| [ |
| { |
| "completion_time": 0.05144071578979492, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": -0.0007957044154109916, |
| "left gripper-book distance": 0.6045300911771609, |
| "right gripper-book distance": 0.4364095916366824 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 2.0051765475953554e-06, |
| "bimanual_gripper_vertical_difference": 5.695708349406914e-10, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.08382105827331543, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.000438485166607383, |
| "left gripper-book distance": 0.6024472498657766, |
| "right gripper-book distance": 0.43375399135799153 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.018563459267291e-06, |
| "bimanual_gripper_vertical_difference": 7.251649281059258e-10, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.11821961402893066, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.00014126257375701723, |
| "left gripper-book distance": 0.6018985604062175, |
| "right gripper-book distance": 0.43302995149121315 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 6.86548475858223e-07, |
| "bimanual_gripper_vertical_difference": 9.739087314386552e-10, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.15098309516906738, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0001243416915662765, |
| "left gripper-book distance": 0.60142580232366, |
| "right gripper-book distance": 0.4324022583972575 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 2.0476543531686847e-06, |
| "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.1817765235900879, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.00012371249993881062, |
| "left gripper-book distance": 0.6011117521328933, |
| "right gripper-book distance": 0.43199030152629325 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.0001767503972824533, |
| "bimanual_gripper_vertical_difference": 2.2006893640735827e-09, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.2112584114074707, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.00012243984657478446, |
| "left gripper-book distance": 0.6009066549198011, |
| "right gripper-book distance": 0.43172776563958515 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.00019642507390927027, |
| "bimanual_gripper_vertical_difference": 2.7687085587165447e-09, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.24076175689697266, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.00012103639820615353, |
| "left gripper-book distance": 0.6007714852224234, |
| "right gripper-book distance": 0.43156125162362796 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.0001889880366899402, |
| "bimanual_gripper_vertical_difference": 3.305395037043825e-09, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.2717890739440918, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.00011961357343082124, |
| "left gripper-book distance": 0.600618210408213, |
| "right gripper-book distance": 0.43136908622148146 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.00030546348581476685, |
| "bimanual_gripper_vertical_difference": 4.210873150167771e-09, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.30126190185546875, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.00011817184885110077, |
| "left gripper-book distance": 0.5986624074538759, |
| "right gripper-book distance": 0.42400328211517374 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.10710621810873834, |
| "bimanual_gripper_vertical_difference": 0.0006475882343745828, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.3309786319732666, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.00011670959789789048, |
| "left gripper-book distance": 0.595556069664006, |
| "right gripper-book distance": 0.41044189950067467 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.2363307264239166, |
| "bimanual_gripper_vertical_difference": 0.0025253185010591928, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.35964488983154297, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.00011523161850490737, |
| "left gripper-book distance": 0.5920645990108149, |
| "right gripper-book distance": 0.386066834514472 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.3305322765384787, |
| "bimanual_gripper_vertical_difference": 0.006564558043980918, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.38946986198425293, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.00011394586103163906, |
| "left gripper-book distance": 0.5894086692573971, |
| "right gripper-book distance": 0.3508207455109043 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.43001775623748556, |
| "bimanual_gripper_vertical_difference": 0.013456151907614919, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.41979050636291504, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0001687594431735162, |
| "left gripper-book distance": 0.5880331761140167, |
| "right gripper-book distance": 0.30661136147763735 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.5608429560729675, |
| "bimanual_gripper_vertical_difference": 0.023478582815327827, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.44896483421325684, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007572019356661963, |
| "left gripper-book distance": 0.5865700153014757, |
| "right gripper-book distance": 0.25614044422025517 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.7068660782798667, |
| "bimanual_gripper_vertical_difference": 0.036391188252479646, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.47858214378356934, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007739657736904881, |
| "left gripper-book distance": 0.5847833957421881, |
| "right gripper-book distance": 0.21580088136938602 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.853261199142888, |
| "bimanual_gripper_vertical_difference": 0.050524314615406435, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.5086863040924072, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007759662327316841, |
| "left gripper-book distance": 0.5823324684466845, |
| "right gripper-book distance": 0.1911640079167487 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.9341606035829045, |
| "bimanual_gripper_vertical_difference": 0.06400696719362876, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.5389986038208008, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007422548018952702, |
| "left gripper-book distance": 0.5797431335564658, |
| "right gripper-book distance": 0.1820560535891824 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.010412693846988, |
| "bimanual_gripper_vertical_difference": 0.07572744296499356, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.5688650608062744, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007783167556251191, |
| "left gripper-book distance": 0.5776944480229042, |
| "right gripper-book distance": 0.18418423581262872 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.0956452829153762, |
| "bimanual_gripper_vertical_difference": 0.08543598523183991, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.5988645553588867, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007714218009972074, |
| "left gripper-book distance": 0.5770312533933245, |
| "right gripper-book distance": 0.18178290494502736 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.1458871850518364, |
| "bimanual_gripper_vertical_difference": 0.09402211173425289, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.6298012733459473, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007630869061745482, |
| "left gripper-book distance": 0.5779208419400497, |
| "right gripper-book distance": 0.18170677110948483 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.201164649238289, |
| "bimanual_gripper_vertical_difference": 0.10179985191706176, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.6627309322357178, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.000769920861644291, |
| "left gripper-book distance": 0.580120240135952, |
| "right gripper-book distance": 0.18246880631405946 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.2416961249990497, |
| "bimanual_gripper_vertical_difference": 0.10905357654933556, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.6942939758300781, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007639037372378921, |
| "left gripper-book distance": 0.5830861597762871, |
| "right gripper-book distance": 0.17268478748436064 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.2356717367568781, |
| "bimanual_gripper_vertical_difference": 0.11609070776575284, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.7254691123962402, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007155108842884506, |
| "left gripper-book distance": 0.585962017976861, |
| "right gripper-book distance": 0.16045633861665423 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.2067772786544968, |
| "bimanual_gripper_vertical_difference": 0.12300327365838527, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.755612850189209, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007542684163673874, |
| "left gripper-book distance": 0.5882657537806798, |
| "right gripper-book distance": 0.14616640227464 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.2034063972970477, |
| "bimanual_gripper_vertical_difference": 0.12984389036890262, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.7853748798370361, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": false, |
| "2": false |
| }, |
| "target_distance": { |
| "book lift distance": 0.000727960455275567, |
| "left gripper-book distance": 0.5902019253152723, |
| "right gripper-book distance": 0.13373649441903607 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.1995820334029696, |
| "bimanual_gripper_vertical_difference": 0.13656785691419676, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.8154299259185791, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0010083567818390815, |
| "left gripper-book distance": 0.5913795212898953, |
| "right gripper-book distance": 0.1295684466260351 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.1695787485461904, |
| "bimanual_gripper_vertical_difference": 0.14296726848075522, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.8448224067687988, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0012933291912411438, |
| "left gripper-book distance": 0.5911756867495717, |
| "right gripper-book distance": 0.1318471659327197 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.1402202381556736, |
| "bimanual_gripper_vertical_difference": 0.14896237571728677, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.8733205795288086, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007700871251825614, |
| "left gripper-book distance": 0.5930381543022569, |
| "right gripper-book distance": 0.13365963009651574 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.1099285571789477, |
| "bimanual_gripper_vertical_difference": 0.1545687420772163, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.9023110866546631, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0005190530193124321, |
| "left gripper-book distance": 0.5933119976695638, |
| "right gripper-book distance": 0.1362423692861665 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.0820418979172481, |
| "bimanual_gripper_vertical_difference": 0.15975858303931534, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.930354118347168, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0005002821017433545, |
| "left gripper-book distance": 0.5933663697034534, |
| "right gripper-book distance": 0.13808057857919162 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.0545726409006084, |
| "bimanual_gripper_vertical_difference": 0.16454057548842613, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.9616024494171143, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0009863714811204627, |
| "left gripper-book distance": 0.5932827178364594, |
| "right gripper-book distance": 0.13853157556783516 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.029064394735063, |
| "bimanual_gripper_vertical_difference": 0.16897345640547812, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 0.9914453029632568, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0011502042189819317, |
| "left gripper-book distance": 0.5930864923731514, |
| "right gripper-book distance": 0.13905992478103546 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.0060935001188935, |
| "bimanual_gripper_vertical_difference": 0.173099693870298, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.0211551189422607, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0015073923896020691, |
| "left gripper-book distance": 0.592390260912492, |
| "right gripper-book distance": 0.13964218577137835 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.9832688498422901, |
| "bimanual_gripper_vertical_difference": 0.17693774994872083, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.0503144264221191, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0020849386938859293, |
| "left gripper-book distance": 0.5915075977198595, |
| "right gripper-book distance": 0.14040838932799074 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.9610354274045944, |
| "bimanual_gripper_vertical_difference": 0.18049953572190255, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.0821990966796875, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0026376661556322123, |
| "left gripper-book distance": 0.5908980938456674, |
| "right gripper-book distance": 0.1412122993343477 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.9377461001535989, |
| "bimanual_gripper_vertical_difference": 0.18380737886014614, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.1130094528198242, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0015383084105430322, |
| "left gripper-book distance": 0.5916198103195548, |
| "right gripper-book distance": 0.1432827310646346 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.9348033325189411, |
| "bimanual_gripper_vertical_difference": 0.1868674586664285, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.1419477462768555, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0005548591768610445, |
| "left gripper-book distance": 0.5923875878898306, |
| "right gripper-book distance": 0.1478553766929385 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.960923176449924, |
| "bimanual_gripper_vertical_difference": 0.1896594692810243, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.1710636615753174, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007404135957387314, |
| "left gripper-book distance": 0.5924967846331894, |
| "right gripper-book distance": 0.15572851537741397 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 0.9968538709391829, |
| "bimanual_gripper_vertical_difference": 0.19215784994673266, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.2009978294372559, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007584935445039687, |
| "left gripper-book distance": 0.5930037850588833, |
| "right gripper-book distance": 0.16830694190964401 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.0376703478194624, |
| "bimanual_gripper_vertical_difference": 0.19432656475724006, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.230738639831543, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007764844597211162, |
| "left gripper-book distance": 0.5935866726160551, |
| "right gripper-book distance": 0.17937867211615824 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.0659633254963217, |
| "bimanual_gripper_vertical_difference": 0.19623505089259013, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.2624711990356445, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007959434289014355, |
| "left gripper-book distance": 0.5939565244662924, |
| "right gripper-book distance": 0.18509631818511998 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.0769438307402452, |
| "bimanual_gripper_vertical_difference": 0.19800643314637797, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.2912523746490479, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007436552718997902, |
| "left gripper-book distance": 0.5938073030499323, |
| "right gripper-book distance": 0.1874430864279378 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.090959996250893, |
| "bimanual_gripper_vertical_difference": 0.19970959843344716, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.320068359375, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007590541008395402, |
| "left gripper-book distance": 0.5931717080906191, |
| "right gripper-book distance": 0.18813541987990717 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.1131531068133265, |
| "bimanual_gripper_vertical_difference": 0.2013850780638119, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.349419355392456, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007822572692784968, |
| "left gripper-book distance": 0.59218226926714, |
| "right gripper-book distance": 0.18658807776453726 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.1417407884504307, |
| "bimanual_gripper_vertical_difference": 0.20309441456654256, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.3787181377410889, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007858656935200159, |
| "left gripper-book distance": 0.5907990063944228, |
| "right gripper-book distance": 0.1833169439333375 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.170957834278528, |
| "bimanual_gripper_vertical_difference": 0.20488243271450873, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.408024549484253, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.000779804350662161, |
| "left gripper-book distance": 0.5891978306088186, |
| "right gripper-book distance": 0.17919537111193534 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.1998961769923844, |
| "bimanual_gripper_vertical_difference": 0.20676790320293922, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.4372270107269287, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007978097521487149, |
| "left gripper-book distance": 0.5875788364290305, |
| "right gripper-book distance": 0.1742253596883475 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.2304699136215325, |
| "bimanual_gripper_vertical_difference": 0.20875618732167098, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.4665720462799072, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.000779217644061414, |
| "left gripper-book distance": 0.5855360831230556, |
| "right gripper-book distance": 0.17013200032726314 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.2596818020273888, |
| "bimanual_gripper_vertical_difference": 0.21081754403748007, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.4952592849731445, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007890888410427843, |
| "left gripper-book distance": 0.5830701951878327, |
| "right gripper-book distance": 0.16752656608251654 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.2859220500124349, |
| "bimanual_gripper_vertical_difference": 0.21289861087332984, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.524306058883667, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0006881526303302854, |
| "left gripper-book distance": 0.5803168819366064, |
| "right gripper-book distance": 0.16669204632050527 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.3116322408782315, |
| "bimanual_gripper_vertical_difference": 0.21494391649007707, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.5525274276733398, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007296893454024067, |
| "left gripper-book distance": 0.5774038122506175, |
| "right gripper-book distance": 0.16646570676796354 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.3343149184306848, |
| "bimanual_gripper_vertical_difference": 0.2169346993393605, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.5817887783050537, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007667411505248856, |
| "left gripper-book distance": 0.5749503223727579, |
| "right gripper-book distance": 0.1652352727193299 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.356797297315385, |
| "bimanual_gripper_vertical_difference": 0.21888643382356693, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.6113476753234863, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.000771329639899343, |
| "left gripper-book distance": 0.5730426799990724, |
| "right gripper-book distance": 0.16168458188068796 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.3810428221585949, |
| "bimanual_gripper_vertical_difference": 0.22080668583574908, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.6403203010559082, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007880954424824838, |
| "left gripper-book distance": 0.5715738092584892, |
| "right gripper-book distance": 0.15557587313646182 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.4070336249514257, |
| "bimanual_gripper_vertical_difference": 0.22268460642290186, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.6694526672363281, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0006962749535912582, |
| "left gripper-book distance": 0.5708116967292881, |
| "right gripper-book distance": 0.14908599112449492 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.4342636594688816, |
| "bimanual_gripper_vertical_difference": 0.22449589758892258, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.6996841430664062, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0007337568977570097, |
| "left gripper-book distance": 0.5711286818445254, |
| "right gripper-book distance": 0.14206005854329837 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.462123167267469, |
| "bimanual_gripper_vertical_difference": 0.22623720101462272, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.7294228076934814, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.000753963941312441, |
| "left gripper-book distance": 0.5726124144561042, |
| "right gripper-book distance": 0.13381726404245153 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.4910182689044276, |
| "bimanual_gripper_vertical_difference": 0.22794347583782118, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.7580506801605225, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0005649037926108713, |
| "left gripper-book distance": 0.5721958469557483, |
| "right gripper-book distance": 0.13479562830504543 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.5295828949812147, |
| "bimanual_gripper_vertical_difference": 0.22960477286026837, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.788083791732788, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.00019059338042581864, |
| "left gripper-book distance": 0.5737679397945062, |
| "right gripper-book distance": 0.13799981929292737 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.5652036116818715, |
| "bimanual_gripper_vertical_difference": 0.23122298960687696, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.8180580139160156, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 0, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.00017010477792211987, |
| "left gripper-book distance": 0.5754228003960019, |
| "right gripper-book distance": 0.1385097391861742 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.5890544720466109, |
| "bimanual_gripper_vertical_difference": 0.2328003014930021, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.8495404720306396, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 1, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": -9.372273397567632e-05, |
| "left gripper-book distance": 0.5766450516852346, |
| "right gripper-book distance": 0.14051340103676674 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.6006063814333187, |
| "bimanual_gripper_vertical_difference": 0.23432115870074766, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.8787879943847656, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 1, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": -0.0003770914424323646, |
| "left gripper-book distance": 0.5765958707728894, |
| "right gripper-book distance": 0.14477115361182435 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.6110531372396186, |
| "bimanual_gripper_vertical_difference": 0.23577792191741373, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.9098939895629883, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 1, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0029253526588343126, |
| "left gripper-book distance": 0.5727643171814568, |
| "right gripper-book distance": 0.1497742610712742 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.619041910109176, |
| "bimanual_gripper_vertical_difference": 0.23710991548556148, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.939466953277588, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 1, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.011246631084454561, |
| "left gripper-book distance": 0.5684600066187644, |
| "right gripper-book distance": 0.1594416684066867 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.6333963686644304, |
| "bimanual_gripper_vertical_difference": 0.23817340916670762, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.9688401222229004, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 1, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.0282097245777001, |
| "left gripper-book distance": 0.5643303134219423, |
| "right gripper-book distance": 0.17182030691284408 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.66164724855816, |
| "bimanual_gripper_vertical_difference": 0.23877747110792427, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 1.99881911277771, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 1, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.04382465667263313, |
| "left gripper-book distance": 0.5699338072774055, |
| "right gripper-book distance": 0.1806448684143474 |
| }, |
| "success": 0.0, |
| "bimanual_arm_velocity_difference": 1.698174332009098, |
| "bimanual_gripper_vertical_difference": 0.23887789574828944, |
| "task_success": 0.0 |
| }, |
| { |
| "completion_time": 2.031825542449951, |
| "slip_count": 0, |
| "slip_count_per_object": { |
| "object_1": 0 |
| }, |
| "env_collision_count": 1, |
| "self_collision_count": 0, |
| "task_stage_reached": { |
| "1": true, |
| "2": true |
| }, |
| "target_distance": { |
| "book lift distance": 0.06658738181587254, |
| "left gripper-book distance": 0.5765674066524875, |
| "right gripper-book distance": 0.18111226091237992 |
| }, |
| "success": 1.0, |
| "bimanual_arm_velocity_difference": 1.7435333895034233, |
| "bimanual_gripper_vertical_difference": 0.23865630865822882, |
| "task_success": 1.0 |
| } |
| ] |