[ { "completion_time": 0.027415990829467773, "slip_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": { "cube to left gripper": 0.5080065125082476, "cube to right gripper": 0.32830383603833213, "lift distance": 0.02185960000000009 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.004006778701494e-06, "bimanual_gripper_vertical_difference": 5.169653594094825e-10, "task_success": 0.0 }, { "completion_time": 0.04243612289428711, "slip_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": { "cube to left gripper": 0.5178627306148468, "cube to right gripper": 0.3433787254441076, "lift distance": -0.0005471969899522033 }, "success": 0.0, "bimanual_arm_velocity_difference": 7.703910939356462e-07, "bimanual_gripper_vertical_difference": 5.457735374747585e-10, "task_success": 0.0 }, { "completion_time": 0.05749702453613281, "slip_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": { "cube to left gripper": 0.5170971559619653, "cube to right gripper": 0.34223637055104156, "lift distance": 9.381264439156656e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1746558646064572e-05, "bimanual_gripper_vertical_difference": 1.283856650620881e-09, "task_success": 0.0 }, { "completion_time": 0.072662353515625, "slip_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": { "cube to left gripper": 0.5159853716684573, "cube to right gripper": 0.34023619535138333, "lift distance": 9.831000535531764e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00789218642072924, "bimanual_gripper_vertical_difference": 7.325029412424966e-05, "task_success": 0.0 }, { "completion_time": 0.09028077125549316, "slip_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": { "cube to left gripper": 0.511707525002185, "cube to right gripper": 0.3330468027370304, "lift distance": 9.834070008496454e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1047734788424252, "bimanual_gripper_vertical_difference": 0.0003363370356300077, "task_success": 0.0 }, { "completion_time": 0.10539388656616211, "slip_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": { "cube to left gripper": 0.5013961833362831, "cube to right gripper": 0.32325891871255835, "lift distance": 9.834090146698671e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.14584179385162482, "bimanual_gripper_vertical_difference": 0.0005385713556621911, "task_success": 0.0 }, { "completion_time": 0.1205601692199707, "slip_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": { "cube to left gripper": 0.48792533890522055, "cube to right gripper": 0.3127884549087761, "lift distance": 9.834089467020135e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1277989295604297, "bimanual_gripper_vertical_difference": 0.0005884868999778295, "task_success": 0.0 }, { "completion_time": 0.13554620742797852, "slip_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": { "cube to left gripper": 0.4729167001944585, "cube to right gripper": 0.30160256465044666, "lift distance": 9.834088645055417e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.13298668884749204, "bimanual_gripper_vertical_difference": 0.0009898464677363106, "task_success": 0.0 }, { "completion_time": 0.15061402320861816, "slip_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": { "cube to left gripper": 0.4567917223510239, "cube to right gripper": 0.29029271409800395, "lift distance": 9.834087821947168e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1624244857607192, "bimanual_gripper_vertical_difference": 0.001595176253855869, "task_success": 0.0 }, { "completion_time": 0.1659092903137207, "slip_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": { "cube to left gripper": 0.4401910259531448, "cube to right gripper": 0.27879221928691633, "lift distance": 9.83408699863908e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.19894786641422063, "bimanual_gripper_vertical_difference": 0.0022878469445935857, "task_success": 0.0 }, { "completion_time": 0.1812450885772705, "slip_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": { "cube to left gripper": 0.42427603366571287, "cube to right gripper": 0.2654919744173194, "lift distance": 9.834086175186663e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2378361057119032, "bimanual_gripper_vertical_difference": 0.0028588765049277157, "task_success": 0.0 }, { "completion_time": 0.1967020034790039, "slip_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": { "cube to left gripper": 0.41107356352588453, "cube to right gripper": 0.2523996311169581, "lift distance": 9.834085351545507e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2759187316386717, "bimanual_gripper_vertical_difference": 0.003255685787797983, "task_success": 0.0 }, { "completion_time": 0.21211934089660645, "slip_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": { "cube to left gripper": 0.40732761820599805, "cube to right gripper": 0.24811817872540376, "lift distance": 9.834084527748921e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.26240303820449395, "bimanual_gripper_vertical_difference": 0.003604794068799322, "task_success": 0.0 }, { "completion_time": 0.2276308536529541, "slip_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": { "cube to left gripper": 0.4068163889277341, "cube to right gripper": 0.24725558849284898, "lift distance": 9.834083703763596e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.24393455521566126, "bimanual_gripper_vertical_difference": 0.00391623665575856, "task_success": 0.0 }, { "completion_time": 0.24309682846069336, "slip_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": { "cube to left gripper": 0.4066622747827845, "cube to right gripper": 0.24677451558304228, "lift distance": 9.834082879600636e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.22782304902476638, "bimanual_gripper_vertical_difference": 0.004189198094967909, "task_success": 0.0 }, { "completion_time": 0.2586495876312256, "slip_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": { "cube to left gripper": 0.4075231319850436, "cube to right gripper": 0.2462803441822976, "lift distance": 9.83408205526004e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.21493062046401834, "bimanual_gripper_vertical_difference": 0.004421652411853036, "task_success": 0.0 }, { "completion_time": 0.2742002010345459, "slip_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": { "cube to left gripper": 0.4094890774631014, "cube to right gripper": 0.24411073586218932, "lift distance": 9.834081230775116e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.20777096242922038, "bimanual_gripper_vertical_difference": 0.004542081983512325, "task_success": 0.0 }, { "completion_time": 0.2897050380706787, "slip_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": { "cube to left gripper": 0.40861987966727514, "cube to right gripper": 0.238786239649432, "lift distance": 9.834080406112555e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.22999628493619076, "bimanual_gripper_vertical_difference": 0.004539836615287081, "task_success": 0.0 }, { "completion_time": 0.30538296699523926, "slip_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": { "cube to left gripper": 0.4044800940861034, "cube to right gripper": 0.23323580980777608, "lift distance": 9.834079581250155e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2188445112646807, "bimanual_gripper_vertical_difference": 0.004565670212370888, "task_success": 0.0 }, { "completion_time": 0.3206517696380615, "slip_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": { "cube to left gripper": 0.3997032295102555, "cube to right gripper": 0.2288614276209007, "lift distance": 9.83407875622122e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.21621473143031764, "bimanual_gripper_vertical_difference": 0.004701987345949543, "task_success": 0.0 }, { "completion_time": 0.33780741691589355, "slip_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": { "cube to left gripper": 0.3951596454689971, "cube to right gripper": 0.22449356063986606, "lift distance": 9.834077931025753e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.20757377871439905, "bimanual_gripper_vertical_difference": 0.0048999524680681805, "task_success": 0.0 }, { "completion_time": 0.35326337814331055, "slip_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": { "cube to left gripper": 0.3902288619828572, "cube to right gripper": 0.21899871944124025, "lift distance": 9.834077105674854e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.20748711022248087, "bimanual_gripper_vertical_difference": 0.005086095708702756, "task_success": 0.0 }, { "completion_time": 0.368725061416626, "slip_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": { "cube to left gripper": 0.3832720367900557, "cube to right gripper": 0.20904774746566304, "lift distance": 9.834076280124115e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.22604807716489617, "bimanual_gripper_vertical_difference": 0.005167698220820899, "task_success": 0.0 }, { "completion_time": 0.3841209411621094, "slip_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": { "cube to left gripper": 0.37770819453383186, "cube to right gripper": 0.20020279524886286, "lift distance": 9.834075454395741e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.23684262385943092, "bimanual_gripper_vertical_difference": 0.005138820646979218, "task_success": 0.0 }, { "completion_time": 0.3997962474822998, "slip_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": { "cube to left gripper": 0.37666260106651483, "cube to right gripper": 0.19849190447923457, "lift distance": 9.834074628500833e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2275818656373314, "bimanual_gripper_vertical_difference": 0.005115705636217962, "task_success": 0.0 }, { "completion_time": 0.41523122787475586, "slip_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": { "cube to left gripper": 0.37638065804019394, "cube to right gripper": 0.19793976029388466, "lift distance": 9.834073802450494e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2189203004545015, "bimanual_gripper_vertical_difference": 0.005106381570712987, "task_success": 0.0 }, { "completion_time": 0.43076014518737793, "slip_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": { "cube to left gripper": 0.3762921022185029, "cube to right gripper": 0.1962979975519656, "lift distance": 9.834072976222519e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2130643602517166, "bimanual_gripper_vertical_difference": 0.00506606932383639, "task_success": 0.0 }, { "completion_time": 0.4464688301086426, "slip_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": { "cube to left gripper": 0.3766045976504575, "cube to right gripper": 0.19246028415563177, "lift distance": 9.834072149794704e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.22734965836459717, "bimanual_gripper_vertical_difference": 0.0048889927772927345, "task_success": 0.0 }, { "completion_time": 0.46216273307800293, "slip_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": { "cube to left gripper": 0.37600936832595033, "cube to right gripper": 0.18801904676386144, "lift distance": 9.834071323200355e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.25999101378657385, "bimanual_gripper_vertical_difference": 0.004886772059616567, "task_success": 0.0 }, { "completion_time": 0.4775526523590088, "slip_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": { "cube to left gripper": 0.37486647707540177, "cube to right gripper": 0.1844118387094052, "lift distance": 9.834070496450575e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.29802491259676706, "bimanual_gripper_vertical_difference": 0.004996272801787286, "task_success": 0.0 }, { "completion_time": 0.492856502532959, "slip_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": { "cube to left gripper": 0.3735512884414796, "cube to right gripper": 0.18148208982443353, "lift distance": 9.83406966952316e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31709863667018523, "bimanual_gripper_vertical_difference": 0.0051443572389576284, "task_success": 0.0 }, { "completion_time": 0.5082273483276367, "slip_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": { "cube to left gripper": 0.37181191747340986, "cube to right gripper": 0.17765972153317708, "lift distance": 9.834068842429211e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3251060752397098, "bimanual_gripper_vertical_difference": 0.005305192631097161, "task_success": 0.0 }, { "completion_time": 0.523740291595459, "slip_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": { "cube to left gripper": 0.36969053072858127, "cube to right gripper": 0.17330206980664095, "lift distance": 9.834068015135422e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33116999496301397, "bimanual_gripper_vertical_difference": 0.005461271474845309, "task_success": 0.0 }, { "completion_time": 0.5393257141113281, "slip_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": { "cube to left gripper": 0.36793663122428644, "cube to right gripper": 0.16729741496677156, "lift distance": 9.834067187663997e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33619653472829386, "bimanual_gripper_vertical_difference": 0.005665132351521597, "task_success": 0.0 }, { "completion_time": 0.5546867847442627, "slip_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": { "cube to left gripper": 0.3671580926149935, "cube to right gripper": 0.15894471217451006, "lift distance": 9.834066360048244e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.34145278758840636, "bimanual_gripper_vertical_difference": 0.006002143995272613, "task_success": 0.0 }, { "completion_time": 0.570143461227417, "slip_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": { "cube to left gripper": 0.3667268482297542, "cube to right gripper": 0.1508187449088373, "lift distance": 9.834065532254854e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.34748070665169767, "bimanual_gripper_vertical_difference": 0.0064708871242363, "task_success": 0.0 }, { "completion_time": 0.5856289863586426, "slip_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": { "cube to left gripper": 0.3662182393320745, "cube to right gripper": 0.1445959915190249, "lift distance": 9.834064704272727e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35294288658314693, "bimanual_gripper_vertical_difference": 0.007019323241482566, "task_success": 0.0 }, { "completion_time": 0.6011099815368652, "slip_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": { "cube to left gripper": 0.3658217244491846, "cube to right gripper": 0.14046524922351203, "lift distance": 9.834063876101862e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3541778504214867, "bimanual_gripper_vertical_difference": 0.007601855276339556, "task_success": 0.0 }, { "completion_time": 0.6164224147796631, "slip_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": { "cube to left gripper": 0.3655822260479421, "cube to right gripper": 0.13761541568650404, "lift distance": 9.834063047786668e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35149414299573745, "bimanual_gripper_vertical_difference": 0.008198404242455123, "task_success": 0.0 }, { "completion_time": 0.6322081089019775, "slip_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": { "cube to left gripper": 0.36575565678380667, "cube to right gripper": 0.13488509943097024, "lift distance": 9.834062219293838e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3520872672046867, "bimanual_gripper_vertical_difference": 0.008829369135517583, "task_success": 0.0 }, { "completion_time": 0.6495380401611328, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.36652175226568406, "cube to right gripper": 0.13248074505425023, "lift distance": 0.00010510194035306952 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35080643915098253, "bimanual_gripper_vertical_difference": 0.00952030735473021, "task_success": 0.0 }, { "completion_time": 0.6660346984863281, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.36739368035475417, "cube to right gripper": 0.1306134552097923, "lift distance": 0.00011761168606694294 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.34890787309410515, "bimanual_gripper_vertical_difference": 0.010250821548535839, "task_success": 0.0 }, { "completion_time": 0.6822893619537354, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3678325891574635, "cube to right gripper": 0.12810409075297882, "lift distance": 0.00013702168064055886 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.34881372410208944, "bimanual_gripper_vertical_difference": 0.011057990125040992, "task_success": 0.0 }, { "completion_time": 0.6982095241546631, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3679101244746227, "cube to right gripper": 0.12599068017517098, "lift distance": 0.0001185283461236919 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3442388768292562, "bimanual_gripper_vertical_difference": 0.011929969396532488, "task_success": 0.0 }, { "completion_time": 0.7138433456420898, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3681932137837404, "cube to right gripper": 0.12389842292084693, "lift distance": 0.0001447814101251943 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33775176244451255, "bimanual_gripper_vertical_difference": 0.01285581981571613, "task_success": 0.0 }, { "completion_time": 0.7297272682189941, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.36896179121261036, "cube to right gripper": 0.12234608736770333, "lift distance": 0.000107898677339624 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33088372322569304, "bimanual_gripper_vertical_difference": 0.013819994299170498, "task_success": 0.0 }, { "completion_time": 0.745455265045166, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.36992707829415805, "cube to right gripper": 0.12170959472955495, "lift distance": 0.0001718204514707944 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32403893545360407, "bimanual_gripper_vertical_difference": 0.014801349268849316, "task_success": 0.0 }, { "completion_time": 0.7611110210418701, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3675325883325841, "cube to right gripper": 0.11549642327912388, "lift distance": 0.005071122939281025 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32061819505246086, "bimanual_gripper_vertical_difference": 0.015811389406671886, "task_success": 0.0 }, { "completion_time": 0.7767210006713867, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3690133814249722, "cube to right gripper": 0.11565296338653464, "lift distance": 0.005161012839452361 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3237763868136316, "bimanual_gripper_vertical_difference": 0.016799041273124884, "task_success": 0.0 }, { "completion_time": 0.7925775051116943, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3717697765051315, "cube to right gripper": 0.11539402148556549, "lift distance": 0.005756864826993113 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32227507351226675, "bimanual_gripper_vertical_difference": 0.017741474552626757, "task_success": 0.0 }, { "completion_time": 0.8084449768066406, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3719040452590548, "cube to right gripper": 0.11549358020553831, "lift distance": 0.004763408347432718 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31615729979181356, "bimanual_gripper_vertical_difference": 0.018640341732840866, "task_success": 0.0 }, { "completion_time": 0.8271207809448242, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3714312997391827, "cube to right gripper": 0.11547207060105069, "lift distance": 0.004723179016591916 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31044458868191505, "bimanual_gripper_vertical_difference": 0.019483208754918543, "task_success": 0.0 }, { "completion_time": 0.8430945873260498, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3710734334529559, "cube to right gripper": 0.115467143895579, "lift distance": 0.004747181454912264 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3048266199088478, "bimanual_gripper_vertical_difference": 0.020278843985455285, "task_success": 0.0 }, { "completion_time": 0.8591122627258301, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.37004744916830173, "cube to right gripper": 0.11548373933432407, "lift distance": 0.004804832723800612 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2996898114879534, "bimanual_gripper_vertical_difference": 0.021018633130816172, "task_success": 0.0 }, { "completion_time": 0.8746316432952881, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3671092696205537, "cube to right gripper": 0.11551364813426375, "lift distance": 0.004956723396816631 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.29441198456482376, "bimanual_gripper_vertical_difference": 0.02171849406003923, "task_success": 0.0 }, { "completion_time": 0.890596866607666, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.36303398640103635, "cube to right gripper": 0.11550257793967694, "lift distance": 0.004973912216858278 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.29006924770226317, "bimanual_gripper_vertical_difference": 0.022392992812047534, "task_success": 0.0 }, { "completion_time": 0.9061658382415771, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3537168523843346, "cube to right gripper": 0.11564163532767457, "lift distance": 0.0058970570747785 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2925952763597341, "bimanual_gripper_vertical_difference": 0.023046003236766678, "task_success": 0.0 }, { "completion_time": 0.9218096733093262, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.34092549189390964, "cube to right gripper": 0.11561386786297402, "lift distance": 0.008963892353107794 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.296501116193944, "bimanual_gripper_vertical_difference": 0.023651952448773876, "task_success": 0.0 }, { "completion_time": 0.9375166893005371, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.3259831738743007, "cube to right gripper": 0.11559038758711668, "lift distance": 0.014168306016092092 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3009699352307591, "bimanual_gripper_vertical_difference": 0.024181611765585708, "task_success": 0.0 }, { "completion_time": 0.9531002044677734, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.30825898404894436, "cube to right gripper": 0.11554351665767167, "lift distance": 0.021061475837405252 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.30490486954191165, "bimanual_gripper_vertical_difference": 0.02461251768547041, "task_success": 0.0 }, { "completion_time": 0.9703330993652344, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.2891625154535496, "cube to right gripper": 0.11550456854493064, "lift distance": 0.028719222436832115 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3086869468245402, "bimanual_gripper_vertical_difference": 0.024939593055066666, "task_success": 0.0 }, { "completion_time": 0.9859156608581543, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.2707849285168574, "cube to right gripper": 0.11556414612439248, "lift distance": 0.036031550577181326 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31087545197376154, "bimanual_gripper_vertical_difference": 0.02518978259886153, "task_success": 0.0 }, { "completion_time": 1.0014283657073975, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.2547361331355621, "cube to right gripper": 0.11557367089113024, "lift distance": 0.04074400716655635 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3134057171392844, "bimanual_gripper_vertical_difference": 0.025422966309293714, "task_success": 0.0 }, { "completion_time": 1.0168712139129639, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.24143532732299516, "cube to right gripper": 0.11552003694504162, "lift distance": 0.041972688943880065 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3153609191577539, "bimanual_gripper_vertical_difference": 0.025692928055142724, "task_success": 0.0 }, { "completion_time": 1.0325369834899902, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.22975482297643746, "cube to right gripper": 0.11545361412953144, "lift distance": 0.04051044045873975 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31832726901428826, "bimanual_gripper_vertical_difference": 0.026030171421208125, "task_success": 0.0 }, { "completion_time": 1.048025369644165, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.2204417688192052, "cube to right gripper": 0.11537223959818417, "lift distance": 0.03677909836286508 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32560690634938094, "bimanual_gripper_vertical_difference": 0.02645126015591051, "task_success": 0.0 }, { "completion_time": 1.0635526180267334, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.21239496136211192, "cube to right gripper": 0.11537145313155484, "lift distance": 0.03317955581751275 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32994722739895815, "bimanual_gripper_vertical_difference": 0.026948494088278346, "task_success": 0.0 }, { "completion_time": 1.0790715217590332, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.2060295793294411, "cube to right gripper": 0.11536987998302166, "lift distance": 0.030650755930819118 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33222545867610975, "bimanual_gripper_vertical_difference": 0.0274989874957189, "task_success": 0.0 }, { "completion_time": 1.095003604888916, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.20065757107945228, "cube to right gripper": 0.11538041464402488, "lift distance": 0.02973137798027914 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3325449444388327, "bimanual_gripper_vertical_difference": 0.028076037280285092, "task_success": 0.0 }, { "completion_time": 1.110677719116211, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.19556336462193186, "cube to right gripper": 0.11537734850319437, "lift distance": 0.029793183100553677 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.329565781978831, "bimanual_gripper_vertical_difference": 0.028653480719019197, "task_success": 0.0 }, { "completion_time": 1.1261391639709473, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.19040151008543008, "cube to right gripper": 0.11537528132053226, "lift distance": 0.030347218876154436 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32687613877679256, "bimanual_gripper_vertical_difference": 0.029212428981778713, "task_success": 0.0 }, { "completion_time": 1.1417145729064941, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "cube to left gripper": 0.18431384758080024, "cube to right gripper": 0.1153986118258191, "lift distance": 0.03186274621190144 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3253539136588542, "bimanual_gripper_vertical_difference": 0.02973557648211898, "task_success": 0.0 }, { "completion_time": 1.1574022769927979, "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": { "cube to left gripper": 0.18109852913240138, "cube to right gripper": 0.11537365400722123, "lift distance": 0.0323180670188008 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3242437446483143, "bimanual_gripper_vertical_difference": 0.030235217899597412, "task_success": 0.0 }, { "completion_time": 1.1729505062103271, "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": { "cube to left gripper": 0.17830272041474732, "cube to right gripper": 0.11533726574065885, "lift distance": 0.03214484919176197 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3228225172046768, "bimanual_gripper_vertical_difference": 0.030698549759934784, "task_success": 0.0 }, { "completion_time": 1.1884610652923584, "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": { "cube to left gripper": 0.17452484752522032, "cube to right gripper": 0.11528853471682016, "lift distance": 0.03226767105415429 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32312699948866114, "bimanual_gripper_vertical_difference": 0.031101125490184955, "task_success": 0.0 }, { "completion_time": 1.2040164470672607, "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": { "cube to left gripper": 0.17066631009126165, "cube to right gripper": 0.11524577007909355, "lift distance": 0.03233254363326865 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3228118501406585, "bimanual_gripper_vertical_difference": 0.03143314889655615, "task_success": 0.0 }, { "completion_time": 1.219907283782959, "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": { "cube to left gripper": 0.16695913387018302, "cube to right gripper": 0.1152503669202767, "lift distance": 0.03256369645983059 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32063126478187115, "bimanual_gripper_vertical_difference": 0.03169015653588737, "task_success": 0.0 }, { "completion_time": 1.2362825870513916, "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": { "cube to left gripper": 0.16440032419499173, "cube to right gripper": 0.11528661489924996, "lift distance": 0.03234844701741135 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31951845906524146, "bimanual_gripper_vertical_difference": 0.03188576290643494, "task_success": 0.0 }, { "completion_time": 1.2516236305236816, "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": { "cube to left gripper": 0.16075913377440681, "cube to right gripper": 0.11535243396715102, "lift distance": 0.0329403564101991 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3209732763783244, "bimanual_gripper_vertical_difference": 0.03202031522084396, "task_success": 0.0 }, { "completion_time": 1.2679328918457031, "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": { "cube to left gripper": 0.15547695485613927, "cube to right gripper": 0.11540951695800293, "lift distance": 0.03515238135230381 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3220863521637113, "bimanual_gripper_vertical_difference": 0.0320895422910672, "task_success": 0.0 }, { "completion_time": 1.2850170135498047, "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": { "cube to left gripper": 0.1483726696266873, "cube to right gripper": 0.11556155681982122, "lift distance": 0.039051201144047365 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3186839762662176, "bimanual_gripper_vertical_difference": 0.03209785990497181, "task_success": 0.0 }, { "completion_time": 1.300628900527954, "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": { "cube to left gripper": 0.14342296529139864, "cube to right gripper": 0.11570730755643181, "lift distance": 0.042473701466184455 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3213103353643252, "bimanual_gripper_vertical_difference": 0.032115076537993816, "task_success": 0.0 }, { "completion_time": 1.3163831233978271, "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": { "cube to left gripper": 0.14382072151032468, "cube to right gripper": 0.11563092092812599, "lift distance": 0.04457386081200854 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32141464970590405, "bimanual_gripper_vertical_difference": 0.03220199080883581, "task_success": 0.0 }, { "completion_time": 1.3315155506134033, "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": { "cube to left gripper": 0.1480232711783331, "cube to right gripper": 0.11554833801000886, "lift distance": 0.045324350881162045 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32090727249533135, "bimanual_gripper_vertical_difference": 0.032377250376449326, "task_success": 0.0 }, { "completion_time": 1.3469011783599854, "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": { "cube to left gripper": 0.14961396176514183, "cube to right gripper": 0.11548566047741946, "lift distance": 0.04702584393228948 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31811975332499026, "bimanual_gripper_vertical_difference": 0.032586381673894924, "task_success": 0.0 }, { "completion_time": 1.3629417419433594, "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": { "cube to left gripper": 0.1491563667434647, "cube to right gripper": 0.11547500456552108, "lift distance": 0.04886266748670898 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3254442187875727, "bimanual_gripper_vertical_difference": 0.03280298544462832, "task_success": 0.0 }, { "completion_time": 1.378709316253662, "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": { "cube to left gripper": 0.1453659241239691, "cube to right gripper": 0.11544926062825431, "lift distance": 0.05072240541399853 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33729224724901974, "bimanual_gripper_vertical_difference": 0.032997926272872714, "task_success": 0.0 }, { "completion_time": 1.3945691585540771, "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": { "cube to left gripper": 0.14154720771829185, "cube to right gripper": 0.11543835519184925, "lift distance": 0.052098857124319276 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35000905073168354, "bimanual_gripper_vertical_difference": 0.033166598784557993, "task_success": 0.0 }, { "completion_time": 1.4102308750152588, "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": { "cube to left gripper": 0.13834254705409296, "cube to right gripper": 0.11544587912509918, "lift distance": 0.05326381683843384 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3636502148442678, "bimanual_gripper_vertical_difference": 0.033312560264966505, "task_success": 0.0 }, { "completion_time": 1.4259443283081055, "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": { "cube to left gripper": 0.13477408333911095, "cube to right gripper": 0.1154518453779941, "lift distance": 0.05464908461542217 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.37295109124111064, "bimanual_gripper_vertical_difference": 0.03342718204969861, "task_success": 0.0 }, { "completion_time": 1.4418714046478271, "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": { "cube to left gripper": 0.13045659220586014, "cube to right gripper": 0.115462538859524, "lift distance": 0.05690533053824609 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.37567197212334613, "bimanual_gripper_vertical_difference": 0.03349625310919494, "task_success": 0.0 }, { "completion_time": 1.457700490951538, "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": { "cube to left gripper": 0.1250047115804227, "cube to right gripper": 0.11547059957269426, "lift distance": 0.06022649618782783 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3760382465841238, "bimanual_gripper_vertical_difference": 0.03349970799962354, "task_success": 0.0 }, { "completion_time": 1.4729244709014893, "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": { "cube to left gripper": 0.12190643938034372, "cube to right gripper": 0.11552490096688145, "lift distance": 0.06240158325724954 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3739989115407921, "bimanual_gripper_vertical_difference": 0.03345577998251438, "task_success": 0.0 }, { "completion_time": 1.4884674549102783, "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": { "cube to left gripper": 0.11925070679267874, "cube to right gripper": 0.115576694471432, "lift distance": 0.06448604451155782 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.37026793732095914, "bimanual_gripper_vertical_difference": 0.033370351077316826, "task_success": 0.0 }, { "completion_time": 1.5037791728973389, "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": { "cube to left gripper": 0.11647540214245454, "cube to right gripper": 0.11562016501097595, "lift distance": 0.0672974839809175 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3667275778288746, "bimanual_gripper_vertical_difference": 0.03324651717866235, "task_success": 0.0 }, { "completion_time": 1.5191881656646729, "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": { "cube to left gripper": 0.11410186337752587, "cube to right gripper": 0.11561972627193594, "lift distance": 0.06968706026416172 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.36356453940242894, "bimanual_gripper_vertical_difference": 0.033097895647341884, "task_success": 0.0 }, { "completion_time": 1.5355937480926514, "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": { "cube to left gripper": 0.11232505439156011, "cube to right gripper": 0.11564659518807686, "lift distance": 0.0705094039256493 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.36104384846198767, "bimanual_gripper_vertical_difference": 0.032935721653927275, "task_success": 0.0 }, { "completion_time": 1.5511610507965088, "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": { "cube to left gripper": 0.11108161153241457, "cube to right gripper": 0.11567985515540061, "lift distance": 0.07100915895558835 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35752612026039404, "bimanual_gripper_vertical_difference": 0.032762300497060165, "task_success": 0.0 }, { "completion_time": 1.5697035789489746, "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": { "cube to left gripper": 0.10822163625170916, "cube to right gripper": 0.11646996515647082, "lift distance": 0.07159524857147326 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3583368268594436, "bimanual_gripper_vertical_difference": 0.032553464429429094, "task_success": 0.0 }, { "completion_time": 1.585599660873413, "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": { "cube to left gripper": 0.10775954076063046, "cube to right gripper": 0.11651723369817273, "lift distance": 0.07113971312500067 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35663170941912925, "bimanual_gripper_vertical_difference": 0.032350513743283474, "task_success": 0.0 }, { "completion_time": 1.6024739742279053, "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": { "cube to left gripper": 0.10824147897316495, "cube to right gripper": 0.11651544156069864, "lift distance": 0.07063498887888242 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35554464211260617, "bimanual_gripper_vertical_difference": 0.03215847925726125, "task_success": 0.0 }, { "completion_time": 1.6178836822509766, "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": { "cube to left gripper": 0.10817159193804242, "cube to right gripper": 0.11651855632247657, "lift distance": 0.07058442435386936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3541789274187685, "bimanual_gripper_vertical_difference": 0.031970594825537144, "task_success": 0.0 }, { "completion_time": 1.6338121891021729, "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": { "cube to left gripper": 0.11061357127234155, "cube to right gripper": 0.11687596664724208, "lift distance": 0.06770422070914561 }, "success": 1.0, "bimanual_arm_velocity_difference": 0.35105321665555067, "bimanual_gripper_vertical_difference": 0.03175219234209455, "task_success": 1.0 } ]