripper_vertical_difference": 0.043048067392295976,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8301782608032227,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007471825248229758,
      "book-upper shelf": 0.5911881000655942,
      "book-lower shelf": 0.37467829972437877
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6659846665304884,
    "bimanual_gripper_vertical_difference": 0.042846907429026235,
    "task_success": 0.0
  },
  {
    "completion_time": 2.847613573074341,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007237833651135839,
      "book-upper shelf": 0.5912052469069167,
      "book-lower shelf": 0.37468997808759275
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6661207070252971,
    "bimanual_gripper_vertical_difference": 0.04269729224367106,
    "task_success": 0.0
  },
  {
    "completion_time": 2.864978551864624,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007667365672343607,
      "book-upper shelf": 0.5911742641802444,
      "book-lower shelf": 0.3746693190566863
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6671098074837888,
    "bimanual_gripper_vertical_difference": 0.04258532638465438,
    "task_success": 0.0
  },
  {
    "completion_time": 2.882859468460083,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000774387880038474,
      "book-upper shelf": 0.5911680745650426,
      "book-lower shelf": 0.37466458104185535
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6699784501914332,
    "bimanual_gripper_vertical_difference": 0.04247579920832478,
    "task_success": 0.0
  },
  {
    "completion_time": 2.985752582550049,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007580701773429732,
      "book-upper shelf": 0.5911822034988984,
      "book-lower shelf": 0.37467615080689126
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.671911103442637,
    "bimanual_gripper_vertical_difference": 0.04238211118038498,
    "task_success": 0.0
  },
  {
    "completion_time": 3.00301456451416,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007684217506752633,
      "book-upper shelf": 0.5911734934537353,
      "book-lower shelf": 0.3746692104299801
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.671679655814767,
    "bimanual_gripper_vertical_difference": 0.04231604428552478,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0194215774536133,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00046440209589748704,
      "book-upper shelf": 0.5913856028465645,
      "book-lower shelf": 0.3748041283890537
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6688347966133585,
    "bimanual_gripper_vertical_difference": 0.04227420544393264,
    "task_success": 0.0
  },
  {
    "completion_time": 3.037458658218384,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006078300078867782,
      "book-upper shelf": 0.5912108306572682,
      "book-lower shelf": 0.37462258442976426
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6672517616836878,
    "bimanual_gripper_vertical_difference": 0.04222528577330061,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0551769733428955,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007603063642881436,
      "book-upper shelf": 0.5910710340078174,
      "book-lower shelf": 0.37450218784806105
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6673244344699996,
    "bimanual_gripper_vertical_difference": 0.0421628948474276,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0723304748535156,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007117712474727922,
      "book-upper shelf": 0.5911056942007038,
      "book-lower shelf": 0.37452498188797745
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.666810490286887,
    "bimanual_gripper_vertical_difference": 0.04207273202979787,
    "task_success": 0.0
  },
  {
    "completion_time": 3.089468240737915,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007522760829797859,
      "book-upper shelf": 0.5910760355667806,
      "book-lower shelf": 0.37450480206431924
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6642849507924892,
    "bimanual_gripper_vertical_difference": 0.041947840427451,
    "task_success": 0.0
  },
  {
    "completion_time": 3.107095956802368,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007572118370919867,
      "book-upper shelf": 0.5910723727420593,
      "book-lower shelf": 0.37450226618663823
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6591291431715391,
    "bimanual_gripper_vertical_difference": 0.04180412113893641,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1241941452026367,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000749680813694753,
      "book-upper shelf": 0.5910798604970916,
      "book-lower shelf": 0.37450913258931046
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6544314655996746,
    "bimanual_gripper_vertical_difference": 0.0416488203396153,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1418845653533936,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007140313705067403,
      "book-upper shelf": 0.5911111989469242,
      "book-lower shelf": 0.37453515570604257
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6498650622969234,
    "bimanual_gripper_vertical_difference": 0.04148728673027466,
    "task_success": 0.0
  },
  {
    "completion_time": 3.246831178665161,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007393290540007591,
      "book-upper shelf": 0.5910875295812749,
      "book-lower shelf": 0.37451443070992807
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6487797951159415,
    "bimanual_gripper_vertical_difference": 0.041374558635286864,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2636585235595703,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007168093029484846,
      "book-upper shelf": 0.5911119361750079,
      "book-lower shelf": 0.3745381454814366
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6458107756227446,
    "bimanual_gripper_vertical_difference": 0.04131949379854228,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2812328338623047,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006523266454697696,
      "book-upper shelf": 0.591156023980639,
      "book-lower shelf": 0.37456533680534754
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6421501100354613,
    "bimanual_gripper_vertical_difference": 0.04126926856845275,
    "task_success": 0.0
  },
  {
    "completion_time": 3.298811674118042,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007716635846287678,
      "book-upper shelf": 0.5910444540161154,
      "book-lower shelf": 0.37446770347556774
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6380536211355365,
    "bimanual_gripper_vertical_difference": 0.041215587901214025,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3163959980010986,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007494822451946659,
      "book-upper shelf": 0.591063965045293,
      "book-lower shelf": 0.37448391407047416
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6349119418912017,
    "bimanual_gripper_vertical_difference": 0.041142256159145664,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3334193229675293,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00075670776467196,
      "book-upper shelf": 0.5910581722150476,
      "book-lower shelf": 0.374479521832276
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6315250669049516,
    "bimanual_gripper_vertical_difference": 0.041049649486593245,
    "task_success": 0.0
  },
  {
    "completion_time": 3.351590394973755,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007614345496063102,
      "book-upper shelf": 0.5910546884087698,
      "book-lower shelf": 0.3744771311105136
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6272888419656562,
    "bimanual_gripper_vertical_difference": 0.04094047100785046,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3685667514801025,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007570986544129799,
      "book-upper shelf": 0.5910593700068772,
      "book-lower shelf": 0.374481669372636
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6229955841993752,
    "bimanual_gripper_vertical_difference": 0.040813613909178745,
    "task_success": 0.0
  },
  {
    "completion_time": 3.386296272277832,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007557081781121022,
      "book-upper shelf": 0.5910599143118186,
      "book-lower shelf": 0.3744816142208202
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6190202924903011,
    "bimanual_gripper_vertical_difference": 0.04067249139211522,
    "task_success": 0.0
  },
  {
    "completion_time": 3.403501272201538,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007106071169193928,
      "book-upper shelf": 0.5910947272614194,
      "book-lower shelf": 0.37450690736200853
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6152512369953411,
    "bimanual_gripper_vertical_difference": 0.04052307193426594,
    "task_success": 0.0
  },
  {
    "completion_time": 3.506857395172119,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007487017188727574,
      "book-upper shelf": 0.5910639857277904,
      "book-lower shelf": 0.37448343351437335
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6115868593349291,
    "bimanual_gripper_vertical_difference": 0.040370502097496784,
    "task_success": 0.0
  },
  {
    "completion_time": 3.524014711380005,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007579964819794949,
      "book-upper shelf": 0.5910562999187076,
      "book-lower shelf": 0.37447741404785273
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.608916830557437,
    "bimanual_gripper_vertical_difference": 0.0402134744039133,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5411810874938965,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007109667629097149,
      "book-upper shelf": 0.5910922271543768,
      "book-lower shelf": 0.37450319781757946
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6058694656498748,
    "bimanual_gripper_vertical_difference": 0.04005089084711171,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5584287643432617,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007484631576601952,
      "book-upper shelf": 0.5910647983436316,
      "book-lower shelf": 0.37448455924620105
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6028446650475688,
    "bimanual_gripper_vertical_difference": 0.039874297563505384,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5755791664123535,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00075203015036307,
      "book-upper shelf": 0.5910624043696888,
      "book-lower shelf": 0.3744831260519673
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6019622754357334,
    "bimanual_gripper_vertical_difference": 0.03966212950547245,
    "task_success": 0.0
  },
  {
    "completion_time": 3.592740535736084,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000742190720002589,
      "book-upper shelf": 0.5910719003542527,
      "book-lower shelf": 0.37449164449863775
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6002816595446138,
    "bimanual_gripper_vertical_difference": 0.03940842095933449,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6099374294281006,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007309713651114658,
      "book-upper shelf": 0.591083879748244,
      "book-lower shelf": 0.374503175337459
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5974692533406886,
    "bimanual_gripper_vertical_difference": 0.03913081541988584,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6270244121551514,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000761936681456965,
      "book-upper shelf": 0.59105655921255,
      "book-lower shelf": 0.37448041403761106
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5937324354302034,
    "bimanual_gripper_vertical_difference": 0.038847793477770134,
    "task_success": 0.0
  },
  {
    "completion_time": 3.644364595413208,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007714455034406598,
      "book-upper shelf": 0.5910486573774731,
      "book-lower shelf": 0.3744741944603
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.590208827294898,
    "bimanual_gripper_vertical_difference": 0.03856854160426269,
    "task_success": 0.0
  },
  {
    "completion_time": 3.663780927658081,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007188807770533989,
      "book-upper shelf": 0.5910845448394235,
      "book-lower shelf": 0.3744962757859632
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5868404835705261,
    "bimanual_gripper_vertical_difference": 0.03829860426162437,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7680797576904297,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007600900811788325,
      "book-upper shelf": 0.5910546720924371,
      "book-lower shelf": 0.3744762213460227
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5888572970030195,
    "bimanual_gripper_vertical_difference": 0.03804284899866408,
    "task_success": 0.0
  },
  {
    "completion_time": 3.78534197807312,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007661522651317698,
      "book-upper shelf": 0.5910499590491719,
      "book-lower shelf": 0.3744727685237013
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5968639538166192,
    "bimanual_gripper_vertical_difference": 0.03778164243650176,
    "task_success": 0.0
  },
  {
    "completion_time": 3.802534818649292,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007619080179470661,
      "book-upper shelf": 0.5910545743224307,
      "book-lower shelf": 0.37447726235610934
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6093476811888131,
    "bimanual_gripper_vertical_difference": 0.037539871822458236,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8202168941497803,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007272023448572362,
      "book-upper shelf": 0.5910830278077102,
      "book-lower shelf": 0.3744993526668818
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6228853588445964,
    "bimanual_gripper_vertical_difference": 0.0373216787809039,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8379626274108887,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007439338140271534,
      "book-upper shelf": 0.5910670667917901,
      "book-lower shelf": 0.3744851615797443
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.636453704295569,
    "bimanual_gripper_vertical_difference": 0.03708834857376278,
    "task_success": 0.0
  },
  {
    "completion_time": 3.855041027069092,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007536015161009324,
      "book-upper shelf": 0.5910590140419593,
      "book-lower shelf": 0.37447880812895795
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6473997407895035,
    "bimanual_gripper_vertical_difference": 0.03685324679098933,
    "task_success": 0.0
  },
  {
    "completion_time": 3.872390031814575,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007364486548500082,
      "book-upper shelf": 0.5910762549377512,
      "book-lower shelf": 0.3744947421288662
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6545791572968018,
    "bimanual_gripper_vertical_difference": 0.036657040406794315,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8898985385894775,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000747552179623856,
      "book-upper shelf": 0.591064251990476,
      "book-lower shelf": 0.3744830979400159
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6570823085032738,
    "bimanual_gripper_vertical_difference": 0.03647845481895155,
    "task_success": 0.0
  },
  {
    "completion_time": 3.907977819442749,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007552167903607243,
      "book-upper shelf": 0.5910580554725728,
      "book-lower shelf": 0.3744783572361135
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6594919310489368,
    "bimanual_gripper_vertical_difference": 0.036305457322957,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9252893924713135,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000747208663468224,
      "book-upper shelf": 0.5910616707703058,
      "book-lower shelf": 0.37447879799922673
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6664871407918189,
    "bimanual_gripper_vertical_difference": 0.03614061036102556,
    "task_success": 0.0
  },
  {
    "completion_time": 4.027034282684326,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007549910351302147,
      "book-upper shelf": 0.5910623605636086,
      "book-lower shelf": 0.3744850037065591
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.67710993135906,
    "bimanual_gripper_vertical_difference": 0.036001752593022004,
    "task_success": 0.0
  },
  {
    "completion_time": 4.047584295272827,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007570217891146314,
      "book-upper shelf": 0.5910597034837417,
      "book-lower shelf": 0.3744821451727202
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6902539119131946,
    "bimanual_gripper_vertical_difference": 0.03589056075718763,
    "task_success": 0.0
  },
  {
    "completion_time": 4.0648956298828125,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007667685064154384,
      "book-upper shelf": 0.5910515765351185,
      "book-lower shelf": 0.37447572667189843
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7021146974933477,
    "bimanual_gripper_vertical_difference": 0.035823801735762176,
    "task_success": 0.0
  },
  {
    "completion_time": 4.081865549087524,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007397671570520403,
      "book-upper shelf": 0.5910759176274581,
      "book-lower shelf": 0.3744963916067495
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7118479996192746,
    "bimanual_gripper_vertical_difference": 0.0358130944557847,
    "task_success": 0.0
  },
  {
    "completion_time": 4.09860372543335,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007575168387690123,
      "book-upper shelf": 0.5910556267779843,
      "book-lower shelf": 0.3744760362212664
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7198943794307795,
    "bimanual_gripper_vertical_difference": 0.03584920375431788,
    "task_success": 0.0
  },
  {
    "completion_time": 4.115636825561523,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007660755510265904,
      "book-upper shelf": 0.5910486019566593,
      "book-lower shelf": 0.3744705761082415
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7285563101387621,
    "bimanual_gripper_vertical_difference": 0.03590908584780252,
    "task_success": 0.0
  },
  {
    "completion_time": 4.132753372192383,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007623218615605554,
      "book-upper shelf": 0.5910523100349434,
      "book-lower shelf": 0.37447396062902205
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7391008520742784,
    "bimanual_gripper_vertical_difference": 0.03598113935392412,
    "task_success": 0.0
  },
  {
    "completion_time": 4.149800777435303,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007477428212815385,
      "book-upper shelf": 0.5910631585316705,
      "book-lower shelf": 0.3744814974289242
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7505626622062522,
    "bimanual_gripper_vertical_difference": 0.03606896332771953,
    "task_success": 0.0
  },
  {
    "completion_time": 4.166829824447632,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007449249136164404,
      "book-upper shelf": 0.5910662287388062,
      "book-lower shelf": 0.3744844904933489
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7626497064529538,
    "bimanual_gripper_vertical_difference": 0.03617663544608532,
    "task_success": 0.0
  },
  {
    "completion_time": 4.183772563934326,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007488726787497901,
      "book-upper shelf": 0.5910619679331508,
      "book-lower shelf": 0.3744803611385953
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7751879637826383,
    "bimanual_gripper_vertical_difference": 0.03630290193343266,
    "task_success": 0.0
  },
  {
    "completion_time": 4.287872791290283,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007014331397812157,
      "book-upper shelf": 0.5910993740456905,
      "book-lower shelf": 0.3745082099738002
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7873708440740977,
    "bimanual_gripper_vertical_difference": 0.03645184099068416,
    "task_success": 0.0
  },
  {
    "completion_time": 4.304857015609741,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007440848789400656,
      "book-upper shelf": 0.5910660379605543,
      "book-lower shelf": 0.3744836370522221
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7997943348053487,
    "bimanual_gripper_vertical_difference": 0.03663241388438845,
    "task_success": 0.0
  },
  {
    "completion_time": 4.3222856521606445,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007532184331127123,
      "book-upper shelf": 0.5910584835012839,
      "book-lower shelf": 0.3744777188659591
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8126209192782157,
    "bimanual_gripper_vertical_difference": 0.0368533279028062,
    "task_success": 0.0
  },
  {
    "completion_time": 4.339319467544556,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007576618440778837,
      "book-upper shelf": 0.5910571660083214,
      "book-lower shelf": 0.3744785610094762
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8253696365016041,
    "bimanual_gripper_vertical_difference": 0.03711809137671577,
    "task_success": 0.0
  },
  {
    "completion_time": 4.356822490692139,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007666225830241791,
      "book-upper shelf": 0.591050348606852,
      "book-lower shelf": 0.37447369262753927
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.830723741517448,
    "bimanual_gripper_vertical_difference": 0.03742837686053521,
    "task_success": 0.0
  },
  {
    "completion_time": 4.374077320098877,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007680671190163357,
      "book-upper shelf": 0.5910498169736538,
      "book-lower shelf": 0.3744738033403147
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8296980924944223,
    "bimanual_gripper_vertical_difference": 0.03776557595383003,
    "task_success": 0.0
  },
  {
    "completion_time": 4.391296863555908,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007621696813694401,
      "book-upper shelf": 0.5910544339368619,
      "book-lower shelf": 0.3744772128272064
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8289966925706079,
    "bimanual_gripper_vertical_difference": 0.03810342503490809,
    "task_success": 0.0
  },
  {
    "completion_time": 4.408602952957153,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007187090118763173,
      "book-upper shelf": 0.5910872111498852,
      "book-lower shelf": 0.37450037119970314
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8288067397391604,
    "bimanual_gripper_vertical_difference": 0.038415562488013796,
    "task_success": 0.0
  },
  {
    "completion_time": 4.425982236862183,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007537166902962245,
      "book-upper shelf": 0.5910577513608267,
      "book-lower shelf": 0.3744768909007351
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8306838860621182,
    "bimanual_gripper_vertical_difference": 0.03866734903206487,
    "task_success": 0.0
  },
  {
    "completion_time": 4.44287896156311,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007631763284987603,
      "book-upper shelf": 0.5910498995289686,
      "book-lower shelf": 0.3744707178231566
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8354580391818505,
    "bimanual_gripper_vertical_difference": 0.03881373106575008,
    "task_success": 0.0
  },
  {
    "completion_time": 4.545319318771362,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007119918680053017,
      "book-upper shelf": 0.5910870194098756,
      "book-lower shelf": 0.3744956521792016
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8400180167339794,
    "bimanual_gripper_vertical_difference": 0.03883338694257929,
    "task_success": 0.0
  },
  {
    "completion_time": 4.562165260314941,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007526460732619755,
      "book-upper shelf": 0.5910572223041137,
      "book-lower shelf": 0.374475351909123
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8480815862747505,
    "bimanual_gripper_vertical_difference": 0.038735962436965934,
    "task_success": 0.0
  },
  {
    "completion_time": 4.581041097640991,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007576959607544786,
      "book-upper shelf": 0.5910534634827044,
      "book-lower shelf": 0.37447273954401206
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8577809900828386,
    "bimanual_gripper_vertical_difference": 0.038530980583923756,
    "task_success": 0.0
  },
  {
    "completion_time": 4.598171949386597,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007502869910602783,
      "book-upper shelf": 0.5910608497172563,
      "book-lower shelf": 0.3744795261266822
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8677146360060813,
    "bimanual_gripper_vertical_difference": 0.038510077886770945,
    "task_success": 0.0
  },
  {
    "completion_time": 4.616082429885864,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007144999646231387,
      "book-upper shelf": 0.5910923096232521,
      "book-lower shelf": 0.37450565095095967
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8772095731807377,
    "bimanual_gripper_vertical_difference": 0.038689468132227574,
    "task_success": 0.0
  },
  {
    "completion_time": 4.632784605026245,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007402205524070782,
      "book-upper shelf": 0.5910682688865655,
      "book-lower shelf": 0.3744846174229824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8836544001134126,
    "bimanual_gripper_vertical_difference": 0.03907544657550485,
    "task_success": 0.0
  },
  {
    "completion_time": 4.649608612060547,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007498991868432059,
      "book-upper shelf": 0.5910602193942246,
      "book-lower shelf": 0.37447827626678437
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8881203178059941,
    "bimanual_gripper_vertical_difference": 0.0396544469638566,
    "task_success": 0.0
  },
  {
    "completion_time": 4.6664369106292725,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000726154862145445,
      "book-upper shelf": 0.591077797745203,
      "book-lower shelf": 0.3744904091429339
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8920443958323833,
    "bimanual_gripper_vertical_difference": 0.04039885291996041,
    "task_success": 0.0
  },
  {
    "completion_time": 4.683161735534668,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007681562533746744,
      "book-upper shelf": 0.5910476482357075,
      "book-lower shelf": 0.3744704389170746
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8972252206326622,
    "bimanual_gripper_vertical_difference": 0.04127994973945792,
    "task_success": 0.0
  },
  {
    "completion_time": 4.700362920761108,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000775135676574279,
      "book-upper shelf": 0.5910420803508302,
      "book-lower shelf": 0.37446624000057693
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9012030841493175,
    "bimanual_gripper_vertical_difference": 0.04226808736618901,
    "task_success": 0.0
  },
  {
    "completion_time": 4.803834438323975,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007423808381938901,
      "book-upper shelf": 0.591064010859911,
      "book-lower shelf": 0.3744793171437034
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9048264237649888,
    "bimanual_gripper_vertical_difference": 0.04333623320828543,
    "task_success": 0.0
  },
  {
    "completion_time": 4.820987701416016,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007409896363201884,
      "book-upper shelf": 0.5910688966247376,
      "book-lower shelf": 0.3744861138873284
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9038582418428934,
    "bimanual_gripper_vertical_difference": 0.044466027547538006,
    "task_success": 0.0
  },
  {
    "completion_time": 4.837583541870117,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007499988710421013,
      "book-upper shelf": 0.5910599055048705,
      "book-lower shelf": 0.37447784638120224
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9015626748160744,
    "bimanual_gripper_vertical_difference": 0.0456450963103785,
    "task_success": 0.0
  },
  {
    "completion_time": 4.8541765213012695,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007598108991084818,
      "book-upper shelf": 0.5910517398016003,
      "book-lower shelf": 0.37447140957700037
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9009388336050526,
    "bimanual_gripper_vertical_difference": 0.0468605285301603,
    "task_success": 0.0
  },
  {
    "completion_time": 4.8709399700164795,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007512760957548714,
      "book-upper shelf": 0.591066895867664,
      "book-lower shelf": 0.3744897193446318
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9021024722383268,
    "bimanual_gripper_vertical_difference": 0.04809850653764374,
    "task_success": 0.0
  },
  {
    "completion_time": 4.888216018676758,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000752082999845527,
      "book-upper shelf": 0.5910564751352444,
      "book-lower shelf": 0.3744738023726139
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.905339537293124,
    "bimanual_gripper_vertical_difference": 0.049352344563068626,
    "task_success": 0.0
  },
  {
    "completion_time": 4.905638933181763,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007603652104861691,
      "book-upper shelf": 0.5910497337443913,
      "book-lower shelf": 0.37446860776043694
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9098710711888052,
    "bimanual_gripper_vertical_difference": 0.05061230486165608,
    "task_success": 0.0
  },
  {
    "completion_time": 4.922608852386475,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007549671423239257,
      "book-upper shelf": 0.591052993092786,
      "book-lower shelf": 0.37447020282527804
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9141463939700938,
    "bimanual_gripper_vertical_difference": 0.051864650021855106,
    "task_success": 0.0
  },
  {
    "completion_time": 4.939387798309326,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000740933201041738,
      "book-upper shelf": 0.5910674134372034,
      "book-lower shelf": 0.37448373579241245
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9169554740119191,
    "bimanual_gripper_vertical_difference": 0.05310656761499177,
    "task_success": 0.0
  },
  {
    "completion_time": 4.956102132797241,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007373325613772019,
      "book-upper shelf": 0.5910710979952409,
      "book-lower shelf": 0.3744871838875084
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9153231372410338,
    "bimanual_gripper_vertical_difference": 0.05434139042727413,
    "task_success": 0.0
  },
  {
    "completion_time": 5.0581440925598145,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007466740458351717,
      "book-upper shelf": 0.5910620011071095,
      "book-lower shelf": 0.3744789678706245
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9148332997367077,
    "bimanual_gripper_vertical_difference": 0.05557718733374644,
    "task_success": 0.0
  },
  {
    "completion_time": 5.07480525970459,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006983428315324725,
      "book-upper shelf": 0.5911007749882949,
      "book-lower shelf": 0.3745083893720437
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.916283151905725,
    "bimanual_gripper_vertical_difference": 0.05678967422625,
    "task_success": 0.0
  },
  {
    "completion_time": 5.091767072677612,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007667341036600162,
      "book-upper shelf": 0.591047801572979,
      "book-lower shelf": 0.3744697458332407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9161101892952646,
    "bimanual_gripper_vertical_difference": 0.05798263387762403,
    "task_success": 0.0
  },
  {
    "completion_time": 5.108261346817017,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007757088525660594,
      "book-upper shelf": 0.5910404148913,
      "book-lower shelf": 0.37446398818862264
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9161768343833904,
    "bimanual_gripper_vertical_difference": 0.05916491066458927,
    "task_success": 0.0
  },
  {
    "completion_time": 5.125058650970459,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007395803938855527,
      "book-upper shelf": 0.5910653900024405,
      "book-lower shelf": 0.3744796526041837
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9184370328108563,
    "bimanual_gripper_vertical_difference": 0.06034051287466868,
    "task_success": 0.0
  },
  {
    "completion_time": 5.141994953155518,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006387401208358678,
      "book-upper shelf": 0.59114340563653,
      "book-lower shelf": 0.37453648979908505
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.921537347582442,
    "bimanual_gripper_vertical_difference": 0.06151290344670434,
    "task_success": 0.0
  },
  {
    "completion_time": 5.15878963470459,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007171476414261635,
      "book-upper shelf": 0.5910859112110595,
      "book-lower shelf": 0.3744972928862084
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9193633190953875,
    "bimanual_gripper_vertical_difference": 0.06266728249460904,
    "task_success": 0.0
  },
  {
    "completion_time": 5.175424337387085,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000738482625841419,
      "book-upper shelf": 0.5910656427159268,
      "book-lower shelf": 0.37447932968207004
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9168483499211477,
    "bimanual_gripper_vertical_difference": 0.06379591889662453,
    "task_success": 0.0
  },
  {
    "completion_time": 5.192225694656372,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007481672359787028,
      "book-upper shelf": 0.5910575639819167,
      "book-lower shelf": 0.37447294626772376
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9161889828585952,
    "bimanual_gripper_vertical_difference": 0.06490597437588044,
    "task_success": 0.0
  },
  {
    "completion_time": 5.2087721824646,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007244607804246517,
      "book-upper shelf": 0.5910750900698273,
      "book-lower shelf": 0.37448502160064556
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9178379654294098,
    "bimanual_gripper_vertical_difference": 0.06600166034374133,
    "task_success": 0.0
  }
]