[
  {
    "completion_time": 0.046041011810302734,
    "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": -0.0006576020486083189,
      "book-upper shelf": 0.594597282390425,
      "book-lower shelf": 0.37912346364961985
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 2.0051765475953554e-06,
    "bimanual_gripper_vertical_difference": 5.695708349406914e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.07567834854125977,
    "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": 0.0005674375990554203,
      "book-upper shelf": 0.5935212470905353,
      "book-lower shelf": 0.3782319579102224
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.018563459267291e-06,
    "bimanual_gripper_vertical_difference": 7.251649281059258e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.10557723045349121,
    "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": 0.0007380219397272736,
      "book-upper shelf": 0.5933633158068491,
      "book-lower shelf": 0.3780951891261816
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.865484758570665e-07,
    "bimanual_gripper_vertical_difference": 9.739087314386552e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.13601326942443848,
    "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": 0.0006505387417130581,
      "book-upper shelf": 0.5934381687601084,
      "book-lower shelf": 0.3781556908677344
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.702338099600527e-06,
    "bimanual_gripper_vertical_difference": 1.3289093159229992e-09,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1660926342010498,
    "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": 0.0005268709697482388,
      "book-upper shelf": 0.5935510080046146,
      "book-lower shelf": 0.3782522508901092
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.08214342515913967,
    "bimanual_gripper_vertical_difference": 0.000560461667540979,
    "task_success": 0.0
  },
  {
    "completion_time": 0.19713211059570312,
    "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": 0.0005808829610111088,
      "book-upper shelf": 0.5934951712886882,
      "book-lower shelf": 0.3781997921048674
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.2964252126192436,
    "bimanual_gripper_vertical_difference": 0.002309676254680445,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2286512851715088,
    "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": 0.0006989515326794038,
      "book-upper shelf": 0.593388110468527,
      "book-lower shelf": 0.3781086575556918
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.524973725214059,
    "bimanual_gripper_vertical_difference": 0.005217353856727217,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2591888904571533,
    "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": 0.0006042795767433606,
      "book-upper shelf": 0.5934672313678491,
      "book-lower shelf": 0.37817117919797416
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7109987420318837,
    "bimanual_gripper_vertical_difference": 0.009386942307568119,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2901003360748291,
    "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": 0.0005262332895654698,
      "book-upper shelf": 0.5935352457917369,
      "book-lower shelf": 0.37822710131823223
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8400783576104122,
    "bimanual_gripper_vertical_difference": 0.015275122580967328,
    "task_success": 0.0
  },
  {
    "completion_time": 0.32077789306640625,
    "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": 0.0005471885453846026,
      "book-upper shelf": 0.5935295360338678,
      "book-lower shelf": 0.37823178308388794
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8631728390094707,
    "bimanual_gripper_vertical_difference": 0.022679662947651336,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3511974811553955,
    "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": 0.00042609565681128725,
      "book-upper shelf": 0.5936153230777037,
      "book-lower shelf": 0.37828757736680446
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8133626595080183,
    "bimanual_gripper_vertical_difference": 0.030376956244610585,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3818013668060303,
    "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": 0.0005017399467523997,
      "book-upper shelf": 0.5935502868075233,
      "book-lower shelf": 0.37823475963637665
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7827080482090348,
    "bimanual_gripper_vertical_difference": 0.03715446797274724,
    "task_success": 0.0
  },
  {
    "completion_time": 0.41205596923828125,
    "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": 0.0006576387411730833,
      "book-upper shelf": 0.593405287247857,
      "book-lower shelf": 0.3781087115139511
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7243982785072061,
    "bimanual_gripper_vertical_difference": 0.04287001875324147,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4419252872467041,
    "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": 0.000655369582706955,
      "book-upper shelf": 0.5934114318189108,
      "book-lower shelf": 0.37811687710986175
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6735007470238562,
    "bimanual_gripper_vertical_difference": 0.04773169959270286,
    "task_success": 0.0
  },
  {
    "completion_time": 0.47200703620910645,
    "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": 0.000569687400069463,
      "book-upper shelf": 0.5934829113076553,
      "book-lower shelf": 0.3781732634195772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6513501272563497,
    "bimanual_gripper_vertical_difference": 0.05210045950731899,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5053350925445557,
    "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": 0.000540832695982596,
      "book-upper shelf": 0.593501464469271,
      "book-lower shelf": 0.37818359295371007
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6770271723805632,
    "bimanual_gripper_vertical_difference": 0.05652893740301049,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5354011058807373,
    "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": 0.0005064368611520376,
      "book-upper shelf": 0.5935384436565785,
      "book-lower shelf": 0.37821923208855807
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7238086556881624,
    "bimanual_gripper_vertical_difference": 0.06121731944059599,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5659487247467041,
    "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": 0.000563283730251829,
      "book-upper shelf": 0.5934740342075445,
      "book-lower shelf": 0.37815516252272174
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7762718070297306,
    "bimanual_gripper_vertical_difference": 0.06613569864361968,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5958917140960693,
    "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": 0.0006393359269577514,
      "book-upper shelf": 0.5934146325382278,
      "book-lower shelf": 0.3781114593326539
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8240887926303598,
    "bimanual_gripper_vertical_difference": 0.0711110615740499,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6264424324035645,
    "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": 0.0007188927615990881,
      "book-upper shelf": 0.5933403300892909,
      "book-lower shelf": 0.3780466566996538
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8709797360677791,
    "bimanual_gripper_vertical_difference": 0.07596615196795575,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6593108177185059,
    "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": 0.0006824478899479791,
      "book-upper shelf": 0.593370832958168,
      "book-lower shelf": 0.37807079424333273
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9231108801646328,
    "bimanual_gripper_vertical_difference": 0.08050109552721883,
    "task_success": 0.0
  },
  {
    "completion_time": 0.689652681350708,
    "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": 0.0005426481893561208,
      "book-upper shelf": 0.5934870041788917,
      "book-lower shelf": 0.37816208141635993
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9509885591778828,
    "bimanual_gripper_vertical_difference": 0.08464871245852422,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7204093933105469,
    "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": 0.0005697075028378018,
      "book-upper shelf": 0.5934640746489144,
      "book-lower shelf": 0.3781437146769772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9323986793668273,
    "bimanual_gripper_vertical_difference": 0.08842610731574356,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7507882118225098,
    "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": 0.0006010423932945042,
      "book-upper shelf": 0.59344698858595,
      "book-lower shelf": 0.3781373033427319
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9077751151512219,
    "bimanual_gripper_vertical_difference": 0.09188215866383147,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7817959785461426,
    "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": 0.000647375942930406,
      "book-upper shelf": 0.5933954141072788,
      "book-lower shelf": 0.3780865328963656
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9081008930252854,
    "bimanual_gripper_vertical_difference": 0.09509791799026225,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8121585845947266,
    "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": 0.0005612072356449005,
      "book-upper shelf": 0.5934727108382519,
      "book-lower shelf": 0.37815173357257653
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8911818856410463,
    "bimanual_gripper_vertical_difference": 0.09815538212761318,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8422703742980957,
    "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": 0.0005296471480111808,
      "book-upper shelf": 0.5934929630682471,
      "book-lower shelf": 0.37816296823016676
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8960458146274661,
    "bimanual_gripper_vertical_difference": 0.10112015204128331,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8725917339324951,
    "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": 0.0005286125105281592,
      "book-upper shelf": 0.593498135547843,
      "book-lower shelf": 0.37817041227555204
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9088835550673325,
    "bimanual_gripper_vertical_difference": 0.10401857232197598,
    "task_success": 0.0
  },
  {
    "completion_time": 0.903588056564331,
    "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": 0.00044595630905475137,
      "book-upper shelf": 0.5935657250976486,
      "book-lower shelf": 0.3782226722266547
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9269115594337441,
    "bimanual_gripper_vertical_difference": 0.10688578493937623,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9340329170227051,
    "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": 0.0005564527648699302,
      "book-upper shelf": 0.5934634775449109,
      "book-lower shelf": 0.3781341467453221
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9454270358664817,
    "bimanual_gripper_vertical_difference": 0.10972911942783009,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9646611213684082,
    "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": 0.0007179572734085093,
      "book-upper shelf": 0.5933187963348067,
      "book-lower shelf": 0.37801224945012374
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9769737760335382,
    "bimanual_gripper_vertical_difference": 0.1125602692475311,
    "task_success": 0.0
  },
  {
    "completion_time": 0.994708776473999,
    "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": 0.0007149288319032721,
      "book-upper shelf": 0.5933235620869797,
      "book-lower shelf": 0.3780177570190653
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0069808474835074,
    "bimanual_gripper_vertical_difference": 0.11533951891101495,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0251750946044922,
    "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": 0.0004954045080119984,
      "book-upper shelf": 0.5935072714878771,
      "book-lower shelf": 0.378163128623189
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.040566646745165,
    "bimanual_gripper_vertical_difference": 0.11798673227988266,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0566728115081787,
    "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": 0.0005739754973544953,
      "book-upper shelf": 0.5934523567567167,
      "book-lower shelf": 0.37812810337874536
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0739326547467543,
    "bimanual_gripper_vertical_difference": 0.12046410397609286,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0894756317138672,
    "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": 0.0005610560285210786,
      "book-upper shelf": 0.593445718776885,
      "book-lower shelf": 0.3781092722572501
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0744500530596837,
    "bimanual_gripper_vertical_difference": 0.12279683953298873,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1212372779846191,
    "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": 0.000594691752376475,
      "book-upper shelf": 0.5934211373393637,
      "book-lower shelf": 0.3780925955180976
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0533129622721424,
    "bimanual_gripper_vertical_difference": 0.12505774662746055,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1519970893859863,
    "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": 0.0006015265241112733,
      "book-upper shelf": 0.5934080567229332,
      "book-lower shelf": 0.3780765162126426
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0543056040497607,
    "bimanual_gripper_vertical_difference": 0.12732245960888536,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1831843852996826,
    "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": 0.000532322864888024,
      "book-upper shelf": 0.5934674431022472,
      "book-lower shelf": 0.3781246580272362
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0456976458749214,
    "bimanual_gripper_vertical_difference": 0.12958314096468918,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2137012481689453,
    "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": 0.0005703191419745846,
      "book-upper shelf": 0.5934461076953844,
      "book-lower shelf": 0.37811591475538947
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0351315126187457,
    "bimanual_gripper_vertical_difference": 0.13182726488826876,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2445707321166992,
    "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": 0.0006559820690102969,
      "book-upper shelf": 0.5933507343124539,
      "book-lower shelf": 0.37802201109188355
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0331634442287685,
    "bimanual_gripper_vertical_difference": 0.1340488506566006,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2772822380065918,
    "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": 0.0005254008870840821,
      "book-upper shelf": 0.593476258124481,
      "book-lower shelf": 0.37813398579785107
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.035463066769469,
    "bimanual_gripper_vertical_difference": 0.13627055057765716,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3076913356781006,
    "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": 0.000578216198226067,
      "book-upper shelf": 0.5934249924138141,
      "book-lower shelf": 0.3780879167325775
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0455576835223213,
    "bimanual_gripper_vertical_difference": 0.1385517261489366,
    "task_success": 0.0
  },
  {
    "completion_time": 1.33817720413208,
    "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": 0.00044655326243359106,
      "book-upper shelf": 0.5935309364866275,
      "book-lower shelf": 0.3781684628733045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.057750480180136,
    "bimanual_gripper_vertical_difference": 0.14089636170073971,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3694062232971191,
    "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": 0.0005486035977941839,
      "book-upper shelf": 0.5934312697009612,
      "book-lower shelf": 0.3780784843014625
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0695775968265409,
    "bimanual_gripper_vertical_difference": 0.14329155579308175,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4001104831695557,
    "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": 0.0005600902529597773,
      "book-upper shelf": 0.5934309899042223,
      "book-lower shelf": 0.37808552579386673
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0770263496738504,
    "bimanual_gripper_vertical_difference": 0.14570524579111507,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4308972358703613,
    "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": 0.0005850814112349223,
      "book-upper shelf": 0.5934038167679108,
      "book-lower shelf": 0.3780591510421453
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0651692716204653,
    "bimanual_gripper_vertical_difference": 0.14803380832350563,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4620161056518555,
    "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": 0.0005914482079246719,
      "book-upper shelf": 0.5933911786074254,
      "book-lower shelf": 0.37804346061017313
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0426672607257987,
    "bimanual_gripper_vertical_difference": 0.15025755609686087,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4984540939331055,
    "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": 0.0005217736997324973,
      "book-upper shelf": 0.5934509558146837,
      "book-lower shelf": 0.3780919107927174
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.021062135268275,
    "bimanual_gripper_vertical_difference": 0.1523924316156646,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5291435718536377,
    "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": 0.0005223453415308388,
      "book-upper shelf": 0.593448333921662,
      "book-lower shelf": 0.37808816774520454
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0003060113657463,
    "bimanual_gripper_vertical_difference": 0.1544426584902863,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5602366924285889,
    "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": 0.0005527865508611063,
      "book-upper shelf": 0.5934272147928216,
      "book-lower shelf": 0.37807484389310403
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9803452893310645,
    "bimanual_gripper_vertical_difference": 0.1564124176065656,
    "task_success": 0.0
  },
  {
    "completion_time": 1.590930461883545,
    "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": 0.0006686321091128322,
      "book-upper shelf": 0.5933172482076593,
      "book-lower shelf": 0.37797768914813884
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9611505397023666,
    "bimanual_gripper_vertical_difference": 0.15830587939813698,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6223227977752686,
    "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": 0.0006484469105614288,
      "book-upper shelf": 0.5933292710665563,
      "book-lower shelf": 0.3779834125678339
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9426837469596521,
    "bimanual_gripper_vertical_difference": 0.16012709732217376,
    "task_success": 0.0
  },
  {
    "completion_time": 1.652824878692627,
    "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": 0.0006307766164156403,
      "book-upper shelf": 0.593345383313269,
      "book-lower shelf": 0.37799719368653073
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9249112695316202,
    "bimanual_gripper_vertical_difference": 0.1618799430478537,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6833834648132324,
    "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": 0.0006389293834270227,
      "book-upper shelf": 0.5933328306846472,
      "book-lower shelf": 0.37798280031515197
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9077893788884731,
    "bimanual_gripper_vertical_difference": 0.16356808297841766,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7136785984039307,
    "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": 0.0005459880638909453,
      "book-upper shelf": 0.5934079343767258,
      "book-lower shelf": 0.37804015262188917
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8912923457254408,
    "bimanual_gripper_vertical_difference": 0.16519496403946424,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7438936233520508,
    "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": 0.000556600129004714,
      "book-upper shelf": 0.5934083281431831,
      "book-lower shelf": 0.3780476824876322
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8754107127494859,
    "bimanual_gripper_vertical_difference": 0.16676382125787317,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7743866443634033,
    "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": 0.00044340136999454494,
      "book-upper shelf": 0.5935025963073767,
      "book-lower shelf": 0.37812192930248534
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8601556361079813,
    "bimanual_gripper_vertical_difference": 0.16827767530713295,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8053038120269775,
    "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": 0.000651793801576539,
      "book-upper shelf": 0.5933158566449015,
      "book-lower shelf": 0.3779645356310618
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8453449265520615,
    "bimanual_gripper_vertical_difference": 0.16973935341823668,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8361949920654297,
    "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": 0.0006372211194602961,
      "book-upper shelf": 0.5933233660452631,
      "book-lower shelf": 0.37796683032578504
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8311203626233639,
    "bimanual_gripper_vertical_difference": 0.17115150024165482,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8667807579040527,
    "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": 0.0005674442066045948,
      "book-upper shelf": 0.5933821762864752,
      "book-lower shelf": 0.3780136950231526
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8172772375692801,
    "bimanual_gripper_vertical_difference": 0.17251658609098408,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8997206687927246,
    "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": 0.0005368442246510563,
      "book-upper shelf": 0.5934020524939245,
      "book-lower shelf": 0.37802496403479485
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8038793669676491,
    "bimanual_gripper_vertical_difference": 0.173836918842322,
    "task_success": 0.0
  },
  {
    "completion_time": 1.930379867553711,
    "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": 0.0005439173558484667,
      "book-upper shelf": 0.5934013677948368,
      "book-lower shelf": 0.37802849627209145
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7909137503887109,
    "bimanual_gripper_vertical_difference": 0.17511466326621222,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9607548713684082,
    "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": 0.000567125555096526,
      "book-upper shelf": 0.5933782291912968,
      "book-lower shelf": 0.3780072915286792
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.778395270411923,
    "bimanual_gripper_vertical_difference": 0.17635184611809562,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9915883541107178,
    "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": 0.0006365949194357956,
      "book-upper shelf": 0.5933125177208395,
      "book-lower shelf": 0.3779493927012974
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7662936211599068,
    "bimanual_gripper_vertical_difference": 0.17755036886538758,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0221879482269287,
    "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": 0.0005086880987926756,
      "book-upper shelf": 0.5934205852848002,
      "book-lower shelf": 0.37803571667914354
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7545476574857363,
    "bimanual_gripper_vertical_difference": 0.17871201459506308,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0527796745300293,
    "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": 0.0004265987179933317,
      "book-upper shelf": 0.593495511831931,
      "book-lower shelf": 0.37809986735586654
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7431159404713212,
    "bimanual_gripper_vertical_difference": 0.17983845996544776,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0832135677337646,
    "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": 0.0005908333940374266,
      "book-upper shelf": 0.5933517569814777,
      "book-lower shelf": 0.3779811794374351
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7320669801603634,
    "bimanual_gripper_vertical_difference": 0.180931280305924,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1139824390411377,
    "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": 0.0005298828324433735,
      "book-upper shelf": 0.593402486531087,
      "book-lower shelf": 0.3780211110681488
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7213439250756143,
    "bimanual_gripper_vertical_difference": 0.18199195934814089,
    "task_success": 0.0
  },
  {
    "completion_time": 2.145113706588745,
    "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": 0.0006632861507713805,
      "book-upper shelf": 0.5932868936297309,
      "book-lower shelf": 0.37792655636868705
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7108898533184228,
    "bimanual_gripper_vertical_difference": 0.18302189441534636,
    "task_success": 0.0
  },
  {
    "completion_time": 2.175757884979248,
    "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": 0.0007288763956730948,
      "book-upper shelf": 0.5932156713027101,
      "book-lower shelf": 0.37785748166607824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7007344360013971,
    "bimanual_gripper_vertical_difference": 0.18402240229517514,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2064764499664307,
    "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": 0.0004910606811312501,
      "book-upper shelf": 0.593426946073034,
      "book-lower shelf": 0.37803422034138556
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6909829740399209,
    "bimanual_gripper_vertical_difference": 0.18499472263599404,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2367618083953857,
    "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": 0.0005492330546085222,
      "book-upper shelf": 0.5933870849779727,
      "book-lower shelf": 0.37800953827576844
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6815383749422887,
    "bimanual_gripper_vertical_difference": 0.18594003757996713,
    "task_success": 0.0
  },
  {
    "completion_time": 2.267099618911743,
    "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": 0.0004637138815126729,
      "book-upper shelf": 0.5934408081370909,
      "book-lower shelf": 0.378038169044495
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6722037589951503,
    "bimanual_gripper_vertical_difference": 0.18685945053429018,
    "task_success": 0.0
  },
  {
    "completion_time": 2.297128677368164,
    "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": 0.0006075082969714263,
      "book-upper shelf": 0.5933252172487512,
      "book-lower shelf": 0.37795037964674216
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6631204899831973,
    "bimanual_gripper_vertical_difference": 0.18775401494864974,
    "task_success": 0.0
  },
  {
    "completion_time": 2.328321695327759,
    "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": 0.0005522312459701473,
      "book-upper shelf": 0.5933658826556424,
      "book-lower shelf": 0.3779782077949019
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6543905162713183,
    "bimanual_gripper_vertical_difference": 0.18862472575859268,
    "task_success": 0.0
  },
  {
    "completion_time": 2.359326124191284,
    "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": 0.0005748390896332944,
      "book-upper shelf": 0.5933431466328547,
      "book-lower shelf": 0.3779572432920156
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6457905922003406,
    "bimanual_gripper_vertical_difference": 0.18947252157266425,
    "task_success": 0.0
  },
  {
    "completion_time": 2.389897584915161,
    "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": 0.0005798013562694493,
      "book-upper shelf": 0.5933332520946827,
      "book-lower shelf": 0.3779449428292091
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6374150571408348,
    "bimanual_gripper_vertical_difference": 0.1902982979897767,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4206557273864746,
    "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": 0.0006118185776233798,
      "book-upper shelf": 0.5933157945384123,
      "book-lower shelf": 0.37793839537454843
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6292805308644179,
    "bimanual_gripper_vertical_difference": 0.19110290175419384,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4509525299072266,
    "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": 0.0006552142893302415,
      "book-upper shelf": 0.5932664847879753,
      "book-lower shelf": 0.37788925737628776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6214103568439837,
    "bimanual_gripper_vertical_difference": 0.19188713548115816,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4838836193084717,
    "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": 0.0006614035049941069,
      "book-upper shelf": 0.5932549585160146,
      "book-lower shelf": 0.3778751944105437
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6136452994441909,
    "bimanual_gripper_vertical_difference": 0.19265176416528423,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5164668560028076,
    "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": 0.0005715447479270885,
      "book-upper shelf": 0.5933350531725674,
      "book-lower shelf": 0.3779423912786795
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6061982165575273,
    "bimanual_gripper_vertical_difference": 0.19339751426766066,
    "task_success": 0.0
  },
  {
    "completion_time": 2.546612501144409,
    "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": 0.0006406436419119643,
      "book-upper shelf": 0.5932697006090031,
      "book-lower shelf": 0.37788481209637537
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5988377504509566,
    "bimanual_gripper_vertical_difference": 0.19412507565128367,
    "task_success": 0.0
  },
  {
    "completion_time": 2.576753616333008,
    "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": 0.0006419570249514006,
      "book-upper shelf": 0.5932658865012076,
      "book-lower shelf": 0.3778796798108584
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5916229564217937,
    "bimanual_gripper_vertical_difference": 0.1948351063214453,
    "task_success": 0.0
  },
  {
    "completion_time": 2.606984853744507,
    "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": 0.0006547229297899637,
      "book-upper shelf": 0.5932557104537746,
      "book-lower shelf": 0.37787202183243074
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5846238825109514,
    "bimanual_gripper_vertical_difference": 0.19552823229509722,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6371893882751465,
    "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": 0.0005637164860584631,
      "book-upper shelf": 0.5933374168777963,
      "book-lower shelf": 0.37794100206489983
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5777470931650239,
    "bimanual_gripper_vertical_difference": 0.19620504945885756,
    "task_success": 0.0
  },
  {
    "completion_time": 2.667482852935791,
    "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": 0.0005289050634217363,
      "book-upper shelf": 0.5933601449627466,
      "book-lower shelf": 0.3779540045029009
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5711099670956408,
    "bimanual_gripper_vertical_difference": 0.1968661277311395,
    "task_success": 0.0
  },
  {
    "completion_time": 2.697596788406372,
    "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": 0.0006472220846639454,
      "book-upper shelf": 0.5932521804857405,
      "book-lower shelf": 0.37786159206464487
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5645845553899697,
    "bimanual_gripper_vertical_difference": 0.19751200942810546,
    "task_success": 0.0
  },
  {
    "completion_time": 2.727691888809204,
    "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": 0.0005073106323284504,
      "book-upper shelf": 0.5933713853734629,
      "book-lower shelf": 0.37795758319158346
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5582530876142999,
    "bimanual_gripper_vertical_difference": 0.1981432119776449,
    "task_success": 0.0
  },
  {
    "completion_time": 2.758164405822754,
    "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": 0.00042369193609403943,
      "book-upper shelf": 0.5934476367577622,
      "book-lower shelf": 0.378022821081622
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5520027477059044,
    "bimanual_gripper_vertical_difference": 0.1987602308575876,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7886557579040527,
    "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": 0.0006639374392363173,
      "book-upper shelf": 0.5932310428940217,
      "book-lower shelf": 0.3778392976332812
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5458881723455102,
    "bimanual_gripper_vertical_difference": 0.1993635376173284,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8200252056121826,
    "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": 0.0007016057812425647,
      "book-upper shelf": 0.5931963450072343,
      "book-lower shelf": 0.3778093673902253
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5399073247507324,
    "bimanual_gripper_vertical_difference": 0.19995358398849314,
    "task_success": 0.0
  },
  {
    "completion_time": 2.850802183151245,
    "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": 0.0005144224100528394,
      "book-upper shelf": 0.5933663158599717,
      "book-lower shelf": 0.3779542574229955
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5340525192847005,
    "bimanual_gripper_vertical_difference": 0.20053080235722612,
    "task_success": 0.0
  },
  {
    "completion_time": 2.881788730621338,
    "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": 0.0006512214603336952,
      "book-upper shelf": 0.5932488722516568,
      "book-lower shelf": 0.37785900416286117
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5283143264684068,
    "bimanual_gripper_vertical_difference": 0.20109560626631204,
    "task_success": 0.0
  },
  {
    "completion_time": 2.912548065185547,
    "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": 0.0007306114318477164,
      "book-upper shelf": 0.5931667598698975,
      "book-lower shelf": 0.3777818195797946
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5226970341631532,
    "bimanual_gripper_vertical_difference": 0.20164839201689178,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9431233406066895,
    "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": 0.0004966029686540585,
      "book-upper shelf": 0.5933627971571908,
      "book-lower shelf": 0.3779371241003473
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5172384356805467,
    "bimanual_gripper_vertical_difference": 0.2021895415949629,
    "task_success": 0.0
  },
  {
    "completion_time": 2.973533868789673,
    "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": 0.0005153509753503815,
      "book-upper shelf": 0.5933469355058937,
      "book-lower shelf": 0.37792443563911976
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.511988148947747,
    "bimanual_gripper_vertical_difference": 0.2027203664538391,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0038039684295654,
    "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": 0.0005428683951309576,
      "book-upper shelf": 0.5933284663317588,
      "book-lower shelf": 0.37791336717804586
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5114584699169358,
    "bimanual_gripper_vertical_difference": 0.20325513608654186,
    "task_success": 0.0
  },
  {
    "completion_time": 3.035087823867798,
    "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": 0.0006576094749384254,
      "book-upper shelf": 0.5932190759687631,
      "book-lower shelf": 0.3778163845972067
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5164604780794686,
    "bimanual_gripper_vertical_difference": 0.20380727812949173,
    "task_success": 0.0
  },
  {
    "completion_time": 3.065969705581665,
    "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": 0.0004883892102172105,
      "book-upper shelf": 0.5933669080828065,
      "book-lower shelf": 0.37793822704967633
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5252660629666667,
    "bimanual_gripper_vertical_difference": 0.20439018327609365,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0970118045806885,
    "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": 0.0005458432178038208,
      "book-upper shelf": 0.5933274738793123,
      "book-lower shelf": 0.3779137472276966
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.537699296014162,
    "bimanual_gripper_vertical_difference": 0.20499680472158816,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1296236515045166,
    "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": 0.0006099292096828357,
      "book-upper shelf": 0.5932655443569301,
      "book-lower shelf": 0.3778582728370856
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5504669576923762,
    "bimanual_gripper_vertical_difference": 0.2055968614243775,
    "task_success": 0.0
  },
  {
    "completion_time": 3.159970760345459,
    "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": 0.0006516138807697303,
      "book-upper shelf": 0.5932176486730789,
      "book-lower shelf": 0.37781023615533005
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5658401521254709,
    "bimanual_gripper_vertical_difference": 0.20617516187666923,
    "task_success": 0.0
  },
  {
    "completion_time": 3.18985652923584,
    "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": 0.0007457987922308007,
      "book-upper shelf": 0.5931159425033881,
      "book-lower shelf": 0.37771192522576436
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5833320734642289,
    "bimanual_gripper_vertical_difference": 0.20672003079025583,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2193944454193115,
    "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": 0.0007731170632734319,
      "book-upper shelf": 0.5930900983203923,
      "book-lower shelf": 0.3776891510413124
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6015392545479766,
    "bimanual_gripper_vertical_difference": 0.207220327566865,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2490363121032715,
    "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": 0.000776071196481154,
      "book-upper shelf": 0.5930868147659494,
      "book-lower shelf": 0.37768592070757556
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6177385854798615,
    "bimanual_gripper_vertical_difference": 0.20767557401460493,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2787840366363525,
    "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": 0.0007789398787801938,
      "book-upper shelf": 0.5930835762319013,
      "book-lower shelf": 0.37768270536275
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6259153993792372,
    "bimanual_gripper_vertical_difference": 0.20810335168757035,
    "task_success": 0.0
  },
  {
    "completion_time": 3.308526039123535,
    "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": 0.0007818231896672412,
      "book-upper shelf": 0.5930803578012342,
      "book-lower shelf": 0.3776795311241892
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6295641743958391,
    "bimanual_gripper_vertical_difference": 0.20852093126510532,
    "task_success": 0.0
  },
  {
    "completion_time": 3.338392734527588,
    "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": 0.0007846901099192172,
      "book-upper shelf": 0.5930771207030553,
      "book-lower shelf": 0.37767631688636316
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.62489494871286,
    "bimanual_gripper_vertical_difference": 0.20894010322000542,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3686742782592773,
    "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": 0.0007875862616765206,
      "book-upper shelf": 0.5930738564648815,
      "book-lower shelf": 0.3776730790875603
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.619424782487945,
    "bimanual_gripper_vertical_difference": 0.20935502391509958,
    "task_success": 0.0
  },
  {
    "completion_time": 3.40035343170166,
    "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": 0.0007903479578565964,
      "book-upper shelf": 0.593070750039995,
      "book-lower shelf": 0.3776700014505186
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6139682996380443,
    "bimanual_gripper_vertical_difference": 0.20976452943379428,
    "task_success": 0.0
  },
  {
    "completion_time": 3.430988311767578,
    "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": 0.0007931766949187402,
      "book-upper shelf": 0.5930675478305628,
      "book-lower shelf": 0.3776668171072915
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6087585929993645,
    "bimanual_gripper_vertical_difference": 0.21017454132117522,
    "task_success": 0.0
  },
  {
    "completion_time": 3.464472770690918,
    "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": 0.0007960492966918586,
      "book-upper shelf": 0.593064305005063,
      "book-lower shelf": 0.37766359758133133
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.604758560508136,
    "bimanual_gripper_vertical_difference": 0.21059776161009408,
    "task_success": 0.0
  },
  {
    "completion_time": 3.495009183883667,
    "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": 0.0007990767061211157,
      "book-upper shelf": 0.5930608853391056,
      "book-lower shelf": 0.3776602012840499
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6034347632497008,
    "bimanual_gripper_vertical_difference": 0.21103470231197438,
    "task_success": 0.0
  },
  {
    "completion_time": 3.525113821029663,
    "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": 0.0008019759959814188,
      "book-upper shelf": 0.5930576176328639,
      "book-lower shelf": 0.3776569600872755
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6046371479452783,
    "bimanual_gripper_vertical_difference": 0.21148404111328695,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5553293228149414,
    "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": 0.000804990887779744,
      "book-upper shelf": 0.593054243012491,
      "book-lower shelf": 0.3776536263675686
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6067629873745437,
    "bimanual_gripper_vertical_difference": 0.21194709076856977,
    "task_success": 0.0
  },
  {
    "completion_time": 3.585235595703125,
    "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": 0.0008076971230499552,
      "book-upper shelf": 0.5930512541582605,
      "book-lower shelf": 0.3776506972027165
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6100125769966965,
    "bimanual_gripper_vertical_difference": 0.21242775061641067,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6149396896362305,
    "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": 0.0008103960191322424,
      "book-upper shelf": 0.5930481378268347,
      "book-lower shelf": 0.37764756306675823
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6133560475506837,
    "bimanual_gripper_vertical_difference": 0.21292703439374341,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6443867683410645,
    "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": 0.0008134251116470592,
      "book-upper shelf": 0.5930447160200539,
      "book-lower shelf": 0.377644164507141
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6158245825631667,
    "bimanual_gripper_vertical_difference": 0.21343951732809113,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6740362644195557,
    "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": 0.0008164564406000219,
      "book-upper shelf": 0.5930412920221214,
      "book-lower shelf": 0.37764076396516916
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6165189857966659,
    "bimanual_gripper_vertical_difference": 0.21395583876907645,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7040655612945557,
    "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": 0.0008194878074377909,
      "book-upper shelf": 0.5930378678634534,
      "book-lower shelf": 0.3776373631959054
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6172395328623269,
    "bimanual_gripper_vertical_difference": 0.21446796124578535,
    "task_success": 0.0
  },
  {
    "completion_time": 3.736250638961792,
    "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": 0.0008225191975365087,
      "book-upper shelf": 0.5930344435575412,
      "book-lower shelf": 0.37763396221099943
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6204008606041286,
    "bimanual_gripper_vertical_difference": 0.21496660087321934,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7664153575897217,
    "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": 0.0008255506107510691,
      "book-upper shelf": 0.5930310191045042,
      "book-lower shelf": 0.37763056101054215
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6234223161921902,
    "bimanual_gripper_vertical_difference": 0.21544610099422207,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7964110374450684,
    "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": 0.000828582047031956,
      "book-upper shelf": 0.5930275945043731,
      "book-lower shelf": 0.3776271595945482
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6272396677920521,
    "bimanual_gripper_vertical_difference": 0.21588896206513603,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8262367248535156,
    "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": 0.0008313696754187472,
      "book-upper shelf": 0.5930244963212951,
      "book-lower shelf": 0.3776241118156053
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.626912560047561,
    "bimanual_gripper_vertical_difference": 0.2162922018622774,
    "task_success": 0.0
  },
  {
    "completion_time": 3.856279134750366,
    "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": 0.0008342419476327079,
      "book-upper shelf": 0.5930212185143964,
      "book-lower shelf": 0.37762083714507444
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6238047983367768,
    "bimanual_gripper_vertical_difference": 0.21668117890427532,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8866119384765625,
    "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": 0.0008371114240423028,
      "book-upper shelf": 0.5930180107274936,
      "book-lower shelf": 0.37761767061234813
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6193595025945375,
    "bimanual_gripper_vertical_difference": 0.21707375021120162,
    "task_success": 0.0
  },
  {
    "completion_time": 3.916544198989868,
    "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": 0.0008400352695753233,
      "book-upper shelf": 0.5930146850456947,
      "book-lower shelf": 0.3776143543869538
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6150556323019567,
    "bimanual_gripper_vertical_difference": 0.21747515086157104,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9469339847564697,
    "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": 0.0008002168343659299,
      "book-upper shelf": 0.5930533999984873,
      "book-lower shelf": 0.37764918988477125
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6109248048780648,
    "bimanual_gripper_vertical_difference": 0.21790285693625572,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9766972064971924,
    "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": 0.0008032474608854479,
      "book-upper shelf": 0.5930499757306187,
      "book-lower shelf": 0.37764578842742536
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6082633927719954,
    "bimanual_gripper_vertical_difference": 0.21836630916372982,
    "task_success": 0.0
  },
  {
    "completion_time": 4.006932020187378,
    "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": 0.0008062768091946504,
      "book-upper shelf": 0.5930465525182974,
      "book-lower shelf": 0.3776423877947142
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6103758630391584,
    "bimanual_gripper_vertical_difference": 0.2188321279574087,
    "task_success": 0.0
  },
  {
    "completion_time": 4.037236452102661,
    "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": 0.0008093061774030463,
      "book-upper shelf": 0.593043129165079,
      "book-lower shelf": 0.3776389869541212
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6148330448207525,
    "bimanual_gripper_vertical_difference": 0.21929243300961726,
    "task_success": 0.0
  },
  {
    "completion_time": 4.067967176437378,
    "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": 0.0008123540774748195,
      "book-upper shelf": 0.5930397219752092,
      "book-lower shelf": 0.3776356235799883
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6166277611727917,
    "bimanual_gripper_vertical_difference": 0.2197478554180091,
    "task_success": 0.0
  },
  {
    "completion_time": 4.099055528640747,
    "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": 0.0008151003030261172,
      "book-upper shelf": 0.5930365941148374,
      "book-lower shelf": 0.37763250216885375
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.614319331332235,
    "bimanual_gripper_vertical_difference": 0.22020221436902895,
    "task_success": 0.0
  },
  {
    "completion_time": 4.129594802856445,
    "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": 0.0008180251565428343,
      "book-upper shelf": 0.5930333007399767,
      "book-lower shelf": 0.37762923730247044
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6156718938913027,
    "bimanual_gripper_vertical_difference": 0.22065932250364373,
    "task_success": 0.0
  },
  {
    "completion_time": 4.1600236892700195,
    "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": 0.0007574067004593177,
      "book-upper shelf": 0.5930996876073545,
      "book-lower shelf": 0.3776939673338806
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6207880421956199,
    "bimanual_gripper_vertical_difference": 0.22112116920651995,
    "task_success": 0.0
  },
  {
    "completion_time": 4.189953327178955,
    "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": 0.0007714828540212881,
      "book-upper shelf": 0.5930860639648883,
      "book-lower shelf": 0.37768175040850727
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6287313024305299,
    "bimanual_gripper_vertical_difference": 0.22159402540719564,
    "task_success": 0.0
  },
  {
    "completion_time": 4.219826698303223,
    "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": 0.0007745849020938111,
      "book-upper shelf": 0.593082574795672,
      "book-lower shelf": 0.37767829359403743
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.63687498573947,
    "bimanual_gripper_vertical_difference": 0.22205729166165356,
    "task_success": 0.0
  },
  {
    "completion_time": 4.2503602504730225,
    "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": 0.0007776142225186522,
      "book-upper shelf": 0.5930791526666441,
      "book-lower shelf": 0.3776748946414951
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6425803646931518,
    "bimanual_gripper_vertical_difference": 0.22250036052790165,
    "task_success": 0.0
  },
  {
    "completion_time": 4.280555486679077,
    "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": 0.0007804053330383587,
      "book-upper shelf": 0.5930760179674094,
      "book-lower shelf": 0.37767179175195364
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6436740139192768,
    "bimanual_gripper_vertical_difference": 0.22293094749809206,
    "task_success": 0.0
  },
  {
    "completion_time": 4.310546398162842,
    "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": 0.0007831839284772046,
      "book-upper shelf": 0.5930728947209633,
      "book-lower shelf": 0.37766869868851405
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6420643098880912,
    "bimanual_gripper_vertical_difference": 0.22335230061837835,
    "task_success": 0.0
  },
  {
    "completion_time": 4.3427252769470215,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000786162348239472,
      "book-upper shelf": 0.593069519255382,
      "book-lower shelf": 0.37766533983010836
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6405135584717415,
    "bimanual_gripper_vertical_difference": 0.22376882517379995,
    "task_success": 0.0
  },
  {
    "completion_time": 4.37360143661499,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007891909429228461,
      "book-upper shelf": 0.5930660973215941,
      "book-lower shelf": 0.3776619407127176
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6396148039640582,
    "bimanual_gripper_vertical_difference": 0.22417839928111485,
    "task_success": 0.0
  },
  {
    "completion_time": 4.4052894115448,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007920869083490878,
      "book-upper shelf": 0.5930628315460129,
      "book-lower shelf": 0.3776587003501641
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6393321839051321,
    "bimanual_gripper_vertical_difference": 0.2245786458087449,
    "task_success": 0.0
  },
  {
    "completion_time": 4.436379671096802,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007951141835872422,
      "book-upper shelf": 0.593059410586467,
      "book-lower shelf": 0.3776553019032777
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6394959786319903,
    "bimanual_gripper_vertical_difference": 0.2249703777349709,
    "task_success": 0.0
  },
  {
    "completion_time": 4.469757556915283,
    "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": 0.0007895350667967982,
      "book-upper shelf": 0.5931806870864564,
      "book-lower shelf": 0.3778420869447863
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6396049243001173,
    "bimanual_gripper_vertical_difference": 0.22535493677064652,
    "task_success": 0.0
  },
  {
    "completion_time": 4.500342607498169,
    "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": 0.0007560353150722898,
      "book-upper shelf": 0.5939084522609335,
      "book-lower shelf": 0.37896182901277803
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6387402414315484,
    "bimanual_gripper_vertical_difference": 0.22573593009851212,
    "task_success": 0.0
  },
  {
    "completion_time": 4.531574726104736,
    "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": 0.000621566742944446,
      "book-upper shelf": 0.5943496611338497,
      "book-lower shelf": 0.3795656976380559
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6376762857369835,
    "bimanual_gripper_vertical_difference": 0.22611632550986352,
    "task_success": 0.0
  },
  {
    "completion_time": 4.562482595443726,
    "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": 0.0006868624369512633,
      "book-upper shelf": 0.5943826926372513,
      "book-lower shelf": 0.3796597678246804
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6365514085272023,
    "bimanual_gripper_vertical_difference": 0.2264986429794413,
    "task_success": 0.0
  },
  {
    "completion_time": 4.593890428543091,
    "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": 0.0007093497290916462,
      "book-upper shelf": 0.5944369419363198,
      "book-lower shelf": 0.37975927349252914
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6344513183063579,
    "bimanual_gripper_vertical_difference": 0.22688274464025435,
    "task_success": 0.0
  },
  {
    "completion_time": 4.625709772109985,
    "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": 0.0007382705435975412,
      "book-upper shelf": 0.5944798308026336,
      "book-lower shelf": 0.3798451515435836
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6314994233056911,
    "bimanual_gripper_vertical_difference": 0.22726748432301325,
    "task_success": 0.0
  },
  {
    "completion_time": 4.657510995864868,
    "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": 0.0006347668542945328,
      "book-upper shelf": 0.5946562770733236,
      "book-lower shelf": 0.3800541900717142
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6287149220895905,
    "bimanual_gripper_vertical_difference": 0.22765178770368202,
    "task_success": 0.0
  },
  {
    "completion_time": 4.689521074295044,
    "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": 0.0007034325361350291,
      "book-upper shelf": 0.5945915327749176,
      "book-lower shelf": 0.37999737471584066
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6264321625592902,
    "bimanual_gripper_vertical_difference": 0.2280350290392018,
    "task_success": 0.0
  },
  {
    "completion_time": 4.722851991653442,
    "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": 0.0006412685901442394,
      "book-upper shelf": 0.5946415912190122,
      "book-lower shelf": 0.3800354237642221
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6240959276077374,
    "bimanual_gripper_vertical_difference": 0.22841807752920165,
    "task_success": 0.0
  },
  {
    "completion_time": 4.754269123077393,
    "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": 0.0007372673584694622,
      "book-upper shelf": 0.5945661481942695,
      "book-lower shelf": 0.379979579030367
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.620648923431604,
    "bimanual_gripper_vertical_difference": 0.22880183070300358,
    "task_success": 0.0
  },
  {
    "completion_time": 4.785935401916504,
    "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": 0.0007609625095511552,
      "book-upper shelf": 0.5946767490624866,
      "book-lower shelf": 0.3801679634769028
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.617158137658469,
    "bimanual_gripper_vertical_difference": 0.22918569030006156,
    "task_success": 0.0
  },
  {
    "completion_time": 4.816410779953003,
    "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": 0.0007560700956044109,
      "book-upper shelf": 0.5953152922821561,
      "book-lower shelf": 0.38116286877710753
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6142406120905903,
    "bimanual_gripper_vertical_difference": 0.22956817388664683,
    "task_success": 0.0
  },
  {
    "completion_time": 4.847884178161621,
    "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": 0.0010117909325303431,
      "book-upper shelf": 0.5971136617219646,
      "book-lower shelf": 0.3841295224924398
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6138923621735103,
    "bimanual_gripper_vertical_difference": 0.229945548089541,
    "task_success": 0.0
  },
  {
    "completion_time": 4.879912376403809,
    "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": 0.0004576994209465335,
      "book-upper shelf": 0.6006054079660815,
      "book-lower shelf": 0.38918473601763337
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6143368568086756,
    "bimanual_gripper_vertical_difference": 0.2303206363585951,
    "task_success": 0.0
  },
  {
    "completion_time": 4.909998178482056,
    "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": 0.001312380092666543,
      "book-upper shelf": 0.6025212830833383,
      "book-lower shelf": 0.3926712196421003
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6138561539319013,
    "bimanual_gripper_vertical_difference": 0.23068876751308268,
    "task_success": 0.0
  },
  {
    "completion_time": 4.940372943878174,
    "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": 0.0008520576883088715,
      "book-upper shelf": 0.6052974781848844,
      "book-lower shelf": 0.39663224969271427
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6117378575624015,
    "bimanual_gripper_vertical_difference": 0.2310551402426731,
    "task_success": 0.0
  },
  {
    "completion_time": 4.972979784011841,
    "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": 0.0006765918098644574,
      "book-upper shelf": 0.6059661394404603,
      "book-lower shelf": 0.3975432786201514
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6084570925173026,
    "bimanual_gripper_vertical_difference": 0.23141523204419404,
    "task_success": 0.0
  },
  {
    "completion_time": 5.004880428314209,
    "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": 0.0007394170448236093,
      "book-upper shelf": 0.606110312286677,
      "book-lower shelf": 0.3978018918693333
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6053181639245159,
    "bimanual_gripper_vertical_difference": 0.23176672642193716,
    "task_success": 0.0
  },
  {
    "completion_time": 5.035402536392212,
    "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": 0.0007458170344264436,
      "book-upper shelf": 0.6069307547087023,
      "book-lower shelf": 0.39905479222873047
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6028194401646081,
    "bimanual_gripper_vertical_difference": 0.2321100708810147,
    "task_success": 0.0
  },
  {
    "completion_time": 5.06552529335022,
    "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": 0.0008830793820773231,
      "book-upper shelf": 0.6082087459471615,
      "book-lower shelf": 0.4010801162847674
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.6013115794191249,
    "bimanual_gripper_vertical_difference": 0.23244681430038938,
    "task_success": 0.0
  },
  {
    "completion_time": 5.095210075378418,
    "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": 0.0007340136314026857,
      "book-upper shelf": 0.6099923832319138,
      "book-lower shelf": 0.4036888420610418
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5995343091993489,
    "bimanual_gripper_vertical_difference": 0.2327798948753169,
    "task_success": 0.0
  },
  {
    "completion_time": 5.125941514968872,
    "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": 0.0007403111101724758,
      "book-upper shelf": 0.6110202121192193,
      "book-lower shelf": 0.40524409238786374
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5978242516559258,
    "bimanual_gripper_vertical_difference": 0.23310847200255863,
    "task_success": 0.0
  },
  {
    "completion_time": 5.156356573104858,
    "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": 0.0006926287435338185,
      "book-upper shelf": 0.6115500599205782,
      "book-lower shelf": 0.40601363204271096
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.595567189807319,
    "bimanual_gripper_vertical_difference": 0.23343240153080735,
    "task_success": 0.0
  },
  {
    "completion_time": 5.187126636505127,
    "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": 0.0007009845765891809,
      "book-upper shelf": 0.6119503794180786,
      "book-lower shelf": 0.40662141522005457
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5933423652850689,
    "bimanual_gripper_vertical_difference": 0.23375164012802627,
    "task_success": 0.0
  },
  {
    "completion_time": 5.217322111129761,
    "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": 0.0007425897242968604,
      "book-upper shelf": 0.6126624321058702,
      "book-lower shelf": 0.40771736854646096
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5911971123403725,
    "bimanual_gripper_vertical_difference": 0.23406613717403468,
    "task_success": 0.0
  },
  {
    "completion_time": 5.247457981109619,
    "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": 0.0006805409947179264,
      "book-upper shelf": 0.6134523350536949,
      "book-lower shelf": 0.4088660029723568
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5886626084334605,
    "bimanual_gripper_vertical_difference": 0.23437793895382333,
    "task_success": 0.0
  },
  {
    "completion_time": 5.278625249862671,
    "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": 0.0006793755568579307,
      "book-upper shelf": 0.6136584400236772,
      "book-lower shelf": 0.4091744714619677
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5858127171989317,
    "bimanual_gripper_vertical_difference": 0.23468683286959782,
    "task_success": 0.0
  },
  {
    "completion_time": 5.309222936630249,
    "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": 0.0005844483652155397,
      "book-upper shelf": 0.6137900243395671,
      "book-lower shelf": 0.4093146884332864
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.583112556886217,
    "bimanual_gripper_vertical_difference": 0.23499275842598893,
    "task_success": 0.0
  },
  {
    "completion_time": 5.341336011886597,
    "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": 0.0006864425634408589,
      "book-upper shelf": 0.6138064103841125,
      "book-lower shelf": 0.40940060657002075
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5809596702140424,
    "bimanual_gripper_vertical_difference": 0.2352948166159858,
    "task_success": 0.0
  },
  {
    "completion_time": 5.372150421142578,
    "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": 0.0006791969151531685,
      "book-upper shelf": 0.6140388670389767,
      "book-lower shelf": 0.40974468800252967
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.578984330405655,
    "bimanual_gripper_vertical_difference": 0.23559571615633032,
    "task_success": 0.0
  },
  {
    "completion_time": 5.403467416763306,
    "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": 0.0007336911510271715,
      "book-upper shelf": 0.6142055253147323,
      "book-lower shelf": 0.4100271236458881
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5764825181968329,
    "bimanual_gripper_vertical_difference": 0.23589558709839872,
    "task_success": 0.0
  },
  {
    "completion_time": 5.434064865112305,
    "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": 0.0006761146032460141,
      "book-upper shelf": 0.6144852878344045,
      "book-lower shelf": 0.41041153759636934
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5738349407332772,
    "bimanual_gripper_vertical_difference": 0.23619357604929456,
    "task_success": 0.0
  },
  {
    "completion_time": 5.467647552490234,
    "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": 0.0006673347708961996,
      "book-upper shelf": 0.6147544913698673,
      "book-lower shelf": 0.4108092285456582
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5710541672569028,
    "bimanual_gripper_vertical_difference": 0.23648874336406636,
    "task_success": 0.0
  },
  {
    "completion_time": 5.498276710510254,
    "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": 0.0006796884036426309,
      "book-upper shelf": 0.6148838032692152,
      "book-lower shelf": 0.41101011261050663
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5682238696822425,
    "bimanual_gripper_vertical_difference": 0.23678063456214976,
    "task_success": 0.0
  },
  {
    "completion_time": 5.528695583343506,
    "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": 0.000716043977784464,
      "book-upper shelf": 0.6148478074619478,
      "book-lower shelf": 0.41097804173519464
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5662213789250787,
    "bimanual_gripper_vertical_difference": 0.23706952072442272,
    "task_success": 0.0
  },
  {
    "completion_time": 5.5600621700286865,
    "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": 0.0005329149150924417,
      "book-upper shelf": 0.6150121198739871,
      "book-lower shelf": 0.4111141570572744
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.566688261104293,
    "bimanual_gripper_vertical_difference": 0.23735533335028186,
    "task_success": 0.0
  },
  {
    "completion_time": 5.594327688217163,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005162499260374931,
      "book-upper shelf": 0.6150301794982588,
      "book-lower shelf": 0.41113119263908604
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5637921597753985,
    "bimanual_gripper_vertical_difference": 0.23762818999332438,
    "task_success": 0.0
  },
  {
    "completion_time": 5.62671971321106,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00047135168166556607,
      "book-upper shelf": 0.6150698269519951,
      "book-lower shelf": 0.4111636143356369
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.561212798582039,
    "bimanual_gripper_vertical_difference": 0.2378902358902244,
    "task_success": 0.0
  },
  {
    "completion_time": 5.658510208129883,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004834321460356339,
      "book-upper shelf": 0.6150600114067861,
      "book-lower shelf": 0.4111561654446742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5581799895999419,
    "bimanual_gripper_vertical_difference": 0.2381383469983407,
    "task_success": 0.0
  },
  {
    "completion_time": 5.690147638320923,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005055743695709936,
      "book-upper shelf": 0.615042613462273,
      "book-lower shelf": 0.4111433996355895
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5557282893093421,
    "bimanual_gripper_vertical_difference": 0.23836326278341693,
    "task_success": 0.0
  },
  {
    "completion_time": 5.721336126327515,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005189735167284715,
      "book-upper shelf": 0.6150301591497905,
      "book-lower shelf": 0.4111327933444693
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5542741928420989,
    "bimanual_gripper_vertical_difference": 0.23854411678370674,
    "task_success": 0.0
  },
  {
    "completion_time": 5.751694440841675,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005338072474007083,
      "book-upper shelf": 0.6150189093752966,
      "book-lower shelf": 0.41112484826295936
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5529609393761188,
    "bimanual_gripper_vertical_difference": 0.23866619974417694,
    "task_success": 0.0
  },
  {
    "completion_time": 5.783202648162842,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005320587687929201,
      "book-upper shelf": 0.615020869842051,
      "book-lower shelf": 0.41112673383404125
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5516224452686235,
    "bimanual_gripper_vertical_difference": 0.2387278249307191,
    "task_success": 0.0
  },
  {
    "completion_time": 5.815081834793091,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005164497025162973,
      "book-upper shelf": 0.6150358662558355,
      "book-lower shelf": 0.4111398193171874
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5512352030997418,
    "bimanual_gripper_vertical_difference": 0.23872540459763708,
    "task_success": 0.0
  },
  {
    "completion_time": 5.846187591552734,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00047011820613818145,
      "book-upper shelf": 0.6150786920902096,
      "book-lower shelf": 0.41117613715434415
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5539863564018667,
    "bimanual_gripper_vertical_difference": 0.2386521021900327,
    "task_success": 0.0
  },
  {
    "completion_time": 5.8772406578063965,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00048361449158873526,
      "book-upper shelf": 0.6150657179566356,
      "book-lower shelf": 0.4111648111804213
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5583639926365879,
    "bimanual_gripper_vertical_difference": 0.23851182252411143,
    "task_success": 0.0
  },
  {
    "completion_time": 5.90786075592041,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005057858182020425,
      "book-upper shelf": 0.6150483048144711,
      "book-lower shelf": 0.4111520400927616
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5632554935338119,
    "bimanual_gripper_vertical_difference": 0.23832541075092842,
    "task_success": 0.0
  },
  {
    "completion_time": 5.9378509521484375,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005191271679180209,
      "book-upper shelf": 0.615035903445699,
      "book-lower shelf": 0.41114147843802484
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5668225907440242,
    "bimanual_gripper_vertical_difference": 0.23811125016367227,
    "task_success": 0.0
  },
  {
    "completion_time": 5.96786904335022,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005340115633495346,
      "book-upper shelf": 0.6150246197976912,
      "book-lower shelf": 0.4111335130377301
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5684579905345025,
    "bimanual_gripper_vertical_difference": 0.2378889266489631,
    "task_success": 0.0
  },
  {
    "completion_time": 5.997802019119263,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005323319660964776,
      "book-upper shelf": 0.6150265081415803,
      "book-lower shelf": 0.41113533195848156
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5665271583304391,
    "bimanual_gripper_vertical_difference": 0.237677063515179,
    "task_success": 0.0
  },
  {
    "completion_time": 6.027985334396362,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005166410527539522,
      "book-upper shelf": 0.6150416030442529,
      "book-lower shelf": 0.4111485156883972
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5636984268397804,
    "bimanual_gripper_vertical_difference": 0.23747087273627446,
    "task_success": 0.0
  },
  {
    "completion_time": 6.057974338531494,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004705386564773928,
      "book-upper shelf": 0.6150844414408816,
      "book-lower shelf": 0.41118498933591374
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.560876687476123,
    "bimanual_gripper_vertical_difference": 0.23726852004783233,
    "task_success": 0.0
  },
  {
    "completion_time": 6.088793754577637,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000483798788321832,
      "book-upper shelf": 0.6150714684428324,
      "book-lower shelf": 0.4111735237060724
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.558348145139284,
    "bimanual_gripper_vertical_difference": 0.23707288930293963,
    "task_success": 0.0
  },
  {
    "completion_time": 6.120701313018799,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005047557476021147,
      "book-upper shelf": 0.6150572581905772,
      "book-lower shelf": 0.4111648166026975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5572194420068834,
    "bimanual_gripper_vertical_difference": 0.2368840694487305,
    "task_success": 0.0
  },
  {
    "completion_time": 6.152033090591431,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005192989916023016,
      "book-upper shelf": 0.6150416783582737,
      "book-lower shelf": 0.4111502201109382
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.556965522011455,
    "bimanual_gripper_vertical_difference": 0.23669689905189165,
    "task_success": 0.0
  },
  {
    "completion_time": 6.1833109855651855,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005329068621500177,
      "book-upper shelf": 0.6150336600218707,
      "book-lower shelf": 0.4111463748292624
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.556707247639848,
    "bimanual_gripper_vertical_difference": 0.23651882362295834,
    "task_success": 0.0
  }
]