[
  {
    "completion_time": 0.049996137619018555,
    "slip_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": 0.0819251537322998,
    "slip_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": 0.11385083198547363,
    "slip_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": 0.0007380219397271626,
      "book-upper shelf": 0.5933633158068491,
      "book-lower shelf": 0.3780951891261817
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.20413581507170464,
    "bimanual_gripper_vertical_difference": 0.0008348813742150943,
    "task_success": 0.0
  },
  {
    "completion_time": 0.14548683166503906,
    "slip_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": 0.6010847380029068,
    "bimanual_gripper_vertical_difference": 0.0024266738217413875,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1756129264831543,
    "slip_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": 1.0005922004536436,
    "bimanual_gripper_vertical_difference": 0.006734407391734853,
    "task_success": 0.0
  },
  {
    "completion_time": 0.20572113990783691,
    "slip_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": 1.3448592206577683,
    "bimanual_gripper_vertical_difference": 0.015353511902839992,
    "task_success": 0.0
  },
  {
    "completion_time": 0.23586034774780273,
    "slip_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": 1.582686225567091,
    "bimanual_gripper_vertical_difference": 0.028725639277189106,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2658560276031494,
    "slip_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": 1.756917284320589,
    "bimanual_gripper_vertical_difference": 0.04542544267849907,
    "task_success": 0.0
  },
  {
    "completion_time": 0.29573512077331543,
    "slip_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": 0.3782271013182322
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8622706091348467,
    "bimanual_gripper_vertical_difference": 0.06329174713876677,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3258631229400635,
    "slip_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": 0.5935295360338677,
      "book-lower shelf": 0.37823178308388783
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.9454568553983844,
    "bimanual_gripper_vertical_difference": 0.08064729670580648,
    "task_success": 0.0
  },
  {
    "completion_time": 0.35733532905578613,
    "slip_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": 0.5936153230777036,
      "book-lower shelf": 0.37828757736680435
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.9733071182795079,
    "bimanual_gripper_vertical_difference": 0.0959522268391812,
    "task_success": 0.0
  },
  {
    "completion_time": 0.391664981842041,
    "slip_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": 1.8839594462774947,
    "bimanual_gripper_vertical_difference": 0.1080358079494453,
    "task_success": 0.0
  },
  {
    "completion_time": 0.42452335357666016,
    "slip_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": 0.0006576387411729723,
      "book-upper shelf": 0.5934052872478571,
      "book-lower shelf": 0.3781087115139511
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8234428822934379,
    "bimanual_gripper_vertical_difference": 0.11672564850664904,
    "task_success": 0.0
  },
  {
    "completion_time": 0.45665478706359863,
    "slip_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": 0.000655369582706844,
      "book-upper shelf": 0.5934114318189109,
      "book-lower shelf": 0.3781168771098618
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.8141845575048434,
    "bimanual_gripper_vertical_difference": 0.12259348510437164,
    "task_success": 0.0
  },
  {
    "completion_time": 0.48867321014404297,
    "slip_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": 0.37817326341957724
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.801597442833708,
    "bimanual_gripper_vertical_difference": 0.12707183665566404,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5219080448150635,
    "slip_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": 0.3781835929537101
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.757358805726309,
    "bimanual_gripper_vertical_difference": 0.131644138310943,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5566582679748535,
    "slip_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": 0.0005064368611521486,
      "book-upper shelf": 0.5935384436565784,
      "book-lower shelf": 0.37821923208855796
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.746957339348425,
    "bimanual_gripper_vertical_difference": 0.13639220591483386,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5889265537261963,
    "slip_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": 0.000563283730251718,
      "book-upper shelf": 0.5934740342075446,
      "book-lower shelf": 0.37815516252272185
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.7558477423071945,
    "bimanual_gripper_vertical_difference": 0.14115242181974536,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6208255290985107,
    "slip_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": 0.0006393359269576404,
      "book-upper shelf": 0.5934146325382279,
      "book-lower shelf": 0.3781114593326539
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.7612492129320605,
    "bimanual_gripper_vertical_difference": 0.14582638825601493,
    "task_success": 0.0
  },
  {
    "completion_time": 0.652918815612793,
    "slip_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": 0.0007188927615989771,
      "book-upper shelf": 0.593340330089291,
      "book-lower shelf": 0.37804665669965387
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.758449019819801,
    "bimanual_gripper_vertical_difference": 0.1504571780459933,
    "task_success": 0.0
  },
  {
    "completion_time": 0.686964750289917,
    "slip_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": 0.0006824478899478681,
      "book-upper shelf": 0.5933708329581681,
      "book-lower shelf": 0.37807079424333284
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.739271292257042,
    "bimanual_gripper_vertical_difference": 0.15509907837339615,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7190940380096436,
    "slip_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": 0.0005426481893560098,
      "book-upper shelf": 0.5934870041788918,
      "book-lower shelf": 0.37816208141636
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.692279783178705,
    "bimanual_gripper_vertical_difference": 0.1597139295736494,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7513489723205566,
    "slip_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": 0.0005697075028376908,
      "book-upper shelf": 0.5934640746489144,
      "book-lower shelf": 0.3781437146769772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.646285371983804,
    "bimanual_gripper_vertical_difference": 0.16422977477322806,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7827358245849609,
    "slip_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": 0.0006010423932943931,
      "book-upper shelf": 0.5934469885859501,
      "book-lower shelf": 0.378137303342732
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.60153593245491,
    "bimanual_gripper_vertical_difference": 0.16861416928117243,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8142974376678467,
    "slip_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": 0.000647375942930184,
      "book-upper shelf": 0.593395414107279,
      "book-lower shelf": 0.37808653289636585
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.550971364848824,
    "bimanual_gripper_vertical_difference": 0.1728522128738571,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8450918197631836,
    "slip_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": -0.0003931428454685415,
      "book-upper shelf": 0.5945750033911703,
      "book-lower shelf": 0.3792602537249318
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5141495198264818,
    "bimanual_gripper_vertical_difference": 0.17682996027612907,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8755488395690918,
    "slip_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": -0.0001544531509146685,
      "book-upper shelf": 0.5947908820027032,
      "book-lower shelf": 0.3797533955756722
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4835077677395536,
    "bimanual_gripper_vertical_difference": 0.1804977694421968,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9045209884643555,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00039501284059717534,
      "book-upper shelf": 0.5946503753299806,
      "book-lower shelf": 0.3798895912560348
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4461986206685673,
    "bimanual_gripper_vertical_difference": 0.18390371487876925,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9339017868041992,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007183523997096319,
      "book-upper shelf": 0.5944252105934663,
      "book-lower shelf": 0.3797467474767784
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4149925366221816,
    "bimanual_gripper_vertical_difference": 0.1870807820712088,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9641764163970947,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007384216377558372,
      "book-upper shelf": 0.594406891071584,
      "book-lower shelf": 0.37973108442652437
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3948572806449913,
    "bimanual_gripper_vertical_difference": 0.19007117164385273,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9952163696289062,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00073869404769622,
      "book-upper shelf": 0.5944067104737976,
      "book-lower shelf": 0.37973097836615083
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.377167614410024,
    "bimanual_gripper_vertical_difference": 0.19278400704791399,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0309295654296875,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007388357008558666,
      "book-upper shelf": 0.594406650384121,
      "book-lower shelf": 0.37973097615628104
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3660255509365986,
    "bimanual_gripper_vertical_difference": 0.19509503396237804,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0642180442810059,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007389764983228853,
      "book-upper shelf": 0.5944065910881143,
      "book-lower shelf": 0.3797309746339329
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3450518966048475,
    "bimanual_gripper_vertical_difference": 0.19696500350182472,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0961837768554688,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007391173087897274,
      "book-upper shelf": 0.5944065317852095,
      "book-lower shelf": 0.37973097310922554
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3192633466503676,
    "bimanual_gripper_vertical_difference": 0.19851790950523004,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1271886825561523,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007392581380668561,
      "book-upper shelf": 0.5944064724700524,
      "book-lower shelf": 0.3797309715775454
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.315738149532887,
    "bimanual_gripper_vertical_difference": 0.19994697314801257,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1582980155944824,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007393989861947947,
      "book-upper shelf": 0.5944064131426059,
      "book-lower shelf": 0.3797309700388609
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3352005049198425,
    "bimanual_gripper_vertical_difference": 0.20142928350658185,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1911470890045166,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007395398531754305,
      "book-upper shelf": 0.5944063538028691,
      "book-lower shelf": 0.37973096849317145
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3558393493045764,
    "bimanual_gripper_vertical_difference": 0.20304086219302522,
    "task_success": 0.0
  },
  {
    "completion_time": 1.224780559539795,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007396807390099847,
      "book-upper shelf": 0.594406294450841,
      "book-lower shelf": 0.37973096694047676
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.358596668176711,
    "bimanual_gripper_vertical_difference": 0.20476476211507927,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2571403980255127,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007398216437003446,
      "book-upper shelf": 0.5944062350865207,
      "book-lower shelf": 0.37973096538077605
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3506738044932958,
    "bimanual_gripper_vertical_difference": 0.20658143833337603,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2870070934295654,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006977582830415274,
      "book-upper shelf": 0.5945006353566857,
      "book-lower shelf": 0.37985145135549875
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3328600652028437,
    "bimanual_gripper_vertical_difference": 0.20848106342979839,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3199501037597656,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.001238184565799605,
      "book-upper shelf": 0.5959847469825725,
      "book-lower shelf": 0.3825180665218082
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3146577849433245,
    "bimanual_gripper_vertical_difference": 0.2102931841342422,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3513615131378174,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006861572915045633,
      "book-upper shelf": 0.6004096741058947,
      "book-lower shelf": 0.3890272272078824
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3005346978143622,
    "bimanual_gripper_vertical_difference": 0.2120425430280793,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3826253414154053,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.001268964398538741,
      "book-upper shelf": 0.6040822461730535,
      "book-lower shelf": 0.3950351506509012
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2857998067573024,
    "bimanual_gripper_vertical_difference": 0.21372688457859204,
    "task_success": 0.0
  },
  {
    "completion_time": 1.414337396621704,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0012880936116305142,
      "book-upper shelf": 0.6069405573316538,
      "book-lower shelf": 0.39940414422402054
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2701748016182093,
    "bimanual_gripper_vertical_difference": 0.21537051421263323,
    "task_success": 0.0
  },
  {
    "completion_time": 1.446845531463623,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000696117251546946,
      "book-upper shelf": 0.6094326996100053,
      "book-lower shelf": 0.40281947182994665
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2504995276333977,
    "bimanual_gripper_vertical_difference": 0.21696965671267027,
    "task_success": 0.0
  },
  {
    "completion_time": 1.481163740158081,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005867833416742796,
      "book-upper shelf": 0.610216303784679,
      "book-lower shelf": 0.4039373806077644
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2305986396774247,
    "bimanual_gripper_vertical_difference": 0.21853537994300265,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5137112140655518,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006292121588792332,
      "book-upper shelf": 0.6102524831012384,
      "book-lower shelf": 0.4040178922397345
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.214706459936894,
    "bimanual_gripper_vertical_difference": 0.22008655917049827,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5455577373504639,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005345166517133348,
      "book-upper shelf": 0.6103587827391582,
      "book-lower shelf": 0.40412074307444545
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2062603144889996,
    "bimanual_gripper_vertical_difference": 0.2216853447601637,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5773026943206787,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006324336561528421,
      "book-upper shelf": 0.6102425323116684,
      "book-lower shelf": 0.4040048252027404
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2005227862737349,
    "bimanual_gripper_vertical_difference": 0.22329090222752299,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6103501319885254,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006596310658376625,
      "book-upper shelf": 0.6102368520928128,
      "book-lower shelf": 0.4040128210359823
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1992417931302775,
    "bimanual_gripper_vertical_difference": 0.22480862822113107,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6436421871185303,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005120042401235425,
      "book-upper shelf": 0.610351818394621,
      "book-lower shelf": 0.40409650740482006
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2001153048631477,
    "bimanual_gripper_vertical_difference": 0.22615029255426522,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6752610206604004,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000650244107978093,
      "book-upper shelf": 0.6102207496426755,
      "book-lower shelf": 0.40398277759873497
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.198207399103247,
    "bimanual_gripper_vertical_difference": 0.22724939560652058,
    "task_success": 0.0
  },
  {
    "completion_time": 1.706547498703003,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006275670122140031,
      "book-upper shelf": 0.610264722134888,
      "book-lower shelf": 0.4040353759864465
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1966827486661036,
    "bimanual_gripper_vertical_difference": 0.22807991149092388,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7408084869384766,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00048641482421418747,
      "book-upper shelf": 0.610392997599989,
      "book-lower shelf": 0.4041431121402642
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2014727823915432,
    "bimanual_gripper_vertical_difference": 0.2286506447079347,
    "task_success": 0.0
  },
  {
    "completion_time": 1.772869348526001,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006267322357927929,
      "book-upper shelf": 0.610252145409134,
      "book-lower shelf": 0.404015870798339
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2173856139848032,
    "bimanual_gripper_vertical_difference": 0.22899411631652125,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8043158054351807,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005625858241872228,
      "book-upper shelf": 0.6103402780700725,
      "book-lower shelf": 0.40410989719978524
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2400847678138789,
    "bimanual_gripper_vertical_difference": 0.22911622198545398,
    "task_success": 0.0
  },
  {
    "completion_time": 1.83524751663208,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006410745286392627,
      "book-upper shelf": 0.6102379451998118,
      "book-lower shelf": 0.4040031627404342
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2646519045537956,
    "bimanual_gripper_vertical_difference": 0.22900046129272592,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8672256469726562,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005037611300389155,
      "book-upper shelf": 0.6103473397831717,
      "book-lower shelf": 0.4040847200031152
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2826279000577505,
    "bimanual_gripper_vertical_difference": 0.22865565162773194,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9006156921386719,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005035043539342032,
      "book-upper shelf": 0.6103584769425487,
      "book-lower shelf": 0.40410138540450097
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2915828219865164,
    "bimanual_gripper_vertical_difference": 0.22816051749400737,
    "task_success": 0.0
  },
  {
    "completion_time": 1.932976484298706,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000623678587871046,
      "book-upper shelf": 0.6102738369284241,
      "book-lower shelf": 0.40404677346925383
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.292729186352833,
    "bimanual_gripper_vertical_difference": 0.22764527141217022,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9671626091003418,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000576344626500136,
      "book-upper shelf": 0.6103033093575727,
      "book-lower shelf": 0.4040624443265619
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2774457258455767,
    "bimanual_gripper_vertical_difference": 0.22715275142323843,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9985008239746094,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006276137730095721,
      "book-upper shelf": 0.6102516536542318,
      "book-lower shelf": 0.4040156652670975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.265123437678193,
    "bimanual_gripper_vertical_difference": 0.22668697609037314,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0290403366088867,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00048366556896262125,
      "book-upper shelf": 0.6103673518015263,
      "book-lower shelf": 0.4041027021015583
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2625359918003565,
    "bimanual_gripper_vertical_difference": 0.22630664570061693,
    "task_success": 0.0
  },
  {
    "completion_time": 2.06278657913208,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004754152335310069,
      "book-upper shelf": 0.6103750333684154,
      "book-lower shelf": 0.4041092775257614
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2738129518189136,
    "bimanual_gripper_vertical_difference": 0.22602048381842949,
    "task_success": 0.0
  },
  {
    "completion_time": 2.093430280685425,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006435363944577999,
      "book-upper shelf": 0.6102439891120163,
      "book-lower shelf": 0.4040137922593131
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2921666136473107,
    "bimanual_gripper_vertical_difference": 0.2257987561473643,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1275508403778076,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006088649787161504,
      "book-upper shelf": 0.610261455850684,
      "book-lower shelf": 0.404019044906003
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3130102855147507,
    "bimanual_gripper_vertical_difference": 0.22562681132043827,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1596317291259766,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000639431843068361,
      "book-upper shelf": 0.6102355635458134,
      "book-lower shelf": 0.40399856412882734
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3357795596830113,
    "bimanual_gripper_vertical_difference": 0.22549124884473237,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1911416053771973,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00047879439240783306,
      "book-upper shelf": 0.610389472910319,
      "book-lower shelf": 0.404133145794082
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3600825570948307,
    "bimanual_gripper_vertical_difference": 0.22535472724374522,
    "task_success": 0.0
  },
  {
    "completion_time": 2.222290515899658,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00048282638079122364,
      "book-upper shelf": 0.6104015946608448,
      "book-lower shelf": 0.4041539102951507
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3849130660767757,
    "bimanual_gripper_vertical_difference": 0.22518658226946153,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2542550563812256,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006288257593264346,
      "book-upper shelf": 0.6102348530914249,
      "book-lower shelf": 0.40399102683557714
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4106246587361329,
    "bimanual_gripper_vertical_difference": 0.22502736954067498,
    "task_success": 0.0
  },
  {
    "completion_time": 2.288041830062866,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006282348654966796,
      "book-upper shelf": 0.6102416458494452,
      "book-lower shelf": 0.4040009272013184
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4370182298682974,
    "bimanual_gripper_vertical_difference": 0.22496974844999176,
    "task_success": 0.0
  },
  {
    "completion_time": 2.320167064666748,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006243925362660052,
      "book-upper shelf": 0.610251437131565,
      "book-lower shelf": 0.4040133750466693
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4618153529789568,
    "bimanual_gripper_vertical_difference": 0.22507523912585337,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3512332439422607,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005777544922678235,
      "book-upper shelf": 0.6102894235981425,
      "book-lower shelf": 0.40404232989440547
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4876770841660119,
    "bimanual_gripper_vertical_difference": 0.22546304955798113,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3826534748077393,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006792472798244908,
      "book-upper shelf": 0.6101780533496122,
      "book-lower shelf": 0.4039359611415959
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5022802622719005,
    "bimanual_gripper_vertical_difference": 0.22602981626235016,
    "task_success": 0.0
  },
  {
    "completion_time": 2.414151906967163,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005283999944765139,
      "book-upper shelf": 0.6103411811343922,
      "book-lower shelf": 0.404090431162247
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.513090426365328,
    "bimanual_gripper_vertical_difference": 0.22653051700412788,
    "task_success": 0.0
  },
  {
    "completion_time": 2.444581985473633,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000444539254013665,
      "book-upper shelf": 0.6104101445432893,
      "book-lower shelf": 0.4041434974216214
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.523016041191384,
    "bimanual_gripper_vertical_difference": 0.2269926201317008,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4743118286132812,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005389645435160961,
      "book-upper shelf": 0.6103068855833693,
      "book-lower shelf": 0.4040450671286559
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.525256608780672,
    "bimanual_gripper_vertical_difference": 0.22745699109650505,
    "task_success": 0.0
  },
  {
    "completion_time": 2.505202293395996,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005294312751102925,
      "book-upper shelf": 0.6103305181262186,
      "book-lower shelf": 0.40407495391168585
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.523692234714404,
    "bimanual_gripper_vertical_difference": 0.2279580257364393,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5353586673736572,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005724382847299703,
      "book-upper shelf": 0.6102834613128234,
      "book-lower shelf": 0.4040300842465955
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5260043574070394,
    "bimanual_gripper_vertical_difference": 0.2285107805247844,
    "task_success": 0.0
  },
  {
    "completion_time": 2.5653858184814453,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005875400129837782,
      "book-upper shelf": 0.6102730112337298,
      "book-lower shelf": 0.404023502918699
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5362535151641272,
    "bimanual_gripper_vertical_difference": 0.2290965145968522,
    "task_success": 0.0
  },
  {
    "completion_time": 2.597273349761963,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005709674650812291,
      "book-upper shelf": 0.610283372680975,
      "book-lower shelf": 0.40402905401726014
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5482795393741668,
    "bimanual_gripper_vertical_difference": 0.22968563730189792,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6271426677703857,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006787822110484454,
      "book-upper shelf": 0.6101661081845686,
      "book-lower shelf": 0.4039176332717441
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5615780614280554,
    "bimanual_gripper_vertical_difference": 0.23028152543529426,
    "task_success": 0.0
  },
  {
    "completion_time": 2.656981945037842,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005281031789504675,
      "book-upper shelf": 0.6103285066279868,
      "book-lower shelf": 0.40407110637152555
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.579272938301295,
    "bimanual_gripper_vertical_difference": 0.23093781616015324,
    "task_success": 0.0
  },
  {
    "completion_time": 2.686631441116333,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004881768126775432,
      "book-upper shelf": 0.6103612551733453,
      "book-lower shelf": 0.4040962423474343
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5942645401110527,
    "bimanual_gripper_vertical_difference": 0.2317058281758308,
    "task_success": 0.0
  },
  {
    "completion_time": 2.716254949569702,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005327161318661178,
      "book-upper shelf": 0.6103030867667545,
      "book-lower shelf": 0.4040355211701651
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.609665275725804,
    "bimanual_gripper_vertical_difference": 0.2325963315964049,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7472753524780273,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000487464040889396,
      "book-upper shelf": 0.6103569832794041,
      "book-lower shelf": 0.4040893555836424
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6253335536412592,
    "bimanual_gripper_vertical_difference": 0.2334864822958039,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7774040699005127,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006292976364957736,
      "book-upper shelf": 0.6102047652332456,
      "book-lower shelf": 0.4039458648450595
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.641752385858305,
    "bimanual_gripper_vertical_difference": 0.23429072762455977,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8085663318634033,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005868088125381421,
      "book-upper shelf": 0.6102447176189794,
      "book-lower shelf": 0.40398031879365254
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6406896479768411,
    "bimanual_gripper_vertical_difference": 0.2350180794437853,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8413617610931396,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004961355704545811,
      "book-upper shelf": 0.61033059897748,
      "book-lower shelf": 0.40405478663295463
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6275542183829224,
    "bimanual_gripper_vertical_difference": 0.23575192138915513,
    "task_success": 0.0
  },
  {
    "completion_time": 2.8731584548950195,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005822817310674466,
      "book-upper shelf": 0.6102474744677057,
      "book-lower shelf": 0.4039817239971399
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6198424414952899,
    "bimanual_gripper_vertical_difference": 0.23655637264324522,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9053807258605957,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004517674943685934,
      "book-upper shelf": 0.6103604994261829,
      "book-lower shelf": 0.4040729151447232
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6170845456432419,
    "bimanual_gripper_vertical_difference": 0.23742153055520662,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9371497631073,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004964760249046574,
      "book-upper shelf": 0.6103253487777395,
      "book-lower shelf": 0.40404706355851167
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6184599509617998,
    "bimanual_gripper_vertical_difference": 0.238313803820582,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9727180004119873,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005822574674210212,
      "book-upper shelf": 0.610242240512487,
      "book-lower shelf": 0.40397380284686235
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6198650003234751,
    "bimanual_gripper_vertical_difference": 0.23922090578025512,
    "task_success": 0.0
  },
  {
    "completion_time": 3.006964921951294,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00047080871107607614,
      "book-upper shelf": 0.6103653349134629,
      "book-lower shelf": 0.40409182174964253
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.614246235521531,
    "bimanual_gripper_vertical_difference": 0.24015155202118157,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0391809940338135,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006359825189042878,
      "book-upper shelf": 0.6101949524080595,
      "book-lower shelf": 0.4039351162336237
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6079842906549755,
    "bimanual_gripper_vertical_difference": 0.24112365713045106,
    "task_success": 0.0
  },
  {
    "completion_time": 3.074201822280884,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006511732395154679,
      "book-upper shelf": 0.6101882653580186,
      "book-lower shelf": 0.4039342743979178
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6012260909370102,
    "bimanual_gripper_vertical_difference": 0.2421222879626963,
    "task_success": 0.0
  },
  {
    "completion_time": 3.106778621673584,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006465115705222013,
      "book-upper shelf": 0.6101763673555288,
      "book-lower shelf": 0.4039134591630286
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5948940654643071,
    "bimanual_gripper_vertical_difference": 0.24312616775966014,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1394827365875244,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006519841760320721,
      "book-upper shelf": 0.6101635240684199,
      "book-lower shelf": 0.40389739328451296
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.591203796040033,
    "bimanual_gripper_vertical_difference": 0.24411619756848565,
    "task_success": 0.0
  },
  {
    "completion_time": 3.17091703414917,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006282378056505777,
      "book-upper shelf": 0.6102061451104779,
      "book-lower shelf": 0.40394730328219014
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5872742474260404,
    "bimanual_gripper_vertical_difference": 0.24508891869953417,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2022018432617188,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004904688285668479,
      "book-upper shelf": 0.610333477059015,
      "book-lower shelf": 0.4040556807974665
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5827380587817188,
    "bimanual_gripper_vertical_difference": 0.24605769914449066,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2365825176239014,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005478507548870581,
      "book-upper shelf": 0.6103000033547564,
      "book-lower shelf": 0.4040400868603551
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5765717264816235,
    "bimanual_gripper_vertical_difference": 0.24703183499906725,
    "task_success": 0.0
  },
  {
    "completion_time": 3.267932415008545,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005314668601390515,
      "book-upper shelf": 0.6102761969755915,
      "book-lower shelf": 0.4039941410977995
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5682681562049652,
    "bimanual_gripper_vertical_difference": 0.2480043982281982,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2997453212738037,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000478529268314265,
      "book-upper shelf": 0.6103407272162633,
      "book-lower shelf": 0.4040593565655934
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5591561296107075,
    "bimanual_gripper_vertical_difference": 0.248969852441552,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3320674896240234,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00046345936925507036,
      "book-upper shelf": 0.610326465528555,
      "book-lower shelf": 0.4040286297802769
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.550154610738183,
    "bimanual_gripper_vertical_difference": 0.24992178608112042,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3638646602630615,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000653434478842585,
      "book-upper shelf": 0.6101723996508807,
      "book-lower shelf": 0.4039116855152407
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5407957067261528,
    "bimanual_gripper_vertical_difference": 0.2508521038752629,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3951735496520996,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005407689911194336,
      "book-upper shelf": 0.6102775831397087,
      "book-lower shelf": 0.40400190440589817
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5308214862204839,
    "bimanual_gripper_vertical_difference": 0.2517558756426836,
    "task_success": 0.0
  },
  {
    "completion_time": 3.426525354385376,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006695915381819129,
      "book-upper shelf": 0.6101347164547164,
      "book-lower shelf": 0.403864607470349
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5212658221222166,
    "bimanual_gripper_vertical_difference": 0.25263370279115827,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4587669372558594,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005461675674848232,
      "book-upper shelf": 0.6102450581580477,
      "book-lower shelf": 0.40395606173938325
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5115445196709967,
    "bimanual_gripper_vertical_difference": 0.2534991943150567,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4899239540100098,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000498610066123284,
      "book-upper shelf": 0.6102977902609087,
      "book-lower shelf": 0.4040067349878346
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5018003159104314,
    "bimanual_gripper_vertical_difference": 0.25435998415912764,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5219125747680664,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007928316743763819,
      "book-upper shelf": 0.6099150241618851,
      "book-lower shelf": 0.40360782357038455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.492128343499039,
    "bimanual_gripper_vertical_difference": 0.25521740598782744,
    "task_success": 0.0
  },
  {
    "completion_time": 3.554990768432617,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007383280344771537,
      "book-upper shelf": 0.6094328212513275,
      "book-lower shelf": 0.40284545653361453
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4819257620471056,
    "bimanual_gripper_vertical_difference": 0.25607024201760503,
    "task_success": 0.0
  },
  {
    "completion_time": 3.588955879211426,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006725991857748914,
      "book-upper shelf": 0.609089594233923,
      "book-lower shelf": 0.4022857987351784
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.470944572969946,
    "bimanual_gripper_vertical_difference": 0.2569167271578491,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6207029819488525,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006394328006076311,
      "book-upper shelf": 0.6088347132941443,
      "book-lower shelf": 0.4018794662402906
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4592608145973816,
    "bimanual_gripper_vertical_difference": 0.25774846221195796,
    "task_success": 0.0
  },
  {
    "completion_time": 3.651860237121582,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007348122997289375,
      "book-upper shelf": 0.6085339362386281,
      "book-lower shelf": 0.4014821521088201
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4474659981822873,
    "bimanual_gripper_vertical_difference": 0.2585548683107498,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6830904483795166,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004576066872084006,
      "book-upper shelf": 0.6087547572315292,
      "book-lower shelf": 0.40164687407759136
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4360023496234582,
    "bimanual_gripper_vertical_difference": 0.2593334159795932,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7163681983947754,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0037871060723054795,
      "book-upper shelf": 0.6053700643778874,
      "book-lower shelf": 0.39856038917277126
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4252255797859312,
    "bimanual_gripper_vertical_difference": 0.2600877403006928,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7498927116394043,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00555617027831512,
      "book-upper shelf": 0.6044581111763547,
      "book-lower shelf": 0.39826907086261987
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4147803353950672,
    "bimanual_gripper_vertical_difference": 0.2608156633206937,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7825541496276855,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.006734805122570742,
      "book-upper shelf": 0.6040703858935578,
      "book-lower shelf": 0.3984094558117125
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4039723905364347,
    "bimanual_gripper_vertical_difference": 0.261522217513546,
    "task_success": 0.0
  },
  {
    "completion_time": 3.813775062561035,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.007562355538606069,
      "book-upper shelf": 0.6041255225821714,
      "book-lower shelf": 0.39900405712624565
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3936107795422286,
    "bimanual_gripper_vertical_difference": 0.26220829119639255,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8448712825775146,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00951200229074467,
      "book-upper shelf": 0.6039081779835552,
      "book-lower shelf": 0.39987720808305577
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3851900612835522,
    "bimanual_gripper_vertical_difference": 0.2628611341288003,
    "task_success": 0.0
  },
  {
    "completion_time": 3.878920555114746,
    "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": 0.014218817444371812,
      "book-upper shelf": 0.6032764345612662,
      "book-lower shelf": 0.4018171496126726
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3812794111159232,
    "bimanual_gripper_vertical_difference": 0.2634631053550395,
    "task_success": 0.0
  },
  {
    "completion_time": 3.91060471534729,
    "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": 0.023181653317010276,
      "book-upper shelf": 0.601202345643983,
      "book-lower shelf": 0.40419373343602205
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.382140877692163,
    "bimanual_gripper_vertical_difference": 0.26397883983461123,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9425084590911865,
    "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": 0.03921808489298706,
      "book-upper shelf": 0.5940217246008567,
      "book-lower shelf": 0.4033450926317767
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3864327128164486,
    "bimanual_gripper_vertical_difference": 0.2643597815589823,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9751319885253906,
    "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": 0.06333931744292287,
      "book-upper shelf": 0.5795976510703201,
      "book-lower shelf": 0.39703575723126544
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.39321402644633,
    "bimanual_gripper_vertical_difference": 0.2645467734120055,
    "task_success": 0.0
  },
  {
    "completion_time": 4.0067760944366455,
    "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": 0.09515562080702755,
      "book-upper shelf": 0.5582811144897635,
      "book-lower shelf": 0.38606954910371605
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.400346210364974,
    "bimanual_gripper_vertical_difference": 0.2644983697147472,
    "task_success": 0.0
  },
  {
    "completion_time": 4.03846549987793,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.13240242992010665,
      "book-upper shelf": 0.5328280704637477,
      "book-lower shelf": 0.3736573801337864
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.407684623847185,
    "bimanual_gripper_vertical_difference": 0.2641903979594731,
    "task_success": 0.0
  },
  {
    "completion_time": 4.068748474121094,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.17546103137013325,
      "book-upper shelf": 0.5019714070472577,
      "book-lower shelf": 0.35901752990921926
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4158841234746475,
    "bimanual_gripper_vertical_difference": 0.26359285091105183,
    "task_success": 0.0
  },
  {
    "completion_time": 4.099395990371704,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.22502215484508992,
      "book-upper shelf": 0.46490317049365926,
      "book-lower shelf": 0.3427238340452763
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4229693843852225,
    "bimanual_gripper_vertical_difference": 0.26266126626469677,
    "task_success": 0.0
  },
  {
    "completion_time": 4.131500720977783,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.2788816694408005,
      "book-upper shelf": 0.4240478444553106,
      "book-lower shelf": 0.3281224783154201
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4261317748861366,
    "bimanual_gripper_vertical_difference": 0.261376640474227,
    "task_success": 0.0
  },
  {
    "completion_time": 4.160474061965942,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.3352865786203941,
      "book-upper shelf": 0.38251835320139715,
      "book-lower shelf": 0.31928776109570417
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4253406639491915,
    "bimanual_gripper_vertical_difference": 0.2597448599080701,
    "task_success": 0.0
  },
  {
    "completion_time": 4.189556837081909,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.39388494821053033,
      "book-upper shelf": 0.34292248820803717,
      "book-lower shelf": 0.31949488854438995
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4227569302302605,
    "bimanual_gripper_vertical_difference": 0.257766514119744,
    "task_success": 0.0
  },
  {
    "completion_time": 4.222277402877808,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4458930556976427,
      "book-upper shelf": 0.3121558074607974,
      "book-lower shelf": 0.32792345370713133
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4165537207028525,
    "bimanual_gripper_vertical_difference": 0.25614276380345646,
    "task_success": 0.0
  },
  {
    "completion_time": 4.253032445907593,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4823148662513629,
      "book-upper shelf": 0.293199448064131,
      "book-lower shelf": 0.3376305381186954
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4078270556998032,
    "bimanual_gripper_vertical_difference": 0.2547892943065463,
    "task_success": 0.0
  },
  {
    "completion_time": 4.284418106079102,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.5031726817581822,
      "book-upper shelf": 0.28563917512088033,
      "book-lower shelf": 0.34625082456422973
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.399284343872296,
    "bimanual_gripper_vertical_difference": 0.2536062703253202,
    "task_success": 0.0
  },
  {
    "completion_time": 4.31559157371521,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.5153643704693253,
      "book-upper shelf": 0.28724614954681665,
      "book-lower shelf": 0.35610959362111316
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3910622876503391,
    "bimanual_gripper_vertical_difference": 0.2525195676301735,
    "task_success": 0.0
  },
  {
    "completion_time": 4.348139762878418,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.5158606581429145,
      "book-upper shelf": 0.28906084409164,
      "book-lower shelf": 0.35791655548575096
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3827489560168378,
    "bimanual_gripper_vertical_difference": 0.25144427977439066,
    "task_success": 0.0
  },
  {
    "completion_time": 4.379717111587524,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.5099352857466205,
      "book-upper shelf": 0.2866341937298358,
      "book-lower shelf": 0.35183703683551054
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.373265027032488,
    "bimanual_gripper_vertical_difference": 0.2503858489021604,
    "task_success": 0.0
  },
  {
    "completion_time": 4.410915851593018,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.5055701908492239,
      "book-upper shelf": 0.28073504636116264,
      "book-lower shelf": 0.3439370796413437
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3676590998710485,
    "bimanual_gripper_vertical_difference": 0.24934091111160883,
    "task_success": 0.0
  },
  {
    "completion_time": 4.4425108432769775,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.5022090886514347,
      "book-upper shelf": 0.27410659151867517,
      "book-lower shelf": 0.33609492295680815
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.365623981446546,
    "bimanual_gripper_vertical_difference": 0.24829801392537965,
    "task_success": 0.0
  },
  {
    "completion_time": 4.472461938858032,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.49796202301382786,
      "book-upper shelf": 0.2698595370596115,
      "book-lower shelf": 0.32948152603295644
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3612813930281575,
    "bimanual_gripper_vertical_difference": 0.24725792239858946,
    "task_success": 0.0
  },
  {
    "completion_time": 4.502883195877075,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.49437357197085496,
      "book-upper shelf": 0.26786017736654094,
      "book-lower shelf": 0.3251397363623944
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3546019794900048,
    "bimanual_gripper_vertical_difference": 0.24622054120445688,
    "task_success": 0.0
  },
  {
    "completion_time": 4.531720161437988,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.48909733627963636,
      "book-upper shelf": 0.2654503224245124,
      "book-lower shelf": 0.31911183769667295
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3475890415653133,
    "bimanual_gripper_vertical_difference": 0.24519819887229297,
    "task_success": 0.0
  },
  {
    "completion_time": 4.560731410980225,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4849479783298808,
      "book-upper shelf": 0.2598760312827767,
      "book-lower shelf": 0.3112245035349053
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.340565136171625,
    "bimanual_gripper_vertical_difference": 0.24420038880199993,
    "task_success": 0.0
  },
  {
    "completion_time": 4.590432405471802,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.48422256456331436,
      "book-upper shelf": 0.24926744261557252,
      "book-lower shelf": 0.3018313567289751
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3363632997290462,
    "bimanual_gripper_vertical_difference": 0.24321560769046904,
    "task_success": 0.0
  },
  {
    "completion_time": 4.620279550552368,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4829448599270517,
      "book-upper shelf": 0.23623319300803353,
      "book-lower shelf": 0.29007727554714036
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3350365410566438,
    "bimanual_gripper_vertical_difference": 0.24224904697640376,
    "task_success": 0.0
  },
  {
    "completion_time": 4.64989447593689,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.47905160890887044,
      "book-upper shelf": 0.22462753608399746,
      "book-lower shelf": 0.27727063100480087
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3361082276063971,
    "bimanual_gripper_vertical_difference": 0.24129060011771297,
    "task_success": 0.0
  },
  {
    "completion_time": 4.6802918910980225,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.47119217424815607,
      "book-upper shelf": 0.21793859291885737,
      "book-lower shelf": 0.2646664401551695
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.336891863907253,
    "bimanual_gripper_vertical_difference": 0.24031552122480457,
    "task_success": 0.0
  },
  {
    "completion_time": 4.711609363555908,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.460508483921502,
      "book-upper shelf": 0.2142163809619981,
      "book-lower shelf": 0.25135347390533536
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.337576972866964,
    "bimanual_gripper_vertical_difference": 0.23930344715965243,
    "task_success": 0.0
  },
  {
    "completion_time": 4.742529630661011,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.449220759818758,
      "book-upper shelf": 0.211049628097538,
      "book-lower shelf": 0.23721976471292344
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3393119089805452,
    "bimanual_gripper_vertical_difference": 0.238247811940718,
    "task_success": 0.0
  },
  {
    "completion_time": 4.772683620452881,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.43907913355584405,
      "book-upper shelf": 0.2060606656094771,
      "book-lower shelf": 0.22180627881149037
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3429315188190698,
    "bimanual_gripper_vertical_difference": 0.2371550392570633,
    "task_success": 0.0
  },
  {
    "completion_time": 4.8016510009765625,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.43240893299886796,
      "book-upper shelf": 0.19886884594483004,
      "book-lower shelf": 0.20736707800313667
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.347569885124394,
    "bimanual_gripper_vertical_difference": 0.23603540375860274,
    "task_success": 0.0
  },
  {
    "completion_time": 4.830508708953857,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.42799348201989795,
      "book-upper shelf": 0.19229722160199658,
      "book-lower shelf": 0.1955917169985404
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.345517193939144,
    "bimanual_gripper_vertical_difference": 0.23491798771875308,
    "task_success": 0.0
  },
  {
    "completion_time": 4.859211683273315,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4262776312406217,
      "book-upper shelf": 0.18797886841779807,
      "book-lower shelf": 0.1891268954430718
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.341401019339528,
    "bimanual_gripper_vertical_difference": 0.23380737253561162,
    "task_success": 0.0
  },
  {
    "completion_time": 4.889589786529541,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.42489729200835724,
      "book-upper shelf": 0.18800719574159974,
      "book-lower shelf": 0.18734963358803244
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3458056371415545,
    "bimanual_gripper_vertical_difference": 0.23269309590672374,
    "task_success": 0.0
  },
  {
    "completion_time": 4.9220428466796875,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.42490610606716916,
      "book-upper shelf": 0.19055383854627547,
      "book-lower shelf": 0.18991652224838595
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3499937838851694,
    "bimanual_gripper_vertical_difference": 0.23153521446657213,
    "task_success": 0.0
  },
  {
    "completion_time": 4.9525370597839355,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.42585200148306124,
      "book-upper shelf": 0.19296235453419136,
      "book-lower shelf": 0.1935401676708331
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3514083575284133,
    "bimanual_gripper_vertical_difference": 0.23029090443641115,
    "task_success": 0.0
  },
  {
    "completion_time": 4.982614994049072,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4245524301764062,
      "book-upper shelf": 0.1960563819309526,
      "book-lower shelf": 0.1949909157936742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3514235375413106,
    "bimanual_gripper_vertical_difference": 0.22898551849922658,
    "task_success": 0.0
  },
  {
    "completion_time": 5.012259244918823,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.42238905203728805,
      "book-upper shelf": 0.1994930082539726,
      "book-lower shelf": 0.19574334503703267
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3493215926240478,
    "bimanual_gripper_vertical_difference": 0.22763562391209408,
    "task_success": 0.0
  },
  {
    "completion_time": 5.042515993118286,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.421138060309196,
      "book-upper shelf": 0.20120791397137563,
      "book-lower shelf": 0.19592491049816116
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3448420001291888,
    "bimanual_gripper_vertical_difference": 0.22625937927639903,
    "task_success": 0.0
  },
  {
    "completion_time": 5.07417368888855,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.42216496598101505,
      "book-upper shelf": 0.20037999046183314,
      "book-lower shelf": 0.1963664589062918
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3368035334286579,
    "bimanual_gripper_vertical_difference": 0.22487885314032074,
    "task_success": 0.0
  },
  {
    "completion_time": 5.105314493179321,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4238857942799804,
      "book-upper shelf": 0.19821478038271195,
      "book-lower shelf": 0.19632668351993046
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3304231065935266,
    "bimanual_gripper_vertical_difference": 0.22351695035406466,
    "task_success": 0.0
  },
  {
    "completion_time": 5.134498596191406,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.4175156175104823,
      "book-upper shelf": 0.20117096523405978,
      "book-lower shelf": 0.1912794584113052
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3255285506930707,
    "bimanual_gripper_vertical_difference": 0.22218778667265607,
    "task_success": 0.0
  },
  {
    "completion_time": 5.164268493652344,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.3967402512765804,
      "book-upper shelf": 0.2140151060242985,
      "book-lower shelf": 0.1780160399666311
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3229572184525555,
    "bimanual_gripper_vertical_difference": 0.22087423343573578,
    "task_success": 0.0
  },
  {
    "completion_time": 5.196101188659668,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.3699442748101479,
      "book-upper shelf": 0.23007538642669167,
      "book-lower shelf": 0.16008200941383713
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.323152635842903,
    "bimanual_gripper_vertical_difference": 0.21955752054807334,
    "task_success": 0.0
  },
  {
    "completion_time": 5.225466012954712,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.3430504412668419,
      "book-upper shelf": 0.24392837799705228,
      "book-lower shelf": 0.13765446448709776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3264586282879909,
    "bimanual_gripper_vertical_difference": 0.2182664401462128,
    "task_success": 0.0
  },
  {
    "completion_time": 5.252854347229004,
    "slip_count": 1,
    "slip_count_per_object": {
      "object_1": 1
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": true,
      "3": true,
      "4": true
    },
    "target_distance": {
      "book lift distance": 0.33600215428184954,
      "book-upper shelf": 0.2468285583390877,
      "book-lower shelf": 0.13000425491119857
    },
    "success": 1.0,
    "bimanual_arm_velocity_difference": 1.3334352325650654,
    "bimanual_gripper_vertical_difference": 0.21702549556928774,
    "task_success": 1.0
  }
]