[
  {
    "completion_time": 0.052387237548828125,
    "slip_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": 0.08597850799560547,
    "slip_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": 0.11817407608032227,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007380219397272736,
      "book-upper shelf": 0.5933633158068491,
      "book-lower shelf": 0.3780951891261816
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 6.865484758570665e-07,
    "bimanual_gripper_vertical_difference": 9.739087314386552e-10,
    "task_success": 0.0
  },
  {
    "completion_time": 0.14924407005310059,
    "slip_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": 0.03492354348920584,
    "bimanual_gripper_vertical_difference": 0.00030337689669279744,
    "task_success": 0.0
  },
  {
    "completion_time": 0.1803748607635498,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005268709697482388,
      "book-upper shelf": 0.5935510080046146,
      "book-lower shelf": 0.3782522508901092
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.27955138907077043,
    "bimanual_gripper_vertical_difference": 0.0017913357818900356,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2109689712524414,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005808829610111088,
      "book-upper shelf": 0.5934951712886882,
      "book-lower shelf": 0.3781997921048674
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.5876606550534956,
    "bimanual_gripper_vertical_difference": 0.0038999678969215226,
    "task_success": 0.0
  },
  {
    "completion_time": 0.24170565605163574,
    "slip_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": 0.37810865755569173
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8461339981220396,
    "bimanual_gripper_vertical_difference": 0.007136210071322813,
    "task_success": 0.0
  },
  {
    "completion_time": 0.2717278003692627,
    "slip_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": 0.0006042795767432496,
      "book-upper shelf": 0.5934672313678492,
      "book-lower shelf": 0.3781711791979742
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0595924253566946,
    "bimanual_gripper_vertical_difference": 0.012819157990018759,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3018684387207031,
    "slip_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": 0.0005262332895655808,
      "book-upper shelf": 0.5935352457917368,
      "book-lower shelf": 0.37822710131823206
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.204604524820257,
    "bimanual_gripper_vertical_difference": 0.020474875904288856,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3319063186645508,
    "slip_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": 0.3782317830838879
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.296272415925666,
    "bimanual_gripper_vertical_difference": 0.02813453962368586,
    "task_success": 0.0
  },
  {
    "completion_time": 0.3624899387359619,
    "slip_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": 0.00042609565681139827,
      "book-upper shelf": 0.5936153230777035,
      "book-lower shelf": 0.37828757736680435
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3812481794227374,
    "bimanual_gripper_vertical_difference": 0.03372846315523293,
    "task_success": 0.0
  },
  {
    "completion_time": 0.39306187629699707,
    "slip_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": 0.0005017399467525108,
      "book-upper shelf": 0.5935502868075232,
      "book-lower shelf": 0.37823475963637654
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4500906623768446,
    "bimanual_gripper_vertical_difference": 0.037527896625026445,
    "task_success": 0.0
  },
  {
    "completion_time": 0.4235649108886719,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006576387411730833,
      "book-upper shelf": 0.593405287247857,
      "book-lower shelf": 0.37810871151395103
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5054604184199363,
    "bimanual_gripper_vertical_difference": 0.04053489070958908,
    "task_success": 0.0
  },
  {
    "completion_time": 0.45450663566589355,
    "slip_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": 1.5461477701900448,
    "bimanual_gripper_vertical_difference": 0.04323216839416731,
    "task_success": 0.0
  },
  {
    "completion_time": 0.48562026023864746,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000569687400069463,
      "book-upper shelf": 0.5934829113076553,
      "book-lower shelf": 0.3781732634195772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5795587175853012,
    "bimanual_gripper_vertical_difference": 0.04593902515021764,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5166716575622559,
    "slip_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": 0.37818359295371
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6116037979973596,
    "bimanual_gripper_vertical_difference": 0.04882132724351404,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5486752986907959,
    "slip_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": 0.5935384436565783,
      "book-lower shelf": 0.37821923208855796
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6478479686911691,
    "bimanual_gripper_vertical_difference": 0.05199975378930747,
    "task_success": 0.0
  },
  {
    "completion_time": 0.5795462131500244,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000563283730251829,
      "book-upper shelf": 0.5934740342075446,
      "book-lower shelf": 0.3781551625227218
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6829284511570781,
    "bimanual_gripper_vertical_difference": 0.05547565442829745,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6102719306945801,
    "slip_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": 0.0006393359269578625,
      "book-upper shelf": 0.5934146325382278,
      "book-lower shelf": 0.3781114593326538
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.7116879331634902,
    "bimanual_gripper_vertical_difference": 0.05886088777056629,
    "task_success": 0.0
  },
  {
    "completion_time": 0.643510103225708,
    "slip_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": 0.0007188927615991991,
      "book-upper shelf": 0.5933403300892909,
      "book-lower shelf": 0.3780466566996538
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.697697320488014,
    "bimanual_gripper_vertical_difference": 0.06190852416859408,
    "task_success": 0.0
  },
  {
    "completion_time": 0.6763720512390137,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006824478899479791,
      "book-upper shelf": 0.5933708329581681,
      "book-lower shelf": 0.3780707942433328
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.637335049265873,
    "bimanual_gripper_vertical_difference": 0.06463460256949317,
    "task_success": 0.0
  },
  {
    "completion_time": 0.7080602645874023,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005426481893561208,
      "book-upper shelf": 0.5934870041788917,
      "book-lower shelf": 0.37816208141635993
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.58338442958215,
    "bimanual_gripper_vertical_difference": 0.06709324457808936,
    "task_success": 0.0
  },
  {
    "completion_time": 0.739417552947998,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005697075028378018,
      "book-upper shelf": 0.5934640746489144,
      "book-lower shelf": 0.3781437146769772
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.572492856529077,
    "bimanual_gripper_vertical_difference": 0.06932602102045926,
    "task_success": 0.0
  },
  {
    "completion_time": 0.770421028137207,
    "slip_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": 0.37813730334273193
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5844121583643025,
    "bimanual_gripper_vertical_difference": 0.07136527869075182,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8018362522125244,
    "slip_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": 0.000647375942930295,
      "book-upper shelf": 0.5933954141072789,
      "book-lower shelf": 0.3780865328963658
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.6007297828745601,
    "bimanual_gripper_vertical_difference": 0.07323646826265451,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8324916362762451,
    "slip_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": 0.0005612072356447895,
      "book-upper shelf": 0.593472710838252,
      "book-lower shelf": 0.3781517335725767
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.574176140177741,
    "bimanual_gripper_vertical_difference": 0.0749733432381611,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8629004955291748,
    "slip_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": 0.0005296471480110698,
      "book-upper shelf": 0.5934929630682473,
      "book-lower shelf": 0.37816296823016693
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.525410548807875,
    "bimanual_gripper_vertical_difference": 0.07661235115437198,
    "task_success": 0.0
  },
  {
    "completion_time": 0.8963212966918945,
    "slip_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": 0.0005286125105280481,
      "book-upper shelf": 0.5934981355478433,
      "book-lower shelf": 0.3781704122755522
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5046916433753281,
    "bimanual_gripper_vertical_difference": 0.0781962183663456,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9273629188537598,
    "slip_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": 0.00044595630905464034,
      "book-upper shelf": 0.5935657250976487,
      "book-lower shelf": 0.37822267222665484
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.5070364445940907,
    "bimanual_gripper_vertical_difference": 0.07975169230618577,
    "task_success": 0.0
  },
  {
    "completion_time": 0.9576973915100098,
    "slip_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": 0.0005564527648698192,
      "book-upper shelf": 0.593463477544911,
      "book-lower shelf": 0.37813414674532225
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4933883555117196,
    "bimanual_gripper_vertical_difference": 0.0812875614939323,
    "task_success": 0.0
  },
  {
    "completion_time": 0.989276647567749,
    "slip_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": 0.0007179572734083983,
      "book-upper shelf": 0.5933187963348068,
      "book-lower shelf": 0.3780122494501239
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4679957267915997,
    "bimanual_gripper_vertical_difference": 0.08281601795201693,
    "task_success": 0.0
  },
  {
    "completion_time": 1.021946668624878,
    "slip_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": 0.0007149288319033831,
      "book-upper shelf": 0.5933235620869797,
      "book-lower shelf": 0.37801775701906537
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4404094740819653,
    "bimanual_gripper_vertical_difference": 0.08433353422906659,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0545547008514404,
    "slip_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": 0.0004954045080118874,
      "book-upper shelf": 0.5935072714878772,
      "book-lower shelf": 0.37816312862318924
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.4129858784504978,
    "bimanual_gripper_vertical_difference": 0.08581291742358954,
    "task_success": 0.0
  },
  {
    "completion_time": 1.0855779647827148,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005739754973544953,
      "book-upper shelf": 0.5934523567567168,
      "book-lower shelf": 0.37812810337874553
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3864616860948165,
    "bimanual_gripper_vertical_difference": 0.08722173409151694,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1168756484985352,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005610560285210786,
      "book-upper shelf": 0.5934457187768851,
      "book-lower shelf": 0.3781092722572503
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.364478525149882,
    "bimanual_gripper_vertical_difference": 0.08855108727514482,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1474487781524658,
    "slip_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": 0.000594691752376364,
      "book-upper shelf": 0.593421137339364,
      "book-lower shelf": 0.37809259551809776
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.342805425131103,
    "bimanual_gripper_vertical_difference": 0.08982232310376732,
    "task_success": 0.0
  },
  {
    "completion_time": 1.1780595779418945,
    "slip_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": 0.0006015265241113843,
      "book-upper shelf": 0.5934080567229332,
      "book-lower shelf": 0.37807651621264265
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3212455512508376,
    "bimanual_gripper_vertical_difference": 0.0910556474045027,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2084429264068604,
    "slip_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": 0.0005323228648882461,
      "book-upper shelf": 0.5934674431022471,
      "book-lower shelf": 0.3781246580272362
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3188798301616502,
    "bimanual_gripper_vertical_difference": 0.09230100210851466,
    "task_success": 0.0
  },
  {
    "completion_time": 1.238560676574707,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005703191419745846,
      "book-upper shelf": 0.5934461076953844,
      "book-lower shelf": 0.3781159147553896
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3185482835168403,
    "bimanual_gripper_vertical_difference": 0.09352540841550838,
    "task_success": 0.0
  },
  {
    "completion_time": 1.2693724632263184,
    "slip_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": 0.0006559820690104079,
      "book-upper shelf": 0.5933507343124539,
      "book-lower shelf": 0.37802201109188355
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.307676401113166,
    "bimanual_gripper_vertical_difference": 0.09476727710560048,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3027253150939941,
    "slip_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": 0.000525400887083971,
      "book-upper shelf": 0.5934762581244812,
      "book-lower shelf": 0.3781339857978512
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2846440752955317,
    "bimanual_gripper_vertical_difference": 0.0960207209007458,
    "task_success": 0.0
  },
  {
    "completion_time": 1.334179401397705,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000578216198226067,
      "book-upper shelf": 0.5934249924138141,
      "book-lower shelf": 0.3780879167325775
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2548694415949326,
    "bimanual_gripper_vertical_difference": 0.09724317049720321,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3671247959136963,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00044655326243359106,
      "book-upper shelf": 0.5935309364866275,
      "book-lower shelf": 0.3781684628733045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2263187762604337,
    "bimanual_gripper_vertical_difference": 0.09843682828407631,
    "task_success": 0.0
  },
  {
    "completion_time": 1.3988709449768066,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 0,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005486035977941839,
      "book-upper shelf": 0.5934312697009612,
      "book-lower shelf": 0.3780784843014625
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1991157220781241,
    "bimanual_gripper_vertical_difference": 0.09960008774015972,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4305899143218994,
    "slip_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": 0.0005600846612048294,
      "book-upper shelf": 0.5934309956796427,
      "book-lower shelf": 0.3780855312171996
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1826681870310287,
    "bimanual_gripper_vertical_difference": 0.10077645266979687,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4620497226715088,
    "slip_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": 0.0005850912035083589,
      "book-upper shelf": 0.5934038091364835,
      "book-lower shelf": 0.3780591454413935
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1759552524122083,
    "bimanual_gripper_vertical_difference": 0.10200889248891142,
    "task_success": 0.0
  },
  {
    "completion_time": 1.4927418231964111,
    "slip_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": 0.0005914589804363324,
      "book-upper shelf": 0.5933911701289296,
      "book-lower shelf": 0.3780434543182962
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.16934951548423,
    "bimanual_gripper_vertical_difference": 0.10331193017493105,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5240018367767334,
    "slip_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": 0.0005217845313717495,
      "book-upper shelf": 0.5934509472817693,
      "book-lower shelf": 0.37809190445339697
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1598807044408597,
    "bimanual_gripper_vertical_difference": 0.10469507522089717,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5549402236938477,
    "slip_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": 0.0005223561757259354,
      "book-upper shelf": 0.5934483253895174,
      "book-lower shelf": 0.37808816140875334
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1513856444428947,
    "bimanual_gripper_vertical_difference": 0.10614254818609493,
    "task_success": 0.0
  },
  {
    "completion_time": 1.5860941410064697,
    "slip_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": 0.0005527973819424714,
      "book-upper shelf": 0.5934272062677743,
      "book-lower shelf": 0.3780748375660182
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1437309924114811,
    "bimanual_gripper_vertical_difference": 0.10762590889859756,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6176137924194336,
    "slip_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": 0.0006686429412168238,
      "book-upper shelf": 0.5933172396960747,
      "book-lower shelf": 0.3779776828437056
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1281365644281949,
    "bimanual_gripper_vertical_difference": 0.1091379860668047,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6487758159637451,
    "slip_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": 0.0006484577446294049,
      "book-upper shelf": 0.5933292625542083,
      "book-lower shelf": 0.3779834062633063
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1084601552568776,
    "bimanual_gripper_vertical_difference": 0.11065352226935085,
    "task_success": 0.0
  },
  {
    "completion_time": 1.6799914836883545,
    "slip_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": 0.0006307874637767608,
      "book-upper shelf": 0.5933453747910332,
      "book-lower shelf": 0.37799718737500837
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.088449800326857,
    "bimanual_gripper_vertical_difference": 0.1121479582253776,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7110772132873535,
    "slip_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": 0.0006389402277243716,
      "book-upper shelf": 0.5933328221688037,
      "book-lower shelf": 0.37798279401171064
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0691263735234464,
    "bimanual_gripper_vertical_difference": 0.11361701750474641,
    "task_success": 0.0
  },
  {
    "completion_time": 1.7422356605529785,
    "slip_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": 0.0005459989195492065,
      "book-upper shelf": 0.5934079258460674,
      "book-lower shelf": 0.37804014630185695
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0513847147465125,
    "bimanual_gripper_vertical_difference": 0.11506622824480853,
    "task_success": 0.0
  },
  {
    "completion_time": 1.773125171661377,
    "slip_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": 0.0005566109792721763,
      "book-upper shelf": 0.5934083196203163,
      "book-lower shelf": 0.3780476761764361
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.033350764279756,
    "bimanual_gripper_vertical_difference": 0.1165016257575239,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8037338256835938,
    "slip_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": 0.0004434122288774489,
      "book-upper shelf": 0.5935025877706728,
      "book-lower shelf": 0.37812192297429525
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0212715586845822,
    "bimanual_gripper_vertical_difference": 0.11795988947567733,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8351645469665527,
    "slip_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": 0.0006518046606811545,
      "book-upper shelf": 0.5933158481299136,
      "book-lower shelf": 0.37796452933868757
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0229250401543204,
    "bimanual_gripper_vertical_difference": 0.11947488414490967,
    "task_success": 0.0
  },
  {
    "completion_time": 1.8661067485809326,
    "slip_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": 0.0006372319943228621,
      "book-upper shelf": 0.5933233575203903,
      "book-lower shelf": 0.3779668240280283
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.026422002325527,
    "bimanual_gripper_vertical_difference": 0.12101204262044714,
    "task_success": 0.0
  },
  {
    "completion_time": 1.899604320526123,
    "slip_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": 0.0005674550814802615,
      "book-upper shelf": 0.5933821677598398,
      "book-lower shelf": 0.378013688722092
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0268575224694951,
    "bimanual_gripper_vertical_difference": 0.12254251721023245,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9336323738098145,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005368550911128978,
      "book-upper shelf": 0.5934020439764218,
      "book-lower shelf": 0.37802495774232936
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0251441019716159,
    "bimanual_gripper_vertical_difference": 0.12404045908801634,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9644553661346436,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000543928221319101,
      "book-upper shelf": 0.5934013592805085,
      "book-lower shelf": 0.3780284899840378
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0185696074589543,
    "bimanual_gripper_vertical_difference": 0.1254926663862454,
    "task_success": 0.0
  },
  {
    "completion_time": 1.9957046508789062,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005671364184469674,
      "book-upper shelf": 0.5933782206837949,
      "book-lower shelf": 0.37800728525012856
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0097812978720826,
    "bimanual_gripper_vertical_difference": 0.1269309776087599,
    "task_success": 0.0
  },
  {
    "completion_time": 2.026644706726074,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000636605783234101,
      "book-upper shelf": 0.5933125092217463,
      "book-lower shelf": 0.3779493864367561
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.002489179598037,
    "bimanual_gripper_vertical_difference": 0.12839822838464304,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0575597286224365,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005086989655745944,
      "book-upper shelf": 0.5934205767747919,
      "book-lower shelf": 0.3780357103984121
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9889841001097146,
    "bimanual_gripper_vertical_difference": 0.129881509520248,
    "task_success": 0.0
  },
  {
    "completion_time": 2.0880112648010254,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00042660958229367996,
      "book-upper shelf": 0.5934955033187467,
      "book-lower shelf": 0.37809986106791305
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9747061093189396,
    "bimanual_gripper_vertical_difference": 0.13135033836646093,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1186442375183105,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005908442712849737,
      "book-upper shelf": 0.5933517484746734,
      "book-lower shelf": 0.37798117316919466
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9606041759283922,
    "bimanual_gripper_vertical_difference": 0.1327935316296087,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1491947174072266,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005298937016426919,
      "book-upper shelf": 0.5934024780301955,
      "book-lower shelf": 0.3780211048034681
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9488493199382733,
    "bimanual_gripper_vertical_difference": 0.13424454181535075,
    "task_success": 0.0
  },
  {
    "completion_time": 2.1794838905334473,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006632970496034396,
      "book-upper shelf": 0.5932868851180103,
      "book-lower shelf": 0.3779265501073453
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9424211950616523,
    "bimanual_gripper_vertical_difference": 0.13573002698734712,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2104854583740234,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007288873223645354,
      "book-upper shelf": 0.5932156627811417,
      "book-lower shelf": 0.3778574754078897
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9369872283805772,
    "bimanual_gripper_vertical_difference": 0.1372752346454375,
    "task_success": 0.0
  },
  {
    "completion_time": 2.241300106048584,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004910715851912384,
      "book-upper shelf": 0.5934269375500183,
      "book-lower shelf": 0.37803421406434795
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9337993314517723,
    "bimanual_gripper_vertical_difference": 0.13887493301345352,
    "task_success": 0.0
  },
  {
    "completion_time": 2.2718148231506348,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005492439544585448,
      "book-upper shelf": 0.5933870764666037,
      "book-lower shelf": 0.3780095320147603
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9289721963625769,
    "bimanual_gripper_vertical_difference": 0.1404981299427369,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3027734756469727,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004637247952248291,
      "book-upper shelf": 0.5934407996092833,
      "book-lower shelf": 0.378038162765975
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9213158562743458,
    "bimanual_gripper_vertical_difference": 0.14211054807602677,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3339431285858154,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006075200955913962,
      "book-upper shelf": 0.5933252079409707,
      "book-lower shelf": 0.3779503727214265
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9130183064520696,
    "bimanual_gripper_vertical_difference": 0.14371108867657556,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3644309043884277,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": false,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005522421019504842,
      "book-upper shelf": 0.5933658741865784,
      "book-lower shelf": 0.37797820157168627
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.906700720520749,
    "bimanual_gripper_vertical_difference": 0.1453169194586218,
    "task_success": 0.0
  },
  {
    "completion_time": 2.3948304653167725,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0004743916941047921,
      "book-upper shelf": 0.5934334873134522,
      "book-lower shelf": 0.37803363163337045
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9026831843078548,
    "bimanual_gripper_vertical_difference": 0.14693002772009892,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4262235164642334,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008084924073200606,
      "book-upper shelf": 0.5931565227755802,
      "book-lower shelf": 0.3778165046526783
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9001444332333105,
    "bimanual_gripper_vertical_difference": 0.14849076145463516,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4562771320343018,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00036631731930192313,
      "book-upper shelf": 0.5939930383790731,
      "book-lower shelf": 0.37884116882667934
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8973679667807016,
    "bimanual_gripper_vertical_difference": 0.15000717675565237,
    "task_success": 0.0
  },
  {
    "completion_time": 2.4861679077148438,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000902998937304722,
      "book-upper shelf": 0.5947659556038949,
      "book-lower shelf": 0.3803994379106614
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8921852336902938,
    "bimanual_gripper_vertical_difference": 0.15148213528355478,
    "task_success": 0.0
  },
  {
    "completion_time": 2.515605926513672,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0005359236134361289,
      "book-upper shelf": 0.5970936534855155,
      "book-lower shelf": 0.3837932453902681
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.885967689912649,
    "bimanual_gripper_vertical_difference": 0.15291698536917092,
    "task_success": 0.0
  },
  {
    "completion_time": 2.54654598236084,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0011936564450218956,
      "book-upper shelf": 0.5986189318111559,
      "book-lower shelf": 0.38658110433569404
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8809776568428545,
    "bimanual_gripper_vertical_difference": 0.15429684414187686,
    "task_success": 0.0
  },
  {
    "completion_time": 2.575502634048462,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0009172541345713325,
      "book-upper shelf": 0.6011014484260218,
      "book-lower shelf": 0.39023987711287494
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8759014886741284,
    "bimanual_gripper_vertical_difference": 0.1556400875857174,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6044888496398926,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007652371255120194,
      "book-upper shelf": 0.6027821064560166,
      "book-lower shelf": 0.3927284271310464
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8704202455012646,
    "bimanual_gripper_vertical_difference": 0.1569459780809247,
    "task_success": 0.0
  },
  {
    "completion_time": 2.633889675140381,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007362768211265358,
      "book-upper shelf": 0.603725790639451,
      "book-lower shelf": 0.394157225475624
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8650990884961226,
    "bimanual_gripper_vertical_difference": 0.15821037757251927,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6633493900299072,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007134421806581637,
      "book-upper shelf": 0.6043563728538076,
      "book-lower shelf": 0.3951081732915046
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8591139406788478,
    "bimanual_gripper_vertical_difference": 0.15944043489596524,
    "task_success": 0.0
  },
  {
    "completion_time": 2.6928133964538574,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.00040591401708578445,
      "book-upper shelf": 0.6053507128147552,
      "book-lower shelf": 0.3964364847668186
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8526063225956454,
    "bimanual_gripper_vertical_difference": 0.16064372171151006,
    "task_success": 0.0
  },
  {
    "completion_time": 2.722414255142212,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006348198720933507,
      "book-upper shelf": 0.6056794876874301,
      "book-lower shelf": 0.39708030351842455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8450933493826992,
    "bimanual_gripper_vertical_difference": 0.1618179280629387,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7520711421966553,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006556912060063924,
      "book-upper shelf": 0.6062348035072764,
      "book-lower shelf": 0.3979397450731002
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8371048633903141,
    "bimanual_gripper_vertical_difference": 0.1629663767086419,
    "task_success": 0.0
  },
  {
    "completion_time": 2.7816853523254395,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007128025061854393,
      "book-upper shelf": 0.6067573807205721,
      "book-lower shelf": 0.3987706699895756
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8289793216941358,
    "bimanual_gripper_vertical_difference": 0.1640926224618104,
    "task_success": 0.0
  },
  {
    "completion_time": 2.812187910079956,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007630354699902364,
      "book-upper shelf": 0.6073593635310577,
      "book-lower shelf": 0.3997169772187134
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8212738793231116,
    "bimanual_gripper_vertical_difference": 0.1651931073042554,
    "task_success": 0.0
  },
  {
    "completion_time": 2.844651937484741,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008332505135539847,
      "book-upper shelf": 0.6080278543998382,
      "book-lower shelf": 0.4007751421086484
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8140049025103931,
    "bimanual_gripper_vertical_difference": 0.16626581188161665,
    "task_success": 0.0
  },
  {
    "completion_time": 2.87491512298584,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0008933927594237945,
      "book-upper shelf": 0.6086732554839963,
      "book-lower shelf": 0.40179048246136007
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8073912638226757,
    "bimanual_gripper_vertical_difference": 0.1673056855198074,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9043471813201904,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0010244753333488177,
      "book-upper shelf": 0.6089663388271485,
      "book-lower shelf": 0.40231457007293064
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8024727540136126,
    "bimanual_gripper_vertical_difference": 0.16831151218602464,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9348936080932617,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0009727336862761504,
      "book-upper shelf": 0.6091329924699675,
      "book-lower shelf": 0.40253513363407367
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8000429510191027,
    "bimanual_gripper_vertical_difference": 0.16929277505526127,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9643595218658447,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.000969702096555114,
      "book-upper shelf": 0.6090995508209813,
      "book-lower shelf": 0.40248267192309095
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7973886918237303,
    "bimanual_gripper_vertical_difference": 0.17025881289427588,
    "task_success": 0.0
  },
  {
    "completion_time": 2.9942212104797363,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0006718192799831657,
      "book-upper shelf": 0.6092796974692214,
      "book-lower shelf": 0.4025730936656538
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7942039575288872,
    "bimanual_gripper_vertical_difference": 0.1712191909865064,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0254292488098145,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007272227392320918,
      "book-upper shelf": 0.6091249779804204,
      "book-lower shelf": 0.4023727975751353
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7916522626092862,
    "bimanual_gripper_vertical_difference": 0.17217197998855138,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0555641651153564,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007290203482974711,
      "book-upper shelf": 0.6091239673270574,
      "book-lower shelf": 0.40237236763181117
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7872778921933737,
    "bimanual_gripper_vertical_difference": 0.17311974664635826,
    "task_success": 0.0
  },
  {
    "completion_time": 3.0869271755218506,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007299629556787313,
      "book-upper shelf": 0.6091237253309665,
      "book-lower shelf": 0.4023725781032472
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.784212870694005,
    "bimanual_gripper_vertical_difference": 0.17406267244580836,
    "task_success": 0.0
  },
  {
    "completion_time": 3.117130994796753,
    "slip_count": 0,
    "slip_count_per_object": {
      "object_1": 0
    },
    "env_collision_count": 1,
    "self_collision_count": 0,
    "task_stage_reached": {
      "1": true,
      "2": false,
      "3": false,
      "4": false
    },
    "target_distance": {
      "book lift distance": 0.0007308998702441061,
      "book-upper shelf": 0.6091234885176776,
      "book-lower shelf": 0.40237279293697414
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7840102155161196,
    "bimanual_gripper_vertical_difference": 0.17499074748031396,
    "task_success": 0.0
  },
  {
    "completion_time": 3.14976167678833,
    "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": 0.0007318367401341064,
      "book-upper shelf": 0.6091232518100195,
      "book-lower shelf": 0.4023730079032941
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7851196775347322,
    "bimanual_gripper_vertical_difference": 0.17588063610757246,
    "task_success": 0.0
  },
  {
    "completion_time": 3.1798596382141113,
    "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": 0.0006871834641446473,
      "book-upper shelf": 0.6091596368669884,
      "book-lower shelf": 0.402400764506907
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7863557275017886,
    "bimanual_gripper_vertical_difference": 0.17670012621797718,
    "task_success": 0.0
  },
  {
    "completion_time": 3.21170711517334,
    "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": 0.0006859127805994847,
      "book-upper shelf": 0.6091556970355343,
      "book-lower shelf": 0.40239402278184927
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7879711216629837,
    "bimanual_gripper_vertical_difference": 0.1774233114485536,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2417261600494385,
    "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": 0.000729431518926682,
      "book-upper shelf": 0.6091171714427452,
      "book-lower shelf": 0.4023623313491981
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7888570533779384,
    "bimanual_gripper_vertical_difference": 0.17804233311695197,
    "task_success": 0.0
  },
  {
    "completion_time": 3.2714810371398926,
    "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": 0.0007306525435033517,
      "book-upper shelf": 0.609116678502225,
      "book-lower shelf": 0.4023623323144022
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7889176971868473,
    "bimanual_gripper_vertical_difference": 0.17856627149992096,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3010900020599365,
    "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": 0.0007315923446902239,
      "book-upper shelf": 0.6091164384829217,
      "book-lower shelf": 0.4023625440707857
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7877951303902551,
    "bimanual_gripper_vertical_difference": 0.17901559346957502,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3307759761810303,
    "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": 0.0007325302690660562,
      "book-upper shelf": 0.6091162002165114,
      "book-lower shelf": 0.4023627573323044
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7814634876965311,
    "bimanual_gripper_vertical_difference": 0.17943668385349473,
    "task_success": 0.0
  },
  {
    "completion_time": 3.360395669937134,
    "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": 0.000733468174358598,
      "book-upper shelf": 0.6091159620327101,
      "book-lower shelf": 0.40236297070723087
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7745028017486214,
    "bimanual_gripper_vertical_difference": 0.17985375021507757,
    "task_success": 0.0
  },
  {
    "completion_time": 3.3907437324523926,
    "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": 0.0007344060729078672,
      "book-upper shelf": 0.6091157239204287,
      "book-lower shelf": 0.40236318418632866
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7675827630546265,
    "bimanual_gripper_vertical_difference": 0.18026901089511874,
    "task_success": 0.0
  },
  {
    "completion_time": 3.4207282066345215,
    "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": 0.0007353439647812543,
      "book-upper shelf": 0.6091154858796116,
      "book-lower shelf": 0.4023633977695546
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7735971166305462,
    "bimanual_gripper_vertical_difference": 0.1807095626474667,
    "task_success": 0.0
  },
  {
    "completion_time": 3.450833320617676,
    "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": 0.0007362818499643264,
      "book-upper shelf": 0.6091152479102773,
      "book-lower shelf": 0.4023636114569275
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7869011203058579,
    "bimanual_gripper_vertical_difference": 0.18117374427248423,
    "task_success": 0.0
  },
  {
    "completion_time": 3.480757236480713,
    "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": 0.0007372197284420956,
      "book-upper shelf": 0.6091150100124442,
      "book-lower shelf": 0.402363825248466
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8022516965512649,
    "bimanual_gripper_vertical_difference": 0.18156378689695843,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5116403102874756,
    "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": 0.000617332753016564,
      "book-upper shelf": 0.6092207188742226,
      "book-lower shelf": 0.4024504918754996
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8046342542474176,
    "bimanual_gripper_vertical_difference": 0.18191135810228182,
    "task_success": 0.0
  },
  {
    "completion_time": 3.542243719100952,
    "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": 0.0007252611302013268,
      "book-upper shelf": 0.6091188440845511,
      "book-lower shelf": 0.4023623114225881
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8048586355863613,
    "bimanual_gripper_vertical_difference": 0.18223619664134047,
    "task_success": 0.0
  },
  {
    "completion_time": 3.5719497203826904,
    "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": 0.0007295086365596282,
      "book-upper shelf": 0.6091156295975819,
      "book-lower shelf": 0.4023600444117036
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8111740245774436,
    "bimanual_gripper_vertical_difference": 0.18247955097124716,
    "task_success": 0.0
  },
  {
    "completion_time": 3.601715326309204,
    "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": 0.0007304687370340845,
      "book-upper shelf": 0.6091153711454005,
      "book-lower shelf": 0.4023602406873794
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.822120470014357,
    "bimanual_gripper_vertical_difference": 0.18264643539794956,
    "task_success": 0.0
  },
  {
    "completion_time": 3.6315395832061768,
    "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": 0.0007314069689439151,
      "book-upper shelf": 0.609115132421865,
      "book-lower shelf": 0.4023604534469261
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8286526245781379,
    "bimanual_gripper_vertical_difference": 0.1827869047078358,
    "task_success": 0.0
  },
  {
    "completion_time": 3.662290096282959,
    "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": 0.0007323450488698757,
      "book-upper shelf": 0.6091148939004217,
      "book-lower shelf": 0.4023606664194332
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8344322576395097,
    "bimanual_gripper_vertical_difference": 0.182928024966191,
    "task_success": 0.0
  },
  {
    "completion_time": 3.692354202270508,
    "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": 0.0007332831212196744,
      "book-upper shelf": 0.6091146554512348,
      "book-lower shelf": 0.40236087949671795
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8404594681751573,
    "bimanual_gripper_vertical_difference": 0.18307664924126882,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7225468158721924,
    "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": 0.0007342211869387771,
      "book-upper shelf": 0.6091144170734591,
      "book-lower shelf": 0.40236109267807957
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8458311542109767,
    "bimanual_gripper_vertical_difference": 0.18322682540642352,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7546029090881348,
    "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": 0.0007351592460188572,
      "book-upper shelf": 0.6091141787671076,
      "book-lower shelf": 0.40236130596353203
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8488195071341691,
    "bimanual_gripper_vertical_difference": 0.18335996539570978,
    "task_success": 0.0
  },
  {
    "completion_time": 3.7845940589904785,
    "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": 0.0007360972984449266,
      "book-upper shelf": 0.6091139405321988,
      "book-lower shelf": 0.40236151935309417
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8486482639869742,
    "bimanual_gripper_vertical_difference": 0.18345824944855882,
    "task_success": 0.0
  },
  {
    "completion_time": 3.817487955093384,
    "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": 0.0007370353442023303,
      "book-upper shelf": 0.6091137023687513,
      "book-lower shelf": 0.4023617328467844
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8490721280184634,
    "bimanual_gripper_vertical_difference": 0.18351532427541337,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8481385707855225,
    "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": 0.0007082019757965741,
      "book-upper shelf": 0.6091321047537552,
      "book-lower shelf": 0.4023719469540599
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8505626411630643,
    "bimanual_gripper_vertical_difference": 0.18353070439392405,
    "task_success": 0.0
  },
  {
    "completion_time": 3.8787288665771484,
    "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": 0.0007282733704092603,
      "book-upper shelf": 0.6091146605018088,
      "book-lower shelf": 0.4023578214106803
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8507921217046344,
    "bimanual_gripper_vertical_difference": 0.18353123920309447,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9094772338867188,
    "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": 0.0007293388656027799,
      "book-upper shelf": 0.6091143070961595,
      "book-lower shelf": 0.40235793843847106
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8492822217096689,
    "bimanual_gripper_vertical_difference": 0.18354630690928708,
    "task_success": 0.0
  },
  {
    "completion_time": 3.9398069381713867,
    "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": 0.0007302779708130425,
      "book-upper shelf": 0.6091140674065089,
      "book-lower shelf": 0.40235815027172334
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8469986956670369,
    "bimanual_gripper_vertical_difference": 0.18358239621859357,
    "task_success": 0.0
  },
  {
    "completion_time": 3.970057964324951,
    "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": 0.0007312162289891955,
      "book-upper shelf": 0.6091138285439214,
      "book-lower shelf": 0.40235836283871745
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8453182194947353,
    "bimanual_gripper_vertical_difference": 0.18363536793644034,
    "task_success": 0.0
  },
  {
    "completion_time": 4.000166893005371,
    "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": 0.0007321544750179543,
      "book-upper shelf": 0.6091135897576879,
      "book-lower shelf": 0.40235857551389664
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8425586031272829,
    "bimanual_gripper_vertical_difference": 0.1836941760340658,
    "task_success": 0.0
  },
  {
    "completion_time": 4.030813932418823,
    "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": 0.0007330927144365562,
      "book-upper shelf": 0.6091133510428349,
      "book-lower shelf": 0.4023587882931198
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8370253957119165,
    "bimanual_gripper_vertical_difference": 0.18375104075880722,
    "task_success": 0.0
  },
  {
    "completion_time": 4.061415433883667,
    "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": 0.0007340309472669837,
      "book-upper shelf": 0.6091131123993477,
      "book-lower shelf": 0.4023590011763779
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8306640783039803,
    "bimanual_gripper_vertical_difference": 0.18380626461063693,
    "task_success": 0.0
  },
  {
    "completion_time": 4.091764211654663,
    "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": 0.0007349691734951369,
      "book-upper shelf": 0.6091128738272445,
      "book-lower shelf": 0.40235921416368947
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8243829256619417,
    "bimanual_gripper_vertical_difference": 0.183859740777662,
    "task_success": 0.0
  },
  {
    "completion_time": 4.121809720993042,
    "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": 0.0007359073931055837,
      "book-upper shelf": 0.6091126353265441,
      "book-lower shelf": 0.40235942725507334
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8182022392365923,
    "bimanual_gripper_vertical_difference": 0.1839118282936579,
    "task_success": 0.0
  },
  {
    "completion_time": 4.151804685592651,
    "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": 0.000541515515139257,
      "book-upper shelf": 0.6092872978606712,
      "book-lower shelf": 0.4025048934371598
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.812104130603472,
    "bimanual_gripper_vertical_difference": 0.18396277154316665,
    "task_success": 0.0
  },
  {
    "completion_time": 4.181801795959473,
    "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": 0.000709440915130588,
      "book-upper shelf": 0.609133413738731,
      "book-lower shelf": 0.40237468670697296
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8060926831778519,
    "bimanual_gripper_vertical_difference": 0.18401273114328415,
    "task_success": 0.0
  },
  {
    "completion_time": 4.211381912231445,
    "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": 0.0007303988022441255,
      "book-upper shelf": 0.609115174946825,
      "book-lower shelf": 0.4023599008742309
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8001881152800199,
    "bimanual_gripper_vertical_difference": 0.18406181224658322,
    "task_success": 0.0
  },
  {
    "completion_time": 4.241203546524048,
    "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": 0.0007314699433379479,
      "book-upper shelf": 0.6091148167776859,
      "book-lower shelf": 0.40236001414475064
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7948645571119174,
    "bimanual_gripper_vertical_difference": 0.18410130138003356,
    "task_success": 0.0
  },
  {
    "completion_time": 4.271018028259277,
    "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": 0.0007324088377320681,
      "book-upper shelf": 0.6091145775755467,
      "book-lower shelf": 0.4023602265856183
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7940815003987429,
    "bimanual_gripper_vertical_difference": 0.18409381010859396,
    "task_success": 0.0
  },
  {
    "completion_time": 4.300901889801025,
    "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": 0.0007333468460530845,
      "book-upper shelf": 0.6091143392354887,
      "book-lower shelf": 0.4023604397893462
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7957293147447119,
    "bimanual_gripper_vertical_difference": 0.18401214263405719,
    "task_success": 0.0
  },
  {
    "completion_time": 4.331129789352417,
    "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": 0.0007342848418763204,
      "book-upper shelf": 0.6091141009721168,
      "book-lower shelf": 0.40236065310154556
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.7986654453487794,
    "bimanual_gripper_vertical_difference": 0.18385560399085688,
    "task_success": 0.0
  },
  {
    "completion_time": 4.362966537475586,
    "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": 0.0007352228309964737,
      "book-upper shelf": 0.6091138627802265,
      "book-lower shelf": 0.4023608665178833
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8029795955749053,
    "bimanual_gripper_vertical_difference": 0.1836324516296829,
    "task_success": 0.0
  },
  {
    "completion_time": 4.39274001121521,
    "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": 0.0007361608134376363,
      "book-upper shelf": 0.6091136246598013,
      "book-lower shelf": 0.402361080038349
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8091907882408959,
    "bimanual_gripper_vertical_difference": 0.1833515349666865,
    "task_success": 0.0
  },
  {
    "completion_time": 4.422259092330933,
    "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": 0.0007370987891853753,
      "book-upper shelf": 0.6091133866108595,
      "book-lower shelf": 0.40236129366296103
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8164976155600875,
    "bimanual_gripper_vertical_difference": 0.18303008026611914,
    "task_success": 0.0
  },
  {
    "completion_time": 4.451865911483765,
    "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": 0.0007380367582241476,
      "book-upper shelf": 0.60911314863342,
      "book-lower shelf": 0.4023615073917387
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8242224679533183,
    "bimanual_gripper_vertical_difference": 0.18269467816529827,
    "task_success": 0.0
  },
  {
    "completion_time": 4.481848955154419,
    "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": 0.0006181493257573223,
      "book-upper shelf": 0.6092188545577034,
      "book-lower shelf": 0.4024481693026475
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8314068028201882,
    "bimanual_gripper_vertical_difference": 0.18237283122743522,
    "task_success": 0.0
  },
  {
    "completion_time": 4.512272834777832,
    "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": 0.0005247281292737327,
      "book-upper shelf": 0.6093022139479934,
      "book-lower shelf": 0.4025172032103438
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.838531292861217,
    "bimanual_gripper_vertical_difference": 0.18208931965319822,
    "task_success": 0.0
  },
  {
    "completion_time": 4.542751312255859,
    "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": 0.0006379752048133458,
      "book-upper shelf": 0.6091957226436451,
      "book-lower shelf": 0.4024252824660544
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8475132458465058,
    "bimanual_gripper_vertical_difference": 0.1818622663767128,
    "task_success": 0.0
  },
  {
    "completion_time": 4.572705507278442,
    "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": 0.0007290302172752172,
      "book-upper shelf": 0.6091144528997946,
      "book-lower shelf": 0.402357970286124
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8577416486934187,
    "bimanual_gripper_vertical_difference": 0.18168324663323315,
    "task_success": 0.0
  },
  {
    "completion_time": 4.602440357208252,
    "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": 0.0007305671812023462,
      "book-upper shelf": 0.6091136757640547,
      "book-lower shelf": 0.402357734363384
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8640296303060344,
    "bimanual_gripper_vertical_difference": 0.18154132043817547,
    "task_success": 0.0
  },
  {
    "completion_time": 4.63225245475769,
    "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": 0.000731509282465459,
      "book-upper shelf": 0.6091134335515811,
      "book-lower shelf": 0.40235794421136983
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8677416765050778,
    "bimanual_gripper_vertical_difference": 0.1814402284385161,
    "task_success": 0.0
  },
  {
    "completion_time": 4.66196084022522,
    "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": 0.0007324474211515275,
      "book-upper shelf": 0.6091131949673093,
      "book-lower shelf": 0.40235815712705725
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8720057233246999,
    "bimanual_gripper_vertical_difference": 0.181377862622688,
    "task_success": 0.0
  },
  {
    "completion_time": 4.691756963729858,
    "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": 0.0007333855269143763,
      "book-upper shelf": 0.6091129564780791,
      "book-lower shelf": 0.4023583701665053
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8786074352067306,
    "bimanual_gripper_vertical_difference": 0.18134848263405517,
    "task_success": 0.0
  },
  {
    "completion_time": 4.721514701843262,
    "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": 0.0007343236258728902,
      "book-upper shelf": 0.6091127180604128,
      "book-lower shelf": 0.4023585833101553
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8850834198101496,
    "bimanual_gripper_vertical_difference": 0.18133369464540577,
    "task_success": 0.0
  },
  {
    "completion_time": 4.75115442276001,
    "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": 0.0007352617181863863,
      "book-upper shelf": 0.6091124797141725,
      "book-lower shelf": 0.40235879655789564
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8844009835592529,
    "bimanual_gripper_vertical_difference": 0.18131082906540416,
    "task_success": 0.0
  },
  {
    "completion_time": 4.78389310836792,
    "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": 0.0007361998038405426,
      "book-upper shelf": 0.609112241439376,
      "book-lower shelf": 0.40235900990974455
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8789331817130036,
    "bimanual_gripper_vertical_difference": 0.18128349043443162,
    "task_success": 0.0
  },
  {
    "completion_time": 4.813647031784058,
    "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": 0.0007371378828209263,
      "book-upper shelf": 0.6091120032360418,
      "book-lower shelf": 0.40235922336572055
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8734739061252143,
    "bimanual_gripper_vertical_difference": 0.18125447640195558,
    "task_success": 0.0
  },
  {
    "completion_time": 4.843658685684204,
    "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": 0.0007380759551126603,
      "book-upper shelf": 0.6091117651041884,
      "book-lower shelf": 0.4023594369258424
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8680335234150763,
    "bimanual_gripper_vertical_difference": 0.18122455760837453,
    "task_success": 0.0
  },
  {
    "completion_time": 4.874404430389404,
    "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": 0.0007092541418470821,
      "book-upper shelf": 0.6091301581706273,
      "book-lower shelf": 0.40236964396684405
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.863396947488602,
    "bimanual_gripper_vertical_difference": 0.18119075060582637,
    "task_success": 0.0
  },
  {
    "completion_time": 4.904639720916748,
    "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": 0.0007293253691578183,
      "book-upper shelf": 0.6091127150998145,
      "book-lower shelf": 0.402355520112705
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8615524154968158,
    "bimanual_gripper_vertical_difference": 0.1811506595895576,
    "task_success": 0.0
  },
  {
    "completion_time": 4.934752702713013,
    "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": 0.0007303908905526013,
      "book-upper shelf": 0.6091123617328008,
      "book-lower shelf": 0.402355637217397
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8645315444620263,
    "bimanual_gripper_vertical_difference": 0.1811152377869341,
    "task_success": 0.0
  },
  {
    "completion_time": 4.966557025909424,
    "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": 0.0007313300231986952,
      "book-upper shelf": 0.6091121220742368,
      "book-lower shelf": 0.40235584911687033
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8721720585081935,
    "bimanual_gripper_vertical_difference": 0.18109014881694405,
    "task_success": 0.0
  },
  {
    "completion_time": 4.996518135070801,
    "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": 0.0007322683087990223,
      "book-upper shelf": 0.6091118832427053,
      "book-lower shelf": 0.40235606175003197
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8818669149923895,
    "bimanual_gripper_vertical_difference": 0.18105255903393616,
    "task_success": 0.0
  },
  {
    "completion_time": 5.026468753814697,
    "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": 0.0007332065822317491,
      "book-upper shelf": 0.6091116444875475,
      "book-lower shelf": 0.4023562744913962
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.8925947019196265,
    "bimanual_gripper_vertical_difference": 0.1809819511564713,
    "task_success": 0.0
  },
  {
    "completion_time": 5.056490182876587,
    "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": 0.000734144849034668,
      "book-upper shelf": 0.6091114058037894,
      "book-lower shelf": 0.40235648733682183
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9008238367850416,
    "bimanual_gripper_vertical_difference": 0.1808829801310006,
    "task_success": 0.0
  },
  {
    "completion_time": 5.086475133895874,
    "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": 0.0007350831092294285,
      "book-upper shelf": 0.609111167191417,
      "book-lower shelf": 0.40235670028630016
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9081335625190385,
    "bimanual_gripper_vertical_difference": 0.1807661971776904,
    "task_success": 0.0
  },
  {
    "completion_time": 5.116670846939087,
    "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": 0.0007360213628018197,
      "book-upper shelf": 0.6091109286504481,
      "book-lower shelf": 0.4023569133398495
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9181733721858564,
    "bimanual_gripper_vertical_difference": 0.18064659385706727,
    "task_success": 0.0
  },
  {
    "completion_time": 5.1469762325286865,
    "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": 0.0007369596097368536,
      "book-upper shelf": 0.6091106901809016,
      "book-lower shelf": 0.4023571264974889
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9296547667918212,
    "bimanual_gripper_vertical_difference": 0.18053888922532452,
    "task_success": 0.0
  },
  {
    "completion_time": 5.177563905715942,
    "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": 0.0006159637045078936,
      "book-upper shelf": 0.6092119720973341,
      "book-lower shelf": 0.402436413441917
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.943232512599913,
    "bimanual_gripper_vertical_difference": 0.18045258590923227,
    "task_success": 0.0
  },
  {
    "completion_time": 5.207988977432251,
    "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": 0.0007275840648590659,
      "book-upper shelf": 0.6091122009268164,
      "book-lower shelf": 0.4023536761128299
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9592544551013827,
    "bimanual_gripper_vertical_difference": 0.18040179188416552,
    "task_success": 0.0
  },
  {
    "completion_time": 5.237884283065796,
    "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": 0.0007292580345826805,
      "book-upper shelf": 0.6091113002520269,
      "book-lower shelf": 0.40235333701201115
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9774890322027889,
    "bimanual_gripper_vertical_difference": 0.18037120540688445,
    "task_success": 0.0
  },
  {
    "completion_time": 5.267714977264404,
    "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": 0.0007302013860392975,
      "book-upper shelf": 0.6091110566190662,
      "book-lower shelf": 0.40235354547835794
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 0.9963960673851565,
    "bimanual_gripper_vertical_difference": 0.18035309230543506,
    "task_success": 0.0
  },
  {
    "completion_time": 5.298049211502075,
    "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": 0.0007311398721893125,
      "book-upper shelf": 0.6091108174263129,
      "book-lower shelf": 0.40235375768925585
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0149103030761675,
    "bimanual_gripper_vertical_difference": 0.18035755439602028,
    "task_success": 0.0
  },
  {
    "completion_time": 5.327836036682129,
    "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": 0.0007320783195000624,
      "book-upper shelf": 0.6091105783339031,
      "book-lower shelf": 0.4023539700283227
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0332651477346546,
    "bimanual_gripper_vertical_difference": 0.1803878470016821,
    "task_success": 0.0
  },
  {
    "completion_time": 5.358254432678223,
    "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": 0.000733016760054328,
      "book-upper shelf": 0.6091103393129946,
      "book-lower shelf": 0.4023541824715281
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.0514228277895115,
    "bimanual_gripper_vertical_difference": 0.18046498926708282,
    "task_success": 0.0
  },
  {
    "completion_time": 5.388230085372925,
    "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": 0.0007339551940508393,
      "book-upper shelf": 0.609110100363414,
      "book-lower shelf": 0.40235439501873105
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.069554184416712,
    "bimanual_gripper_vertical_difference": 0.1805943135598431,
    "task_success": 0.0
  },
  {
    "completion_time": 5.418142795562744,
    "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": 0.0007348936214760515,
      "book-upper shelf": 0.6091098614851785,
      "book-lower shelf": 0.40235460766994907
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.087484926340647,
    "bimanual_gripper_vertical_difference": 0.1807698986033992,
    "task_success": 0.0
  },
  {
    "completion_time": 5.448094129562378,
    "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": 0.0007358320423151987,
      "book-upper shelf": 0.6091096226783068,
      "book-lower shelf": 0.40235482042520104
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1053060026987014,
    "bimanual_gripper_vertical_difference": 0.18098098619229505,
    "task_success": 0.0
  },
  {
    "completion_time": 5.4773736000061035,
    "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": 0.0006662592753613472,
      "book-upper shelf": 0.6091734783553016,
      "book-lower shelf": 0.40240891479013813
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1205946157192186,
    "bimanual_gripper_vertical_difference": 0.18121229309129178,
    "task_success": 0.0
  },
  {
    "completion_time": 5.507386922836304,
    "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": 0.0005798086954814652,
      "book-upper shelf": 0.6092468943718785,
      "book-lower shelf": 0.4024671585171835
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1316442383796823,
    "bimanual_gripper_vertical_difference": 0.1814504175336929,
    "task_success": 0.0
  },
  {
    "completion_time": 5.536960601806641,
    "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": 0.0007294382156667334,
      "book-upper shelf": 0.609112957368095,
      "book-lower shelf": 0.4023559559318931
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1429419843391728,
    "bimanual_gripper_vertical_difference": 0.18168442120331293,
    "task_success": 0.0
  },
  {
    "completion_time": 5.56828761100769,
    "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": 0.0007313652502448642,
      "book-upper shelf": 0.6091118295484949,
      "book-lower shelf": 0.40235542782998623
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1542584271319574,
    "bimanual_gripper_vertical_difference": 0.18191713464392156,
    "task_success": 0.0
  },
  {
    "completion_time": 5.598220586776733,
    "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": 0.0007323100343994415,
      "book-upper shelf": 0.609111584925633,
      "book-lower shelf": 0.40235563567310584
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.163602837650498,
    "bimanual_gripper_vertical_difference": 0.1821395339726464,
    "task_success": 0.0
  },
  {
    "completion_time": 5.628266334533691,
    "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": 0.0007332482797319795,
      "book-upper shelf": 0.6091113462470292,
      "book-lower shelf": 0.40235584851356854
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1725470994890024,
    "bimanual_gripper_vertical_difference": 0.1823445330694954,
    "task_success": 0.0
  },
  {
    "completion_time": 5.658348560333252,
    "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": 0.0007341864750053384,
      "book-upper shelf": 0.6091111076788699,
      "book-lower shelf": 0.40235606149062353
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1818741049403467,
    "bimanual_gripper_vertical_difference": 0.1825291872863221,
    "task_success": 0.0
  },
  {
    "completion_time": 5.689107656478882,
    "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": 0.0007351246633567898,
      "book-upper shelf": 0.6091108691823779,
      "book-lower shelf": 0.4023562745719657
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.1929368829086646,
    "bimanual_gripper_vertical_difference": 0.1826911768702877,
    "task_success": 0.0
  },
  {
    "completion_time": 5.71964168548584,
    "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": 0.0007360628450587825,
      "book-upper shelf": 0.6091106307573136,
      "book-lower shelf": 0.40235648775739874
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2048320289998833,
    "bimanual_gripper_vertical_difference": 0.1828234939426406,
    "task_success": 0.0
  },
  {
    "completion_time": 5.75084114074707,
    "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": 0.0007370010200984378,
      "book-upper shelf": 0.6091103924036939,
      "book-lower shelf": 0.4023567010469399
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.217211956449456,
    "bimanual_gripper_vertical_difference": 0.18292114793586872,
    "task_success": 0.0
  },
  {
    "completion_time": 5.782249212265015,
    "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": 0.0007379391884607678,
      "book-upper shelf": 0.6091101541215376,
      "book-lower shelf": 0.40235691444060795
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2298106267043285,
    "bimanual_gripper_vertical_difference": 0.18298011065644806,
    "task_success": 0.0
  },
  {
    "completion_time": 5.815854787826538,
    "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": 0.0007388773501308954,
      "book-upper shelf": 0.609109915910863,
      "book-lower shelf": 0.4023571279384218
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2425321835187746,
    "bimanual_gripper_vertical_difference": 0.18299637739559896,
    "task_success": 0.0
  },
  {
    "completion_time": 5.847023963928223,
    "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": 0.000536816968791709,
      "book-upper shelf": 0.6092838866070531,
      "book-lower shelf": 0.40249685537449104
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.250076809609125,
    "bimanual_gripper_vertical_difference": 0.18296926058842358,
    "task_success": 0.0
  },
  {
    "completion_time": 5.878053188323975,
    "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": 0.0005550993238606639,
      "book-upper shelf": 0.6092747807516986,
      "book-lower shelf": 0.40249425550325657
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2566798610092238,
    "bimanual_gripper_vertical_difference": 0.18292413488700943,
    "task_success": 0.0
  },
  {
    "completion_time": 5.909585475921631,
    "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": 0.0007250548804679235,
      "book-upper shelf": 0.6091149463622038,
      "book-lower shelf": 0.40235628458938916
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.264018056151012,
    "bimanual_gripper_vertical_difference": 0.18286962975543916,
    "task_success": 0.0
  },
  {
    "completion_time": 5.940591335296631,
    "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": 0.0007304412705484431,
      "book-upper shelf": 0.6091107079668745,
      "book-lower shelf": 0.40235316446430885
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2676984412470003,
    "bimanual_gripper_vertical_difference": 0.18281945976084335,
    "task_success": 0.0
  },
  {
    "completion_time": 5.972233772277832,
    "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": 0.000731409168923447,
      "book-upper shelf": 0.6091104424346769,
      "book-lower shelf": 0.40235335480030193
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2738716026234314,
    "bimanual_gripper_vertical_difference": 0.1827839388612097,
    "task_success": 0.0
  },
  {
    "completion_time": 6.002960681915283,
    "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": 0.0007323476768748005,
      "book-upper shelf": 0.6091102033929469,
      "book-lower shelf": 0.40235356725363636
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2839560895959137,
    "bimanual_gripper_vertical_difference": 0.18277933501854868,
    "task_success": 0.0
  },
  {
    "completion_time": 6.033249378204346,
    "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": 0.0007332859828306226,
      "book-upper shelf": 0.609109964598257,
      "book-lower shelf": 0.402353779957373
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.2927972974337725,
    "bimanual_gripper_vertical_difference": 0.1828442891487474,
    "task_success": 0.0
  },
  {
    "completion_time": 6.063426494598389,
    "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": 0.0007342242808888733,
      "book-upper shelf": 0.609109725876103,
      "book-lower shelf": 0.40235399276611555
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3001623368462165,
    "bimanual_gripper_vertical_difference": 0.18298578018166095,
    "task_success": 0.0
  },
  {
    "completion_time": 6.092819690704346,
    "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": 0.0007351625723256427,
      "book-upper shelf": 0.6091094872253431,
      "book-lower shelf": 0.4023542056789158
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3026570825337713,
    "bimanual_gripper_vertical_difference": 0.1831552128270691,
    "task_success": 0.0
  },
  {
    "completion_time": 6.1216442584991455,
    "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": 0.0007361008571346028,
      "book-upper shelf": 0.6091092486459878,
      "book-lower shelf": 0.4023544186957859
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3059526431688215,
    "bimanual_gripper_vertical_difference": 0.18334247700103878,
    "task_success": 0.0
  },
  {
    "completion_time": 6.150735855102539,
    "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": 0.0007370391353008765,
      "book-upper shelf": 0.609109010138056,
      "book-lower shelf": 0.40235463181674486
    },
    "success": 0.0,
    "bimanual_arm_velocity_difference": 1.3107519067455424,
    "bimanual_gripper_vertical_difference": 0.18355460757486952,
    "task_success": 0.0
  }
]