[
  {
    "completion_time": 0.04693007469177246,
    "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": -0.0005395781116110943,
      "book-upper shelf": 0.6262553115752576,
      "book-lower shelf": 0.4271328934037603
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.003153867912316921,
    "bimanual_gripper_vertical_difference": 9.642481384464219e-07,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07727622985839844,
    "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": 0.0006277152897891103,
      "book-upper shelf": 0.6252725819667098,
      "book-lower shelf": 0.42636537001114966
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0016577603191274583,
    "bimanual_gripper_vertical_difference": 1.7229469204682601e-06,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10775041580200195,
    "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": 0.0005053569297586158,
      "book-upper shelf": 0.6253843930582659,
      "book-lower shelf": 0.4264586857973787
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0011431783954909888,
    "bimanual_gripper_vertical_difference": 1.2405893380732873e-06,
    "task_success": 0.0
  },
  {
    "completion_time": 0.13825201988220215,
    "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": 0.0005276312430891883,
      "book-upper shelf": 0.6253355285772352,
      "book-lower shelf": 0.42639988730968964
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0012762065076376448,
    "bimanual_gripper_vertical_difference": 1.2411001050205428e-06,
    "task_success": 0.0
  },
  {
    "completion_time": 0.16875123977661133,
    "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": 0.0006702789150154764,
      "book-upper shelf": 0.6252291274009981,
      "book-lower shelf": 0.42632622390985564
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.00103753174936442,
    "bimanual_gripper_vertical_difference": 1.4401004569730701e-06,
    "task_success": 0.0
  },
  {
    "completion_time": 0.19897794723510742,
    "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": 0.0006002377363351075,
      "book-upper shelf": 0.6252850186335679,
      "book-lower shelf": 0.42636774056188054
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.000938306890294284,
    "bimanual_gripper_vertical_difference": 1.6691975929979581e-06,
    "task_success": 0.0
  },
  {
    "completion_time": 0.22935152053833008,
    "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": 0.0005781655898343674,
      "book-upper shelf": 0.6253086643644216,
      "book-lower shelf": 0.4263896715036137
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.0016018497632846415,
    "bimanual_gripper_vertical_difference": 1.7512714101743298e-05,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2594897747039795,
    "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": 0.0005643229079239642,
      "book-upper shelf": 0.6253120562257761,
      "book-lower shelf": 0.4263866520757422
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.073892102457573,
    "bimanual_gripper_vertical_difference": 0.00010852842504785465,
    "task_success": 0.0
  },
  {
    "completion_time": 0.28952622413635254,
    "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": 0.0005266855735516218,
      "book-upper shelf": 0.6253467980324262,
      "book-lower shelf": 0.4264158682685147
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.22551546703269157,
    "bimanual_gripper_vertical_difference": 0.00038753782271541383,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3187692165374756,
    "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": 0.0006977343113601098,
      "book-upper shelf": 0.6252032063255214,
      "book-lower shelf": 0.42630406642704416
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.4059289583998808,
    "bimanual_gripper_vertical_difference": 0.0008727656041717102,
    "task_success": 0.0
  },
  {
    "completion_time": 0.34824514389038086,
    "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": 0.0006501900942725847,
      "book-upper shelf": 0.6252354731376295,
      "book-lower shelf": 0.42632392798493773
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.60312241530994,
    "bimanual_gripper_vertical_difference": 0.004039237264025583,
    "task_success": 0.0
  },
  {
    "completion_time": 0.37842416763305664,
    "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": 0.0005169370426360009,
      "book-upper shelf": 0.6253581740561599,
      "book-lower shelf": 0.4264269223402754
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8195312491197723,
    "bimanual_gripper_vertical_difference": 0.01130606362705631,
    "task_success": 0.0
  },
  {
    "completion_time": 0.40837907791137695,
    "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": 0.0004448524450150204,
      "book-upper shelf": 0.6253945304782375,
      "book-lower shelf": 0.4264386180094669
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0305682355249552,
    "bimanual_gripper_vertical_difference": 0.022903242839718365,
    "task_success": 0.0
  },
  {
    "completion_time": 0.43855714797973633,
    "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": 0.0004983937923662696,
      "book-upper shelf": 0.6253494070531779,
      "book-lower shelf": 0.4264033577681255
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1962594557742003,
    "bimanual_gripper_vertical_difference": 0.037294608211858114,
    "task_success": 0.0
  },
  {
    "completion_time": 0.46886157989501953,
    "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": 0.0005690270399265618,
      "book-upper shelf": 0.6253134232656506,
      "book-lower shelf": 0.42639137335675287
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2814544392213905,
    "bimanual_gripper_vertical_difference": 0.052358389426018115,
    "task_success": 0.0
  },
  {
    "completion_time": 0.49925947189331055,
    "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": 0.0007134724474905374,
      "book-upper shelf": 0.6251798168512448,
      "book-lower shelf": 0.4262788541504219
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3278440825166729,
    "bimanual_gripper_vertical_difference": 0.06653157155302714,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5302624702453613,
    "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": 0.00047682780730473606,
      "book-upper shelf": 0.6253922957164035,
      "book-lower shelf": 0.42645380287469076
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3827684067689643,
    "bimanual_gripper_vertical_difference": 0.07853217760504627,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5608546733856201,
    "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": 0.0004695397861692596,
      "book-upper shelf": 0.625380694003941,
      "book-lower shelf": 0.4264325807108354
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4478507616958778,
    "bimanual_gripper_vertical_difference": 0.08756793723130912,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5914709568023682,
    "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": 0.0007081172685653447,
      "book-upper shelf": 0.6251749807365932,
      "book-lower shelf": 0.42626866818801573
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.431968520796774,
    "bimanual_gripper_vertical_difference": 0.09465399677134362,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6215550899505615,
    "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": 0.0007249856778619446,
      "book-upper shelf": 0.6251625906683915,
      "book-lower shelf": 0.42626024041556904
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3665482964492295,
    "bimanual_gripper_vertical_difference": 0.10089824480993884,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6540811061859131,
    "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": 0.0004642408991003544,
      "book-upper shelf": 0.6253836356315264,
      "book-lower shelf": 0.4264338351229028
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.319711008116624,
    "bimanual_gripper_vertical_difference": 0.10676711336860449,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6847903728485107,
    "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": 0.0005409165828075269,
      "book-upper shelf": 0.6253045878411294,
      "book-lower shelf": 0.42636218234904427
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2802772103236157,
    "bimanual_gripper_vertical_difference": 0.11235919049153319,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7156357765197754,
    "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": 0.0005430764947730315,
      "book-upper shelf": 0.6253368602509968,
      "book-lower shelf": 0.4264107590100121
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2778913994181607,
    "bimanual_gripper_vertical_difference": 0.11760301938263806,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7465028762817383,
    "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": 0.0005392099902136183,
      "book-upper shelf": 0.6253056369872212,
      "book-lower shelf": 0.42636273547150966
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2588820458324779,
    "bimanual_gripper_vertical_difference": 0.12238706584978216,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7774782180786133,
    "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": 0.0006513043507420102,
      "book-upper shelf": 0.6252163921413941,
      "book-lower shelf": 0.4262965873904805
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2226878581834324,
    "bimanual_gripper_vertical_difference": 0.12667106332115577,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8086521625518799,
    "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": 0.0005172708124027148,
      "book-upper shelf": 0.6253419732637515,
      "book-lower shelf": 0.42640335614071884
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1948303670896137,
    "bimanual_gripper_vertical_difference": 0.130526694504108,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8420894145965576,
    "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": 0.0006149635311812895,
      "book-upper shelf": 0.6252520581917962,
      "book-lower shelf": 0.426327906258779
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.176323929355874,
    "bimanual_gripper_vertical_difference": 0.1340894083477621,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8731513023376465,
    "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": 0.0005924264655833289,
      "book-upper shelf": 0.6252604854369588,
      "book-lower shelf": 0.42632724948430206
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.159154546997226,
    "bimanual_gripper_vertical_difference": 0.13750079498905426,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9045000076293945,
    "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": 0.0005481924632375623,
      "book-upper shelf": 0.6252999510538827,
      "book-lower shelf": 0.4263595838697337
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1497286163021345,
    "bimanual_gripper_vertical_difference": 0.14086611891720588,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9357187747955322,
    "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": 0.0006534375834331696,
      "book-upper shelf": 0.6252063488531286,
      "book-lower shelf": 0.426283089712886
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1390437488044205,
    "bimanual_gripper_vertical_difference": 0.14421741010783015,
    "task_success": 0.0
  },
  {
    "completion_time": 0.96689772605896,
    "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": 0.0006426183918200046,
      "book-upper shelf": 0.6252071625111076,
      "book-lower shelf": 0.4262780337680999
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1201559006994097,
    "bimanual_gripper_vertical_difference": 0.14750881403100952,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9988548755645752,
    "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": 0.0006424537726453794,
      "book-upper shelf": 0.625209472996553,
      "book-lower shelf": 0.42628132738359775
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0982244352434138,
    "bimanual_gripper_vertical_difference": 0.15070160685635958,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0302801132202148,
    "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": 0.0003131487714530534,
      "book-upper shelf": 0.6254960956655573,
      "book-lower shelf": 0.4265115290313852
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.075125031778551,
    "bimanual_gripper_vertical_difference": 0.1537654270764528,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0605669021606445,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007319148117983509,
      "book-upper shelf": 0.6251159381491727,
      "book-lower shelf": 0.4261958190410169
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.050086237890214,
    "bimanual_gripper_vertical_difference": 0.15669017620434234,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0908317565917969,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0015424889928183916,
      "book-upper shelf": 0.6244380071340216,
      "book-lower shelf": 0.4256699802052609
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0259749138418446,
    "bimanual_gripper_vertical_difference": 0.15948597125689265,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1208033561706543,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0031292984952208114,
      "book-upper shelf": 0.6228025014193054,
      "book-lower shelf": 0.42418921179849056
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0033069268939492,
    "bimanual_gripper_vertical_difference": 0.16216103960898764,
    "task_success": 0.0
  },
  {
    "completion_time": 1.150663137435913,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.003877720195311629,
      "book-upper shelf": 0.6218386864072751,
      "book-lower shelf": 0.42320851103227997
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9873452948866583,
    "bimanual_gripper_vertical_difference": 0.16467744104228985,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1807143688201904,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0026561050876471315,
      "book-upper shelf": 0.6228154885952046,
      "book-lower shelf": 0.42393353296613145
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9716693455076946,
    "bimanual_gripper_vertical_difference": 0.16704723929293389,
    "task_success": 0.0
  },
  {
    "completion_time": 1.211594820022583,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 3.111035639935533e-05,
      "book-upper shelf": 0.6252943361160688,
      "book-lower shelf": 0.4260526207706026
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.954249693633119,
    "bimanual_gripper_vertical_difference": 0.16932005678137566,
    "task_success": 0.0
  },
  {
    "completion_time": 1.242643117904663,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00044554503000515666,
      "book-upper shelf": 0.624934410140687,
      "book-lower shelf": 0.4257639418963223
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9391100775491166,
    "bimanual_gripper_vertical_difference": 0.17153875268355337,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2756307125091553,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005222066102915646,
      "book-upper shelf": 0.6248463539064352,
      "book-lower shelf": 0.4256790284081388
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9235674129027154,
    "bimanual_gripper_vertical_difference": 0.17378155101275936,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3060896396636963,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005796504230736188,
      "book-upper shelf": 0.6248188946076793,
      "book-lower shelf": 0.4256719493936991
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9093050633677884,
    "bimanual_gripper_vertical_difference": 0.17610156260129417,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3364217281341553,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005248203229556436,
      "book-upper shelf": 0.6248549960907067,
      "book-lower shelf": 0.4256932258077952
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9018422163950038,
    "bimanual_gripper_vertical_difference": 0.17852196868498882,
    "task_success": 0.0
  },
  {
    "completion_time": 1.367750883102417,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004966863954894984,
      "book-upper shelf": 0.6248755494095428,
      "book-lower shelf": 0.42570712239338776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9080530701179892,
    "bimanual_gripper_vertical_difference": 0.18084380353055327,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3987507820129395,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005525243161719207,
      "book-upper shelf": 0.6248204388601725,
      "book-lower shelf": 0.425658525120754
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9176336867594159,
    "bimanual_gripper_vertical_difference": 0.18307133202370632,
    "task_success": 0.0
  },
  {
    "completion_time": 1.428952693939209,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006085707835583598,
      "book-upper shelf": 0.6255600267458361,
      "book-lower shelf": 0.4267757564993689
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9197458477266411,
    "bimanual_gripper_vertical_difference": 0.18520299530861656,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4587864875793457,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.001160565974788974,
      "book-upper shelf": 0.6261093555495398,
      "book-lower shelf": 0.4278982991451441
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9121437439297252,
    "bimanual_gripper_vertical_difference": 0.18725346735665443,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4894940853118896,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0013004105756680984,
      "book-upper shelf": 0.6281859683652766,
      "book-lower shelf": 0.431011028431072
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9006096845263208,
    "bimanual_gripper_vertical_difference": 0.18922940320299209,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5191683769226074,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008897880940763603,
      "book-upper shelf": 0.6303572725543012,
      "book-lower shelf": 0.43393660343383994
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8905415935125778,
    "bimanual_gripper_vertical_difference": 0.1911477877391799,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5487980842590332,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008202217134640755,
      "book-upper shelf": 0.6314031353827989,
      "book-lower shelf": 0.43541514230074296
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8795017857649502,
    "bimanual_gripper_vertical_difference": 0.1929929464232721,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5785434246063232,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007198530842298378,
      "book-upper shelf": 0.6327730530492426,
      "book-lower shelf": 0.4373428139428555
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8674493535073244,
    "bimanual_gripper_vertical_difference": 0.19476163680086123,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6082777976989746,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007908761442920742,
      "book-upper shelf": 0.6342310001667076,
      "book-lower shelf": 0.4394894050150746
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8563310387457548,
    "bimanual_gripper_vertical_difference": 0.19645153078142236,
    "task_success": 0.0
  },
  {
    "completion_time": 1.63791823387146,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007182980549007567,
      "book-upper shelf": 0.6358545803885046,
      "book-lower shelf": 0.44178872990270546
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8458843003037535,
    "bimanual_gripper_vertical_difference": 0.19806801953444636,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6678619384765625,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000648372431783506,
      "book-upper shelf": 0.6370974024887578,
      "book-lower shelf": 0.4435368077768772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8335444720969705,
    "bimanual_gripper_vertical_difference": 0.19962101421839923,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6989011764526367,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007091583963809711,
      "book-upper shelf": 0.6371230453022032,
      "book-lower shelf": 0.44360738102327596
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.819088306786177,
    "bimanual_gripper_vertical_difference": 0.20111342151835684,
    "task_success": 0.0
  },
  {
    "completion_time": 1.729844570159912,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000544933526878677,
      "book-upper shelf": 0.6372722570915372,
      "book-lower shelf": 0.4437305384632891
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8105527780773815,
    "bimanual_gripper_vertical_difference": 0.20254419000211435,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7607569694519043,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005685819512012413,
      "book-upper shelf": 0.6372315264872535,
      "book-lower shelf": 0.44368516441524614
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8088250303954203,
    "bimanual_gripper_vertical_difference": 0.20390387005134927,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7913520336151123,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005641825985751581,
      "book-upper shelf": 0.6372388458197645,
      "book-lower shelf": 0.4436932351675183
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8105956783883824,
    "bimanual_gripper_vertical_difference": 0.20515605059379702,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8247103691101074,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005856980849352489,
      "book-upper shelf": 0.6371934690852068,
      "book-lower shelf": 0.44364000344624804
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8136330569566373,
    "bimanual_gripper_vertical_difference": 0.20627135218857,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8553974628448486,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00047761820271707833,
      "book-upper shelf": 0.6373196992514432,
      "book-lower shelf": 0.4437613218037619
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8144160046930167,
    "bimanual_gripper_vertical_difference": 0.2072209195825472,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8881573677062988,
    "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": 0.0006066798680750551,
      "book-upper shelf": 0.6371881435795398,
      "book-lower shelf": 0.44364399963300527
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8071708564462552,
    "bimanual_gripper_vertical_difference": 0.2079798524828282,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9189705848693848,
    "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": 0.0005471007213104784,
      "book-upper shelf": 0.6372476348158771,
      "book-lower shelf": 0.4436963786416373
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8011450794306169,
    "bimanual_gripper_vertical_difference": 0.20868563662964867,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9497382640838623,
    "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": 0.0005842805443587729,
      "book-upper shelf": 0.6371815574839073,
      "book-lower shelf": 0.44362210804096436
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8166678716131017,
    "bimanual_gripper_vertical_difference": 0.2093051303830336,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9802923202514648,
    "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": 0.0005670444289509469,
      "book-upper shelf": 0.6372216181845106,
      "book-lower shelf": 0.4436700804671921
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8417462094864736,
    "bimanual_gripper_vertical_difference": 0.20971773730166576,
    "task_success": 0.0
  },
  {
    "completion_time": 2.010805368423462,
    "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": 0.0006580739640726918,
      "book-upper shelf": 0.6371421530126247,
      "book-lower shelf": 0.4436064700386006
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8669803132415531,
    "bimanual_gripper_vertical_difference": 0.20987950143163292,
    "task_success": 0.0
  },
  {
    "completion_time": 2.04123592376709,
    "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": 0.0004795128851509123,
      "book-upper shelf": 0.6372695216334038,
      "book-lower shelf": 0.4436903063109465
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8933684925000679,
    "bimanual_gripper_vertical_difference": 0.20987358643247703,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0714221000671387,
    "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": 0.0005513282881168813,
      "book-upper shelf": 0.6372211909043344,
      "book-lower shelf": 0.4436607446507757
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.921287934603887,
    "bimanual_gripper_vertical_difference": 0.2097854548202417,
    "task_success": 0.0
  },
  {
    "completion_time": 2.101651191711426,
    "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": 0.0005406667276354193,
      "book-upper shelf": 0.6372252512078997,
      "book-lower shelf": 0.44366065939867455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.944858793834895,
    "bimanual_gripper_vertical_difference": 0.20974816582455855,
    "task_success": 0.0
  },
  {
    "completion_time": 2.131850481033325,
    "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": 0.0004726779302226536,
      "book-upper shelf": 0.6373113575464414,
      "book-lower shelf": 0.4437466003200202
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9649657662310993,
    "bimanual_gripper_vertical_difference": 0.20988377325973234,
    "task_success": 0.0
  },
  {
    "completion_time": 2.161736011505127,
    "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": 0.0004907114407857183,
      "book-upper shelf": 0.6372815035439668,
      "book-lower shelf": 0.4437137300100176
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9865110356946287,
    "bimanual_gripper_vertical_difference": 0.210178652510411,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1916704177856445,
    "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": 0.0005860361615016574,
      "book-upper shelf": 0.6371797274865388,
      "book-lower shelf": 0.44362045401285455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0039631348063824,
    "bimanual_gripper_vertical_difference": 0.21051260135740982,
    "task_success": 0.0
  },
  {
    "completion_time": 2.222360849380493,
    "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": 0.0004949944334881051,
      "book-upper shelf": 0.6372573876932468,
      "book-lower shelf": 0.44368146994157454
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0187184760377548,
    "bimanual_gripper_vertical_difference": 0.21085861902238276,
    "task_success": 0.0
  },
  {
    "completion_time": 2.252610683441162,
    "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": 0.0005413567497595251,
      "book-upper shelf": 0.6372353773512678,
      "book-lower shelf": 0.44367558629081977
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0302465493103703,
    "bimanual_gripper_vertical_difference": 0.21122283415807916,
    "task_success": 0.0
  },
  {
    "completion_time": 2.282590389251709,
    "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": 0.0005963074972429316,
      "book-upper shelf": 0.6371958639738117,
      "book-lower shelf": 0.4436493314357159
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0386090020596292,
    "bimanual_gripper_vertical_difference": 0.21162322950448773,
    "task_success": 0.0
  },
  {
    "completion_time": 2.312481641769409,
    "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": 0.0006172803525553716,
      "book-upper shelf": 0.6371496120814393,
      "book-lower shelf": 0.4435945406293099
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0432493554386069,
    "bimanual_gripper_vertical_difference": 0.21206183062955908,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3427186012268066,
    "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": 0.0004512965007978931,
      "book-upper shelf": 0.6372739088988275,
      "book-lower shelf": 0.44368094901199323
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0438899459734035,
    "bimanual_gripper_vertical_difference": 0.21250899592737732,
    "task_success": 0.0
  },
  {
    "completion_time": 2.372992753982544,
    "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": 0.000469394482068064,
      "book-upper shelf": 0.6373003439070126,
      "book-lower shelf": 0.44372896034386156
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0427620064078194,
    "bimanual_gripper_vertical_difference": 0.21293239655849056,
    "task_success": 0.0
  },
  {
    "completion_time": 2.403968334197998,
    "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": 0.0006289167139872376,
      "book-upper shelf": 0.6371325877863695,
      "book-lower shelf": 0.44357654699739213
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.039471397622709,
    "bimanual_gripper_vertical_difference": 0.21331895152831043,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4340152740478516,
    "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": 0.0005776847021418119,
      "book-upper shelf": 0.6371905906283882,
      "book-lower shelf": 0.44363142157420865
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0343895649051107,
    "bimanual_gripper_vertical_difference": 0.21368479395581771,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4638733863830566,
    "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": 0.000583519376240571,
      "book-upper shelf": 0.6372007479678173,
      "book-lower shelf": 0.44364924875243306
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0285114706798522,
    "bimanual_gripper_vertical_difference": 0.2140545792219167,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4954516887664795,
    "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": 0.0006620136787722775,
      "book-upper shelf": 0.6370921030126231,
      "book-lower shelf": 0.4435367684286062
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.022727599674107,
    "bimanual_gripper_vertical_difference": 0.21444310027080368,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5253870487213135,
    "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": 0.0004982391692047727,
      "book-upper shelf": 0.6372616623478842,
      "book-lower shelf": 0.44368941025044073
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.017330854989923,
    "bimanual_gripper_vertical_difference": 0.21485281639162604,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5554420948028564,
    "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": 0.0005991983506720144,
      "book-upper shelf": 0.6371573524905949,
      "book-lower shelf": 0.4435956217678634
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0121161341762954,
    "bimanual_gripper_vertical_difference": 0.21527532124273838,
    "task_success": 0.0
  },
  {
    "completion_time": 2.585522174835205,
    "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": 0.0005463694846552514,
      "book-upper shelf": 0.6372066703365177,
      "book-lower shelf": 0.4436371365937878
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0050049079398309,
    "bimanual_gripper_vertical_difference": 0.2156988514890285,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6155664920806885,
    "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": 0.0005800693819858482,
      "book-upper shelf": 0.6371617353077593,
      "book-lower shelf": 0.4435912991691571
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.993401732640776,
    "bimanual_gripper_vertical_difference": 0.21610519877906678,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6455116271972656,
    "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": 0.0005129452942403967,
      "book-upper shelf": 0.6372065668083442,
      "book-lower shelf": 0.44361843659267475
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.981998029752788,
    "bimanual_gripper_vertical_difference": 0.2164937957326024,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6756207942962646,
    "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": 0.0006612697321304317,
      "book-upper shelf": 0.6370866774946276,
      "book-lower shelf": 0.44352856222758064
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9708021883242258,
    "bimanual_gripper_vertical_difference": 0.2168681534107904,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7064316272735596,
    "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": 0.0006539886472369805,
      "book-upper shelf": 0.6370908662147857,
      "book-lower shelf": 0.4435305368456381
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9598364111550349,
    "bimanual_gripper_vertical_difference": 0.21723065280491263,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7367918491363525,
    "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": 0.0006457282057812375,
      "book-upper shelf": 0.63709722512348,
      "book-lower shelf": 0.44353508509015005
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.94909979727207,
    "bimanual_gripper_vertical_difference": 0.2175825482023015,
    "task_success": 0.0
  },
  {
    "completion_time": 2.767206907272339,
    "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": 0.0004984419762493753,
      "book-upper shelf": 0.6372503202459587,
      "book-lower shelf": 0.4436732322282932
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9404846643802889,
    "bimanual_gripper_vertical_difference": 0.21791772241012125,
    "task_success": 0.0
  },
  {
    "completion_time": 2.799875497817993,
    "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": 0.0005298723047213461,
      "book-upper shelf": 0.637211871811503,
      "book-lower shelf": 0.443635451452049
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9349859607489107,
    "bimanual_gripper_vertical_difference": 0.218235181268363,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8306667804718018,
    "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": 0.0005718647661058229,
      "book-upper shelf": 0.6371533127070144,
      "book-lower shelf": 0.44357464680550357
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9300970445646711,
    "bimanual_gripper_vertical_difference": 0.2185368342729402,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8614771366119385,
    "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": 0.0005815952199940133,
      "book-upper shelf": 0.6371624974269988,
      "book-lower shelf": 0.4435932408012111
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9242082093362676,
    "bimanual_gripper_vertical_difference": 0.2188279085658023,
    "task_success": 0.0
  },
  {
    "completion_time": 2.891986608505249,
    "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": 0.0005859889786951067,
      "book-upper shelf": 0.6371341804316971,
      "book-lower shelf": 0.4435550053126992
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9173713833762567,
    "bimanual_gripper_vertical_difference": 0.21911833124491065,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9227237701416016,
    "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": 0.0004938094882500632,
      "book-upper shelf": 0.637225328699097,
      "book-lower shelf": 0.44363476487904585
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9104784270550026,
    "bimanual_gripper_vertical_difference": 0.2194228331075785,
    "task_success": 0.0
  },
  {
    "completion_time": 2.954202651977539,
    "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": 0.0005100544528666706,
      "book-upper shelf": 0.6371921363637723,
      "book-lower shelf": 0.44359610407469663
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9034890283104803,
    "bimanual_gripper_vertical_difference": 0.2197532386823048,
    "task_success": 0.0
  },
  {
    "completion_time": 2.984882354736328,
    "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": 0.00045139216769995993,
      "book-upper shelf": 0.6372453426401132,
      "book-lower shelf": 0.4436399704497704
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8962760706381692,
    "bimanual_gripper_vertical_difference": 0.22011398982041877,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0156586170196533,
    "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": 0.00065839229386222,
      "book-upper shelf": 0.6370782967638791,
      "book-lower shelf": 0.44351492656235897
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8905186235480013,
    "bimanual_gripper_vertical_difference": 0.22050596720522467,
    "task_success": 0.0
  },
  {
    "completion_time": 3.046377182006836,
    "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": 0.0005769275274235541,
      "book-upper shelf": 0.6371435799192555,
      "book-lower shelf": 0.44356347683757136
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8885386061773428,
    "bimanual_gripper_vertical_difference": 0.2209327248509603,
    "task_success": 0.0
  },
  {
    "completion_time": 3.077645778656006,
    "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": 0.0004920428260555276,
      "book-upper shelf": 0.637230968416401,
      "book-lower shelf": 0.44364188507141955
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8925770677483574,
    "bimanual_gripper_vertical_difference": 0.22139302365160327,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1102828979492188,
    "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": 0.0005859674631776279,
      "book-upper shelf": 0.6371262081021211,
      "book-lower shelf": 0.44354354162680465
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8985967584411252,
    "bimanual_gripper_vertical_difference": 0.22187923063924098,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1410207748413086,
    "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": 0.0006136896416158999,
      "book-upper shelf": 0.6371361198861161,
      "book-lower shelf": 0.44357316794249085
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9030824552782715,
    "bimanual_gripper_vertical_difference": 0.2223842675356472,
    "task_success": 0.0
  },
  {
    "completion_time": 3.171623945236206,
    "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": 0.0006098295777925422,
      "book-upper shelf": 0.6371156199172952,
      "book-lower shelf": 0.44354157900829977
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9041866976620451,
    "bimanual_gripper_vertical_difference": 0.22290529813053836,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2023491859436035,
    "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": 0.0006389304316499755,
      "book-upper shelf": 0.6370883340731445,
      "book-lower shelf": 0.4435185399666172
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9037819282857632,
    "bimanual_gripper_vertical_difference": 0.22344220003689338,
    "task_success": 0.0
  },
  {
    "completion_time": 3.23299241065979,
    "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": 0.0004961990981822151,
      "book-upper shelf": 0.6371939154810909,
      "book-lower shelf": 0.44359096898285266
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9019194287285114,
    "bimanual_gripper_vertical_difference": 0.223994288790495,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2636990547180176,
    "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": 0.00048782610902742274,
      "book-upper shelf": 0.6372106863417947,
      "book-lower shelf": 0.44361041167527143
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8986984668572786,
    "bimanual_gripper_vertical_difference": 0.22455935485904757,
    "task_success": 0.0
  },
  {
    "completion_time": 3.294569253921509,
    "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": 0.0004622809051182397,
      "book-upper shelf": 0.6372432745832253,
      "book-lower shelf": 0.4436430432503577
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8946122417570216,
    "bimanual_gripper_vertical_difference": 0.22513592432338128,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3238563537597656,
    "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": -0.0013825933633330179,
      "book-upper shelf": 0.6381132934617924,
      "book-lower shelf": 0.443869604483293
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8901535841478683,
    "bimanual_gripper_vertical_difference": 0.22570915418875456,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3535375595092773,
    "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": -0.002098019651578631,
      "book-upper shelf": 0.6378047532570627,
      "book-lower shelf": 0.4430284890319968
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8877022715356212,
    "bimanual_gripper_vertical_difference": 0.226219461204316,
    "task_success": 0.0
  },
  {
    "completion_time": 3.383336305618286,
    "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": 0.0026949295433554843,
      "book-upper shelf": 0.6305775864935909,
      "book-lower shelf": 0.4352788982139081
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8860872912384851,
    "bimanual_gripper_vertical_difference": 0.22667528102652587,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4133756160736084,
    "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": 0.002699175937440512,
      "book-upper shelf": 0.6297214208060385,
      "book-lower shelf": 0.434040073727035
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.882388466317789,
    "bimanual_gripper_vertical_difference": 0.22713603739739252,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4428622722625732,
    "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": 0.0031637089622625902,
      "book-upper shelf": 0.629169045345621,
      "book-lower shelf": 0.43350220839997594
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8759085269228034,
    "bimanual_gripper_vertical_difference": 0.22759547722995616,
    "task_success": 0.0
  },
  {
    "completion_time": 3.472520112991333,
    "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": 0.005287946339454508,
      "book-upper shelf": 0.6275424457133564,
      "book-lower shelf": 0.43234948702687753
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8708904500351344,
    "bimanual_gripper_vertical_difference": 0.2280326155782503,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5019731521606445,
    "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": 0.009513455329333453,
      "book-upper shelf": 0.6251229319485366,
      "book-lower shelf": 0.4312494518323104
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8694975889368546,
    "bimanual_gripper_vertical_difference": 0.22842039402166475,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5317490100860596,
    "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": 0.015808955176948913,
      "book-upper shelf": 0.6218396958025436,
      "book-lower shelf": 0.43009561242389704
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.871579489223661,
    "bimanual_gripper_vertical_difference": 0.22872793387312157,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5619781017303467,
    "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": 0.024099735095826302,
      "book-upper shelf": 0.6176548124538516,
      "book-lower shelf": 0.42880985350088774
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8773120171583965,
    "bimanual_gripper_vertical_difference": 0.2289246209102325,
    "task_success": 0.0
  },
  {
    "completion_time": 3.59195613861084,
    "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": 0.03765474082187992,
      "book-upper shelf": 0.6095290084658896,
      "book-lower shelf": 0.42494846490809135
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8860132676018703,
    "bimanual_gripper_vertical_difference": 0.2289677933062311,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6216092109680176,
    "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": 0.056427451259404404,
      "book-upper shelf": 0.5973905540901815,
      "book-lower shelf": 0.41853993957086366
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8955023049243557,
    "bimanual_gripper_vertical_difference": 0.22883469624833555,
    "task_success": 0.0
  },
  {
    "completion_time": 3.651613712310791,
    "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": 0.07988787621913451,
      "book-upper shelf": 0.5803358825016766,
      "book-lower shelf": 0.40821934013882616
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9048956872850176,
    "bimanual_gripper_vertical_difference": 0.22851390169865451,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6813740730285645,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.10559046836298436,
      "book-upper shelf": 0.5610661376729088,
      "book-lower shelf": 0.39661788343366333
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9148215817575343,
    "bimanual_gripper_vertical_difference": 0.2279962223153912,
    "task_success": 0.0
  },
  {
    "completion_time": 3.712446451187134,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.1324483391037522,
      "book-upper shelf": 0.5416779003207315,
      "book-lower shelf": 0.38620155453808647
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9256664647678985,
    "bimanual_gripper_vertical_difference": 0.22727392876076297,
    "task_success": 0.0
  },
  {
    "completion_time": 3.741847038269043,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.1600605549758718,
      "book-upper shelf": 0.5233366335509403,
      "book-lower shelf": 0.3784383182538668
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.935875502568238,
    "bimanual_gripper_vertical_difference": 0.2263456653960196,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7719297409057617,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.18773382729623223,
      "book-upper shelf": 0.507308751966866,
      "book-lower shelf": 0.37459872056782967
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9452675111171307,
    "bimanual_gripper_vertical_difference": 0.22521674482006906,
    "task_success": 0.0
  },
  {
    "completion_time": 3.803907871246338,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.21407056078988473,
      "book-upper shelf": 0.4931627307781517,
      "book-lower shelf": 0.37301613240749887
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9535036813369929,
    "bimanual_gripper_vertical_difference": 0.22390069169069376,
    "task_success": 0.0
  },
  {
    "completion_time": 3.833510160446167,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.2387719631504429,
      "book-upper shelf": 0.4790201372858353,
      "book-lower shelf": 0.3708854991735507
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9596902367320577,
    "bimanual_gripper_vertical_difference": 0.22241599322507966,
    "task_success": 0.0
  },
  {
    "completion_time": 3.862241268157959,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.2631198847222067,
      "book-upper shelf": 0.4635522519897435,
      "book-lower shelf": 0.3673779877003889
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9644915283059398,
    "bimanual_gripper_vertical_difference": 0.22077473792437946,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8908069133758545,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.2869405092125633,
      "book-upper shelf": 0.44727353755165744,
      "book-lower shelf": 0.36313906347157693
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9684843291140168,
    "bimanual_gripper_vertical_difference": 0.21909114185295891,
    "task_success": 0.0
  },
  {
    "completion_time": 3.91984224319458,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.3104014173136943,
      "book-upper shelf": 0.4301603425970084,
      "book-lower shelf": 0.35834007107183646
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9709205804827402,
    "bimanual_gripper_vertical_difference": 0.2176103744152756,
    "task_success": 0.0
  },
  {
    "completion_time": 3.948974609375,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.33215682219783427,
      "book-upper shelf": 0.4137109773832874,
      "book-lower shelf": 0.35389250925998095
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9711064810949817,
    "bimanual_gripper_vertical_difference": 0.21631624784685868,
    "task_success": 0.0
  },
  {
    "completion_time": 3.978252410888672,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.3497280159677708,
      "book-upper shelf": 0.4003718090384454,
      "book-lower shelf": 0.35076153598635185
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9678185773422786,
    "bimanual_gripper_vertical_difference": 0.2151746580867322,
    "task_success": 0.0
  },
  {
    "completion_time": 4.007665157318115,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.36075445092618164,
      "book-upper shelf": 0.3910215386375352,
      "book-lower shelf": 0.34794235329419654
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9620246841026632,
    "bimanual_gripper_vertical_difference": 0.21413979052110327,
    "task_success": 0.0
  },
  {
    "completion_time": 4.0371317863464355,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.36735779034986116,
      "book-upper shelf": 0.3860857931418141,
      "book-lower shelf": 0.347102422485087
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.95531067204639,
    "bimanual_gripper_vertical_difference": 0.21317524564021897,
    "task_success": 0.0
  },
  {
    "completion_time": 4.066079378128052,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.3724978250722605,
      "book-upper shelf": 0.38604831799343603,
      "book-lower shelf": 0.35068841718510824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9496341865929879,
    "bimanual_gripper_vertical_difference": 0.21225671409888908,
    "task_success": 0.0
  },
  {
    "completion_time": 4.095288991928101,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.37901422573595556,
      "book-upper shelf": 0.39020828553033277,
      "book-lower shelf": 0.35975070495849804
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9476863235347684,
    "bimanual_gripper_vertical_difference": 0.21137570476270187,
    "task_success": 0.0
  },
  {
    "completion_time": 4.124699592590332,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.3889131422218858,
      "book-upper shelf": 0.39671341975790864,
      "book-lower shelf": 0.3733822738826753
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9484416632902891,
    "bimanual_gripper_vertical_difference": 0.2105412877933339,
    "task_success": 0.0
  },
  {
    "completion_time": 4.153826951980591,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4005447198348787,
      "book-upper shelf": 0.4052485969850877,
      "book-lower shelf": 0.3898553331357308
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9530910574286158,
    "bimanual_gripper_vertical_difference": 0.20975344959168737,
    "task_success": 0.0
  },
  {
    "completion_time": 4.18299412727356,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4143689359761903,
      "book-upper shelf": 0.41280721992391944,
      "book-lower shelf": 0.4061751979876087
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9598707134499392,
    "bimanual_gripper_vertical_difference": 0.2090124943826776,
    "task_success": 0.0
  },
  {
    "completion_time": 4.211931467056274,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.42989365037715677,
      "book-upper shelf": 0.41592118165378167,
      "book-lower shelf": 0.4185738472196099
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9682744894201198,
    "bimanual_gripper_vertical_difference": 0.2083213885589581,
    "task_success": 0.0
  },
  {
    "completion_time": 4.240646839141846,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.446167353603795,
      "book-upper shelf": 0.4119473656569484,
      "book-lower shelf": 0.4241795061468447
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9763639648791581,
    "bimanual_gripper_vertical_difference": 0.20768594748229766,
    "task_success": 0.0
  },
  {
    "completion_time": 4.26939058303833,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4604431697469761,
      "book-upper shelf": 0.40058409473622325,
      "book-lower shelf": 0.42157486163467234
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9859910228100724,
    "bimanual_gripper_vertical_difference": 0.207103171090984,
    "task_success": 0.0
  },
  {
    "completion_time": 4.300827741622925,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4691958707543077,
      "book-upper shelf": 0.383704136935178,
      "book-lower shelf": 0.41084897384424274
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.998059199048638,
    "bimanual_gripper_vertical_difference": 0.2065432625698419,
    "task_success": 0.0
  },
  {
    "completion_time": 4.33064866065979,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.47216230590425423,
      "book-upper shelf": 0.37092857640650667,
      "book-lower shelf": 0.4007703137569591
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0031689830657482,
    "bimanual_gripper_vertical_difference": 0.20599880076360955,
    "task_success": 0.0
  },
  {
    "completion_time": 4.360051393508911,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4750070703686856,
      "book-upper shelf": 0.3611335374502319,
      "book-lower shelf": 0.39350625372726356
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0088586714122005,
    "bimanual_gripper_vertical_difference": 0.20547515307030514,
    "task_success": 0.0
  },
  {
    "completion_time": 4.389633417129517,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4769590272740093,
      "book-upper shelf": 0.3547246649000566,
      "book-lower shelf": 0.38887088977628254
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0107565182412253,
    "bimanual_gripper_vertical_difference": 0.204974660214712,
    "task_success": 0.0
  },
  {
    "completion_time": 4.41920280456543,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4747306983624725,
      "book-upper shelf": 0.35050485358922734,
      "book-lower shelf": 0.3835978269576221
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0088982094588554,
    "bimanual_gripper_vertical_difference": 0.2044842629683085,
    "task_success": 0.0
  },
  {
    "completion_time": 4.448561191558838,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.47021487508675,
      "book-upper shelf": 0.3457499222045195,
      "book-lower shelf": 0.37631480437855985
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0037800002268153,
    "bimanual_gripper_vertical_difference": 0.20398458993810686,
    "task_success": 0.0
  },
  {
    "completion_time": 4.477581024169922,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.46728821141926813,
      "book-upper shelf": 0.3422372559045827,
      "book-lower shelf": 0.3711535088065842
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0047063786225676,
    "bimanual_gripper_vertical_difference": 0.20347210156822765,
    "task_success": 0.0
  },
  {
    "completion_time": 4.506991863250732,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4671363907635774,
      "book-upper shelf": 0.34306298037822547,
      "book-lower shelf": 0.37181451315758224
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0115418029715824,
    "bimanual_gripper_vertical_difference": 0.20295960546517966,
    "task_success": 0.0
  },
  {
    "completion_time": 4.536336421966553,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4685745663149111,
      "book-upper shelf": 0.3451303100554455,
      "book-lower shelf": 0.3746691662736547
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0148738028778443,
    "bimanual_gripper_vertical_difference": 0.20246332540967993,
    "task_success": 0.0
  },
  {
    "completion_time": 4.565446615219116,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4702943677623025,
      "book-upper shelf": 0.3448432568499998,
      "book-lower shelf": 0.37553407468955763
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.012762986353207,
    "bimanual_gripper_vertical_difference": 0.20199883163358118,
    "task_success": 0.0
  },
  {
    "completion_time": 4.595482349395752,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.47113288839462586,
      "book-upper shelf": 0.34142040118491745,
      "book-lower shelf": 0.3729474350196357
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0086986989592728,
    "bimanual_gripper_vertical_difference": 0.20156161388419966,
    "task_success": 0.0
  },
  {
    "completion_time": 4.626259803771973,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.470471580017486,
      "book-upper shelf": 0.33342741391210845,
      "book-lower shelf": 0.3651986828850922
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.00439103705341,
    "bimanual_gripper_vertical_difference": 0.20113526183696545,
    "task_success": 0.0
  },
  {
    "completion_time": 4.656524896621704,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4683188144725946,
      "book-upper shelf": 0.32067129983770737,
      "book-lower shelf": 0.3520883280973346
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0017890184560059,
    "bimanual_gripper_vertical_difference": 0.20070713844411237,
    "task_success": 0.0
  },
  {
    "completion_time": 4.685827970504761,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4653397302072052,
      "book-upper shelf": 0.30312036756437993,
      "book-lower shelf": 0.33399253798858236
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0023424599962614,
    "bimanual_gripper_vertical_difference": 0.20028151540003986,
    "task_success": 0.0
  },
  {
    "completion_time": 4.715286731719971,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4626395004750513,
      "book-upper shelf": 0.28413551953597393,
      "book-lower shelf": 0.31475756310716124
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0057915120350507,
    "bimanual_gripper_vertical_difference": 0.1998718643834547,
    "task_success": 0.0
  },
  {
    "completion_time": 4.744523525238037,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4624459641625217,
      "book-upper shelf": 0.2671254345290259,
      "book-lower shelf": 0.29933262583055986
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0090107118888896,
    "bimanual_gripper_vertical_difference": 0.19949693167953997,
    "task_success": 0.0
  },
  {
    "completion_time": 4.776270151138306,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4655350845490299,
      "book-upper shelf": 0.2552970802405511,
      "book-lower shelf": 0.29144786776445664
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.011011579367315,
    "bimanual_gripper_vertical_difference": 0.1991726716808543,
    "task_success": 0.0
  },
  {
    "completion_time": 4.808332204818726,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4707837135660914,
      "book-upper shelf": 0.24685961816421978,
      "book-lower shelf": 0.2885994090061994
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0130324630600012,
    "bimanual_gripper_vertical_difference": 0.1989086061918856,
    "task_success": 0.0
  },
  {
    "completion_time": 4.842417001724243,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.47601977405437557,
      "book-upper shelf": 0.24115469257107697,
      "book-lower shelf": 0.28824300777131984
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.014845858442841,
    "bimanual_gripper_vertical_difference": 0.19869941786341258,
    "task_success": 0.0
  },
  {
    "completion_time": 4.87751317024231,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.47862215939482844,
      "book-upper shelf": 0.23785887075037546,
      "book-lower shelf": 0.2877270109540955
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.015310643782604,
    "bimanual_gripper_vertical_difference": 0.1985275256334619,
    "task_success": 0.0
  },
  {
    "completion_time": 4.914869785308838,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4782853438555895,
      "book-upper shelf": 0.23594131603415952,
      "book-lower shelf": 0.2858538616810218
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0146803446916004,
    "bimanual_gripper_vertical_difference": 0.19837335870239137,
    "task_success": 0.0
  },
  {
    "completion_time": 4.94870924949646,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.47606337698463264,
      "book-upper shelf": 0.23315765093570429,
      "book-lower shelf": 0.28162458740816193
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0144199336854778,
    "bimanual_gripper_vertical_difference": 0.1982223931055192,
    "task_success": 0.0
  },
  {
    "completion_time": 4.98210883140564,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.47277414824256414,
      "book-upper shelf": 0.2294921070506269,
      "book-lower shelf": 0.2756751068762479
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0170538418455939,
    "bimanual_gripper_vertical_difference": 0.19807269622055548,
    "task_success": 0.0
  },
  {
    "completion_time": 5.01298713684082,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4703277369867104,
      "book-upper shelf": 0.22497542569446835,
      "book-lower shelf": 0.26970232534955285
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.022938232880976,
    "bimanual_gripper_vertical_difference": 0.19793480636712635,
    "task_success": 0.0
  },
  {
    "completion_time": 5.042715549468994,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4693023510135833,
      "book-upper shelf": 0.2228447721893469,
      "book-lower shelf": 0.26698360118812126
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0292755885402245,
    "bimanual_gripper_vertical_difference": 0.19781687344459947,
    "task_success": 0.0
  },
  {
    "completion_time": 5.073135852813721,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.46493919294164276,
      "book-upper shelf": 0.22547577000085003,
      "book-lower shelf": 0.26516247185678105
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0287428924231223,
    "bimanual_gripper_vertical_difference": 0.19769947596783433,
    "task_success": 0.0
  },
  {
    "completion_time": 5.102667331695557,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4598138607737622,
      "book-upper shelf": 0.22851510753861215,
      "book-lower shelf": 0.26299619422512205
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0235757156987715,
    "bimanual_gripper_vertical_difference": 0.19757252739460215,
    "task_success": 0.0
  },
  {
    "completion_time": 5.132040977478027,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.456942584792584,
      "book-upper shelf": 0.22916570659750543,
      "book-lower shelf": 0.26086549221812244
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0183353951414584,
    "bimanual_gripper_vertical_difference": 0.1974412014240369,
    "task_success": 0.0
  },
  {
    "completion_time": 5.161491870880127,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.451225933150864,
      "book-upper shelf": 0.23072163002766158,
      "book-lower shelf": 0.2568096365366138
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0127061363326253,
    "bimanual_gripper_vertical_difference": 0.19729181241161928,
    "task_success": 0.0
  },
  {
    "completion_time": 5.190649747848511,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.44603078578784283,
      "book-upper shelf": 0.23071446653542846,
      "book-lower shelf": 0.2517727817123993
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0068457414545329,
    "bimanual_gripper_vertical_difference": 0.19711902703817843,
    "task_success": 0.0
  },
  {
    "completion_time": 5.219689607620239,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.44346186059216064,
      "book-upper shelf": 0.2288423161947487,
      "book-lower shelf": 0.24751587224696456
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0039192567872286,
    "bimanual_gripper_vertical_difference": 0.1969382321236912,
    "task_success": 0.0
  },
  {
    "completion_time": 5.2489049434661865,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.44313397289383805,
      "book-upper shelf": 0.2252606707062878,
      "book-lower shelf": 0.24387743397694925
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0013622696104199,
    "bimanual_gripper_vertical_difference": 0.19676767607760867,
    "task_success": 0.0
  },
  {
    "completion_time": 5.278087615966797,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.44378620713496064,
      "book-upper shelf": 0.2207880475814239,
      "book-lower shelf": 0.2404212714013594
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9988768903005181,
    "bimanual_gripper_vertical_difference": 0.19661594977164865,
    "task_success": 0.0
  },
  {
    "completion_time": 5.307214260101318,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4448553215291101,
      "book-upper shelf": 0.2158804089589301,
      "book-lower shelf": 0.23703557146951454
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9973162405028216,
    "bimanual_gripper_vertical_difference": 0.19648255967953993,
    "task_success": 0.0
  },
  {
    "completion_time": 5.336259841918945,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.44638763293656714,
      "book-upper shelf": 0.2096919983365483,
      "book-lower shelf": 0.23303826313897041
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9973118531916773,
    "bimanual_gripper_vertical_difference": 0.19636493971752714,
    "task_success": 0.0
  },
  {
    "completion_time": 5.365530252456665,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4478065987861558,
      "book-upper shelf": 0.2023768370551489,
      "book-lower shelf": 0.22801590257678386
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9987031155181324,
    "bimanual_gripper_vertical_difference": 0.19625918029247916,
    "task_success": 0.0
  },
  {
    "completion_time": 5.394843101501465,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4481583026528603,
      "book-upper shelf": 0.1960099150583175,
      "book-lower shelf": 0.22277331757053867
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.00002599806615,
    "bimanual_gripper_vertical_difference": 0.1961605616850809,
    "task_success": 0.0
  },
  {
    "completion_time": 5.42411994934082,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4473371471435955,
      "book-upper shelf": 0.19043219198089256,
      "book-lower shelf": 0.21695185164746822
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0022604535347341,
    "bimanual_gripper_vertical_difference": 0.19606660178377622,
    "task_success": 0.0
  },
  {
    "completion_time": 5.454393148422241,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.44634808291877326,
      "book-upper shelf": 0.18586884803808348,
      "book-lower shelf": 0.21181088306609716
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0042797033527826,
    "bimanual_gripper_vertical_difference": 0.19597911214469416,
    "task_success": 0.0
  },
  {
    "completion_time": 5.484535455703735,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.446340054290422,
      "book-upper shelf": 0.18168990295278728,
      "book-lower shelf": 0.2081439133177009
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0061336422165448,
    "bimanual_gripper_vertical_difference": 0.19590421398473687,
    "task_success": 0.0
  },
  {
    "completion_time": 5.515732288360596,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.44788998790471346,
      "book-upper shelf": 0.177325801336448,
      "book-lower shelf": 0.20620468579159598
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0077772582583704,
    "bimanual_gripper_vertical_difference": 0.1958494694564476,
    "task_success": 0.0
  },
  {
    "completion_time": 5.545921564102173,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.45056323997471825,
      "book-upper shelf": 0.17314878022071062,
      "book-lower shelf": 0.2058467286442316
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0084231903088234,
    "bimanual_gripper_vertical_difference": 0.19582011772891367,
    "task_success": 0.0
  },
  {
    "completion_time": 5.575981855392456,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4479763354836971,
      "book-upper shelf": 0.17168556886744696,
      "book-lower shelf": 0.20148049296472334
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.008815516387646,
    "bimanual_gripper_vertical_difference": 0.19579179023522808,
    "task_success": 0.0
  },
  {
    "completion_time": 5.605965852737427,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4466545718764804,
      "book-upper shelf": 0.17029724787412484,
      "book-lower shelf": 0.1986673215066055
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0085587616894458,
    "bimanual_gripper_vertical_difference": 0.19577002917321987,
    "task_success": 0.0
  },
  {
    "completion_time": 5.636703252792358,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.44529878593596195,
      "book-upper shelf": 0.16840489127017483,
      "book-lower shelf": 0.1953461098152981
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0077459646597842,
    "bimanual_gripper_vertical_difference": 0.1957508839836764,
    "task_success": 0.0
  },
  {
    "completion_time": 5.667119264602661,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.44137518291260724,
      "book-upper shelf": 0.1693325320867823,
      "book-lower shelf": 0.19115758769876606
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0088003664638245,
    "bimanual_gripper_vertical_difference": 0.1957245402276207,
    "task_success": 0.0
  },
  {
    "completion_time": 5.696789026260376,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4400779232404378,
      "book-upper shelf": 0.16910708824153758,
      "book-lower shelf": 0.18927780821149168
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.005274768179924,
    "bimanual_gripper_vertical_difference": 0.19570104257594167,
    "task_success": 0.0
  },
  {
    "completion_time": 5.726644039154053,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4357255520375144,
      "book-upper shelf": 0.17221558324971387,
      "book-lower shelf": 0.1863967899615104
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0007618491081025,
    "bimanual_gripper_vertical_difference": 0.19566909450647732,
    "task_success": 0.0
  },
  {
    "completion_time": 5.756866455078125,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.43070104783951624,
      "book-upper shelf": 0.17536333600902174,
      "book-lower shelf": 0.18265688797188911
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9961127737307772,
    "bimanual_gripper_vertical_difference": 0.1956238573866409,
    "task_success": 0.0
  },
  {
    "completion_time": 5.786531686782837,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4225229994780736,
      "book-upper shelf": 0.18164303929786305,
      "book-lower shelf": 0.17770242802644487
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.99247512228915,
    "bimanual_gripper_vertical_difference": 0.19554820360092562,
    "task_success": 0.0
  },
  {
    "completion_time": 5.818971872329712,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4158388679864534,
      "book-upper shelf": 0.18627175939669186,
      "book-lower shelf": 0.17317484518390328
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9889947145962469,
    "bimanual_gripper_vertical_difference": 0.19544469969012251,
    "task_success": 0.0
  },
  {
    "completion_time": 5.849161624908447,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4120118308005304,
      "book-upper shelf": 0.18821519670233505,
      "book-lower shelf": 0.1698019271610319
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9901214068843583,
    "bimanual_gripper_vertical_difference": 0.19533186377337053,
    "task_success": 0.0
  },
  {
    "completion_time": 5.878639459609985,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4105696496443,
      "book-upper shelf": 0.18816014547525814,
      "book-lower shelf": 0.16763583278773309
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9944305954945433,
    "bimanual_gripper_vertical_difference": 0.19523085278679808,
    "task_success": 0.0
  },
  {
    "completion_time": 5.9086267948150635,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4114700339270726,
      "book-upper shelf": 0.18664320075003726,
      "book-lower shelf": 0.16726210184738852
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9994667400993329,
    "bimanual_gripper_vertical_difference": 0.19515503196108447,
    "task_success": 0.0
  },
  {
    "completion_time": 5.939252853393555,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.41309359456302375,
      "book-upper shelf": 0.1847559242717802,
      "book-lower shelf": 0.16755655855568105
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.003986439627346,
    "bimanual_gripper_vertical_difference": 0.1951042489858796,
    "task_success": 0.0
  },
  {
    "completion_time": 5.968970060348511,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4137591003368274,
      "book-upper shelf": 0.18365740572605535,
      "book-lower shelf": 0.16732668572907458
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0067905420155436,
    "bimanual_gripper_vertical_difference": 0.19506937957075143,
    "task_success": 0.0
  },
  {
    "completion_time": 5.998875379562378,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4138003374634608,
      "book-upper shelf": 0.18363411627447135,
      "book-lower shelf": 0.1673618025772938
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0102857984719094,
    "bimanual_gripper_vertical_difference": 0.19504495729264476,
    "task_success": 0.0
  },
  {
    "completion_time": 6.028717279434204,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.41383867087392623,
      "book-upper shelf": 0.18407499493931923,
      "book-lower shelf": 0.16790165380920238
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0121598313709124,
    "bimanual_gripper_vertical_difference": 0.19502847846791285,
    "task_success": 0.0
  },
  {
    "completion_time": 6.057955741882324,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.413482657571416,
      "book-upper shelf": 0.18490334719067744,
      "book-lower shelf": 0.16828930637998754
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.011415817674083,
    "bimanual_gripper_vertical_difference": 0.195015282962103,
    "task_success": 0.0
  },
  {
    "completion_time": 6.087708950042725,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.41229415123116986,
      "book-upper shelf": 0.1862491342634094,
      "book-lower shelf": 0.16803423135634157
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0089220119956013,
    "bimanual_gripper_vertical_difference": 0.19499949016564874,
    "task_success": 0.0
  }
]