[ { "completion_time": 0.026689767837524414, "slip_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": 0.31182507028697665, "cube to right gripper": 0.5362462075206105, "lift distance": 0.02185960000000009 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.156527326393042e-06, "bimanual_gripper_vertical_difference": 3.611031473838011e-10, "task_success": 0.0 }, { "completion_time": 0.041518449783325195, "slip_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": 0.32764745730002215, "cube to right gripper": 0.545611877826783, "lift distance": -0.0005471969899524254 }, "success": 0.0, "bimanual_arm_velocity_difference": 5.852930885230645e-07, "bimanual_gripper_vertical_difference": 4.5747894361625185e-10, "task_success": 0.0 }, { "completion_time": 0.05628800392150879, "slip_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": 0.32644269046675317, "cube to right gripper": 0.5448976187468475, "lift distance": 9.381264439156656e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 9.28705769919734e-05, "bimanual_gripper_vertical_difference": 1.9501046703377747e-09, "task_success": 0.0 }, { "completion_time": 0.07098031044006348, "slip_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": 0.32531086149149724, "cube to right gripper": 0.5443866480835872, "lift distance": 9.831000535531764e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.009491503752030658, "bimanual_gripper_vertical_difference": 5.6601450488358296e-05, "task_success": 0.0 }, { "completion_time": 0.08848142623901367, "slip_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": 0.3203835175843992, "cube to right gripper": 0.5422245510534317, "lift distance": 9.834070008496454e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.06721681577950868, "bimanual_gripper_vertical_difference": 0.0003276661229969946, "task_success": 0.0 }, { "completion_time": 0.1030890941619873, "slip_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": 0.3132531230898007, "cube to right gripper": 0.5374800614514638, "lift distance": 9.834090146698671e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.17160876119193394, "bimanual_gripper_vertical_difference": 0.0010883208827205209, "task_success": 0.0 }, { "completion_time": 0.11777377128601074, "slip_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": 0.3023494243608869, "cube to right gripper": 0.5310178174531505, "lift distance": 9.834089467020135e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2911740482048968, "bimanual_gripper_vertical_difference": 0.0019261370531827066, "task_success": 0.0 }, { "completion_time": 0.1325092315673828, "slip_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": 0.28891929688428836, "cube to right gripper": 0.5243041485825142, "lift distance": 9.834088645055417e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.40511129155313386, "bimanual_gripper_vertical_difference": 0.0024418529808694356, "task_success": 0.0 }, { "completion_time": 0.14707207679748535, "slip_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": 0.27512149843590633, "cube to right gripper": 0.5178814325267314, "lift distance": 9.834087821947168e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5015417527387285, "bimanual_gripper_vertical_difference": 0.0024896260685228645, "task_success": 0.0 }, { "completion_time": 0.16190361976623535, "slip_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": 0.2611618365539983, "cube to right gripper": 0.5115622413346963, "lift distance": 9.83408699863908e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.561612004891975, "bimanual_gripper_vertical_difference": 0.002394407413458155, "task_success": 0.0 }, { "completion_time": 0.17651772499084473, "slip_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": 0.24648408397077975, "cube to right gripper": 0.5064549614820414, "lift distance": 9.834086175186663e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5877141966154736, "bimanual_gripper_vertical_difference": 0.0028116377530639125, "task_success": 0.0 }, { "completion_time": 0.19117522239685059, "slip_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": 0.2311669211556991, "cube to right gripper": 0.5034583902367371, "lift distance": 9.834085351545507e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6016394747313261, "bimanual_gripper_vertical_difference": 0.0037958764466318553, "task_success": 0.0 }, { "completion_time": 0.2059164047241211, "slip_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": 0.22048786137803225, "cube to right gripper": 0.5019181759697453, "lift distance": 9.834084527748921e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5967066891022591, "bimanual_gripper_vertical_difference": 0.0051020692660394594, "task_success": 0.0 }, { "completion_time": 0.22066283226013184, "slip_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": 0.2185556180654725, "cube to right gripper": 0.5012434437767547, "lift distance": 9.834083703763596e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5554500757187191, "bimanual_gripper_vertical_difference": 0.006245615060046077, "task_success": 0.0 }, { "completion_time": 0.23554706573486328, "slip_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": 0.2182095441463217, "cube to right gripper": 0.5007337880174357, "lift distance": 9.834082879600636e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5192980774727505, "bimanual_gripper_vertical_difference": 0.007186372918592706, "task_success": 0.0 }, { "completion_time": 0.25068116188049316, "slip_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": 0.21771531423568435, "cube to right gripper": 0.5002639286392331, "lift distance": 9.83408205526004e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4872266471080972, "bimanual_gripper_vertical_difference": 0.00797605155490079, "task_success": 0.0 }, { "completion_time": 0.2658848762512207, "slip_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": 0.21609306950020846, "cube to right gripper": 0.49919707266704844, "lift distance": 9.834081230775116e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47022096078883063, "bimanual_gripper_vertical_difference": 0.00857623978743837, "task_success": 0.0 }, { "completion_time": 0.28107523918151855, "slip_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": 0.20873064456703005, "cube to right gripper": 0.49826578355588214, "lift distance": 9.834080406112555e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4959949305846809, "bimanual_gripper_vertical_difference": 0.009146053836638504, "task_success": 0.0 }, { "completion_time": 0.29619526863098145, "slip_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": 0.19776299168235933, "cube to right gripper": 0.4968482477378975, "lift distance": 9.834079581250155e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5446794147897668, "bimanual_gripper_vertical_difference": 0.009772006407900897, "task_success": 0.0 }, { "completion_time": 0.3112373352050781, "slip_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": 0.1868678355143753, "cube to right gripper": 0.49495062674789275, "lift distance": 9.83407875622122e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5893533279714587, "bimanual_gripper_vertical_difference": 0.010478154522846183, "task_success": 0.0 }, { "completion_time": 0.32821130752563477, "slip_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": 0.17772733521391168, "cube to right gripper": 0.4934878430922064, "lift distance": 9.834077931025753e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6182151147347421, "bimanual_gripper_vertical_difference": 0.01130173275363976, "task_success": 0.0 }, { "completion_time": 0.34397196769714355, "slip_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": 0.17001395883101475, "cube to right gripper": 0.49287204541977325, "lift distance": 9.834077105663752e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6258317600995749, "bimanual_gripper_vertical_difference": 0.012302395227969892, "task_success": 0.0 }, { "completion_time": 0.3596658706665039, "slip_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": 0.16319984186027164, "cube to right gripper": 0.49286094733455027, "lift distance": 9.834076280124115e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6116165873417484, "bimanual_gripper_vertical_difference": 0.01352258410613614, "task_success": 0.0 }, { "completion_time": 0.3746821880340576, "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": 0.15651143753628716, "cube to right gripper": 0.4933352547909804, "lift distance": 9.790480224380893e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5869346239535619, "bimanual_gripper_vertical_difference": 0.015012838109525592, "task_success": 0.0 }, { "completion_time": 0.3898627758026123, "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": 0.15217580848385728, "cube to right gripper": 0.49218626304772656, "lift distance": 0.003121626593692306 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5689241020271297, "bimanual_gripper_vertical_difference": 0.01654297007653459, "task_success": 0.0 }, { "completion_time": 0.4048292636871338, "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": 0.14623988651587633, "cube to right gripper": 0.4904625691288021, "lift distance": 0.006850653281923136 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.562888873742523, "bimanual_gripper_vertical_difference": 0.01819414337127084, "task_success": 0.0 }, { "completion_time": 0.41960978507995605, "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": 0.14134431507074194, "cube to right gripper": 0.4902513730389004, "lift distance": 0.008375437258670737 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.552420778429087, "bimanual_gripper_vertical_difference": 0.019999241030815917, "task_success": 0.0 }, { "completion_time": 0.434558629989624, "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": 0.1398822584284717, "cube to right gripper": 0.4905324029176147, "lift distance": 0.008263309890870318 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5432927435115812, "bimanual_gripper_vertical_difference": 0.02188479090687247, "task_success": 0.0 }, { "completion_time": 0.44898176193237305, "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": 0.1407735875345563, "cube to right gripper": 0.4910247991518404, "lift distance": 0.0061532150413463604 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5317554685116723, "bimanual_gripper_vertical_difference": 0.023782995703178583, "task_success": 0.0 }, { "completion_time": 0.46399712562561035, "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": 0.14072837711656053, "cube to right gripper": 0.49283407491812997, "lift distance": 0.002280949179449321 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5199292918410926, "bimanual_gripper_vertical_difference": 0.025724866362129523, "task_success": 0.0 }, { "completion_time": 0.47905683517456055, "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": 0.13837575121172968, "cube to right gripper": 0.49431934532567967, "lift distance": 0.00017095188310733977 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5084431948680749, "bimanual_gripper_vertical_difference": 0.027720256737409313, "task_success": 0.0 }, { "completion_time": 0.4939093589782715, "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": 0.1367232691101661, "cube to right gripper": 0.4951454799172107, "lift distance": 0.00016769315106812677 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.500736337486002, "bimanual_gripper_vertical_difference": 0.02966405154294873, "task_success": 0.0 }, { "completion_time": 0.5086746215820312, "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": 0.13539157292531842, "cube to right gripper": 0.49549948631847757, "lift distance": 0.00014628070243527524 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.49925624736681845, "bimanual_gripper_vertical_difference": 0.031546401483253765, "task_success": 0.0 }, { "completion_time": 0.5227434635162354, "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": 0.13366549106325817, "cube to right gripper": 0.490871119278641, "lift distance": 0.002447213374869417 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.49979311170317425, "bimanual_gripper_vertical_difference": 0.03334964385342905, "task_success": 0.0 }, { "completion_time": 0.5371835231781006, "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": 0.1321127890124671, "cube to right gripper": 0.48990017281337656, "lift distance": 0.0013711676492689229 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4957330936566545, "bimanual_gripper_vertical_difference": 0.03514560616785914, "task_success": 0.0 }, { "completion_time": 0.5522661209106445, "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": 0.13218878221968813, "cube to right gripper": 0.4898409095490254, "lift distance": 0.0007042151406354558 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.49044392563005434, "bimanual_gripper_vertical_difference": 0.03687321124625719, "task_success": 0.0 }, { "completion_time": 0.5669927597045898, "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": 0.1323492587860049, "cube to right gripper": 0.48674213218349804, "lift distance": 0.0027949243418079472 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47969834871633504, "bimanual_gripper_vertical_difference": 0.038471921692197604, "task_success": 0.0 }, { "completion_time": 0.5816006660461426, "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": 0.1324477614737502, "cube to right gripper": 0.48011149591354296, "lift distance": 0.007749736695807918 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47214030161142534, "bimanual_gripper_vertical_difference": 0.039878724220011756, "task_success": 0.0 }, { "completion_time": 0.5964305400848389, "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": 0.13252127305097292, "cube to right gripper": 0.4723581295640541, "lift distance": 0.01294052710878113 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48057409028161513, "bimanual_gripper_vertical_difference": 0.041071186319225635, "task_success": 0.0 }, { "completion_time": 0.6115889549255371, "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": 0.1326872136131039, "cube to right gripper": 0.46069684458955107, "lift distance": 0.018276117788940893 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4844165486895001, "bimanual_gripper_vertical_difference": 0.042063518319022754, "task_success": 0.0 }, { "completion_time": 0.6282317638397217, "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": 0.13282448096691057, "cube to right gripper": 0.44507251345515986, "lift distance": 0.02299660312547991 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48387167106404316, "bimanual_gripper_vertical_difference": 0.04291804149142487, "task_success": 0.0 }, { "completion_time": 0.6438133716583252, "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": 0.13286043474172168, "cube to right gripper": 0.4281234040247595, "lift distance": 0.02723650080706197 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47654222072658603, "bimanual_gripper_vertical_difference": 0.04364892687576876, "task_success": 0.0 }, { "completion_time": 0.6593434810638428, "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": 0.1329011501542484, "cube to right gripper": 0.40744103202626025, "lift distance": 0.03287162628947948 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.46558316997459986, "bimanual_gripper_vertical_difference": 0.04422695265782612, "task_success": 0.0 }, { "completion_time": 0.675025224685669, "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": 0.13294824587575968, "cube to right gripper": 0.397326328093713, "lift distance": 0.0343973003181981 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4592326281854256, "bimanual_gripper_vertical_difference": 0.04471677448369645, "task_success": 0.0 }, { "completion_time": 0.6906962394714355, "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": 0.13296564356008134, "cube to right gripper": 0.39770121861560837, "lift distance": 0.03215807608403143 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45013561477622177, "bimanual_gripper_vertical_difference": 0.04519753743424884, "task_success": 0.0 }, { "completion_time": 0.706486701965332, "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": 0.13295553784624412, "cube to right gripper": 0.39898196472957, "lift distance": 0.030115268583465582 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4410727782077614, "bimanual_gripper_vertical_difference": 0.045679390543556624, "task_success": 0.0 }, { "completion_time": 0.7222545146942139, "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": 0.13297064563884767, "cube to right gripper": 0.399827376073803, "lift distance": 0.027817014908506743 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43212036240160884, "bimanual_gripper_vertical_difference": 0.046151819517847255, "task_success": 0.0 }, { "completion_time": 0.7380411624908447, "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": 0.13305614795129564, "cube to right gripper": 0.397708877360826, "lift distance": 0.023910827776957966 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4254592182117906, "bimanual_gripper_vertical_difference": 0.04658126333312223, "task_success": 0.0 }, { "completion_time": 0.753633975982666, "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": 0.13313641198047618, "cube to right gripper": 0.38753844652572855, "lift distance": 0.020597057150051667 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4259018254086305, "bimanual_gripper_vertical_difference": 0.046947349088241004, "task_success": 0.0 }, { "completion_time": 0.7692279815673828, "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": 0.13313995355508992, "cube to right gripper": 0.3730296828209688, "lift distance": 0.019061013727286302 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43139268792306235, "bimanual_gripper_vertical_difference": 0.04726679687728682, "task_success": 0.0 }, { "completion_time": 0.7879927158355713, "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": 0.13316143697690522, "cube to right gripper": 0.3554868665539297, "lift distance": 0.018686190809357184 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43669426726786564, "bimanual_gripper_vertical_difference": 0.04757815084328732, "task_success": 0.0 }, { "completion_time": 0.805016279220581, "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": 0.13312347429268181, "cube to right gripper": 0.3351205103538955, "lift distance": 0.020043415995419145 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43929671113537344, "bimanual_gripper_vertical_difference": 0.04788538189976506, "task_success": 0.0 }, { "completion_time": 0.8212575912475586, "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": 0.13308800307835567, "cube to right gripper": 0.3105064076033, "lift distance": 0.02264130933884334 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4404822771406071, "bimanual_gripper_vertical_difference": 0.04817703561765539, "task_success": 0.0 }, { "completion_time": 0.8372948169708252, "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": 0.13302833851488385, "cube to right gripper": 0.28867455456166763, "lift distance": 0.025389361014785283 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43802096545628316, "bimanual_gripper_vertical_difference": 0.04843486861856577, "task_success": 0.0 }, { "completion_time": 0.8531019687652588, "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": 0.13300471171550923, "cube to right gripper": 0.2867230232315845, "lift distance": 0.02337117709614167 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4307280343532672, "bimanual_gripper_vertical_difference": 0.0486902690705345, "task_success": 0.0 }, { "completion_time": 0.8687233924865723, "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": 0.1329955993302514, "cube to right gripper": 0.2883833712297087, "lift distance": 0.020998304380369426 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4235197298680832, "bimanual_gripper_vertical_difference": 0.048953605575634454, "task_success": 0.0 }, { "completion_time": 0.8843376636505127, "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": 0.1330118739261502, "cube to right gripper": 0.2891042222261166, "lift distance": 0.01863941460326235 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4165420786008804, "bimanual_gripper_vertical_difference": 0.04921274340640383, "task_success": 0.0 }, { "completion_time": 0.8998768329620361, "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": 0.1330919762885123, "cube to right gripper": 0.2843649116707747, "lift distance": 0.016125393893565487 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.41429364754009235, "bimanual_gripper_vertical_difference": 0.04942649406100491, "task_success": 0.0 }, { "completion_time": 0.9154207706451416, "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": 0.13310060430556986, "cube to right gripper": 0.27099536151145526, "lift distance": 0.015755441825428873 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.40752954087750703, "bimanual_gripper_vertical_difference": 0.049581562178230315, "task_success": 0.0 }, { "completion_time": 0.9309749603271484, "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": 0.13310779055803248, "cube to right gripper": 0.25163817586092363, "lift distance": 0.016472256027672327 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.40296452925040227, "bimanual_gripper_vertical_difference": 0.0496961996717523, "task_success": 0.0 }, { "completion_time": 0.9479520320892334, "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": 0.13308834996897118, "cube to right gripper": 0.232411888305215, "lift distance": 0.016796412353424217 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.39956418039576186, "bimanual_gripper_vertical_difference": 0.0497892129275831, "task_success": 0.0 }, { "completion_time": 0.9634175300598145, "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": 0.1330680210063391, "cube to right gripper": 0.2179579176659434, "lift distance": 0.01674293683937378 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.39554373480943883, "bimanual_gripper_vertical_difference": 0.049890247625798426, "task_success": 0.0 }, { "completion_time": 0.9788813591003418, "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": 0.13304485285673956, "cube to right gripper": 0.2083523962993711, "lift distance": 0.016937243240075617 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.39090437789223553, "bimanual_gripper_vertical_difference": 0.05000475148030166, "task_success": 0.0 }, { "completion_time": 0.9943521022796631, "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": 0.13302003453209177, "cube to right gripper": 0.20007068777204, "lift distance": 0.017818408629459048 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3858102347113229, "bimanual_gripper_vertical_difference": 0.05009829339092958, "task_success": 0.0 }, { "completion_time": 1.0099105834960938, "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": 0.13301273248759077, "cube to right gripper": 0.19132704196298397, "lift distance": 0.019438261333034612 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3804850869227376, "bimanual_gripper_vertical_difference": 0.05014085646184716, "task_success": 0.0 }, { "completion_time": 1.0255463123321533, "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": 0.13300612428875144, "cube to right gripper": 0.18273480598422384, "lift distance": 0.02138249192687658 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3761145491856219, "bimanual_gripper_vertical_difference": 0.05012259026890018, "task_success": 0.0 }, { "completion_time": 1.0412354469299316, "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": 0.13299219240384227, "cube to right gripper": 0.1737150886853235, "lift distance": 0.023939233612524702 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.37395268670746656, "bimanual_gripper_vertical_difference": 0.05002697352661954, "task_success": 0.0 }, { "completion_time": 1.056886911392212, "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": 0.1329876452235328, "cube to right gripper": 0.16489109955882186, "lift distance": 0.02698542268055848 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.37206801076084045, "bimanual_gripper_vertical_difference": 0.04984820669501138, "task_success": 0.0 }, { "completion_time": 1.0724666118621826, "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": 0.13298260615225327, "cube to right gripper": 0.15742791767736505, "lift distance": 0.029879945011489828 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.36879106043959975, "bimanual_gripper_vertical_difference": 0.04959453194627419, "task_success": 0.0 }, { "completion_time": 1.0879735946655273, "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": 0.13298337698478632, "cube to right gripper": 0.15103865623628193, "lift distance": 0.03259320142563249 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3643711924538964, "bimanual_gripper_vertical_difference": 0.04927660555558988, "task_success": 0.0 }, { "completion_time": 1.1035828590393066, "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": 0.13298435308414988, "cube to right gripper": 0.145882912494083, "lift distance": 0.03491549122843485 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35944703124434896, "bimanual_gripper_vertical_difference": 0.048909390474029826, "task_success": 0.0 }, { "completion_time": 1.1193335056304932, "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": 0.13297893259415977, "cube to right gripper": 0.14166642064957902, "lift distance": 0.03690787848768218 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3553223383117997, "bimanual_gripper_vertical_difference": 0.04850642540767606, "task_success": 0.0 }, { "completion_time": 1.1352872848510742, "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": 0.1329787580237843, "cube to right gripper": 0.1376607353704571, "lift distance": 0.03890094386814047 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35151447932561025, "bimanual_gripper_vertical_difference": 0.048073559885354264, "task_success": 0.0 }, { "completion_time": 1.1512117385864258, "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": 0.13297237682120935, "cube to right gripper": 0.13389282509624806, "lift distance": 0.04085437584727081 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3476537810691798, "bimanual_gripper_vertical_difference": 0.04761418990949327, "task_success": 0.0 }, { "completion_time": 1.167238712310791, "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": 0.13297923858082536, "cube to right gripper": 0.1294130690452386, "lift distance": 0.042996652283457504 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3435659064270115, "bimanual_gripper_vertical_difference": 0.047127590775063094, "task_success": 0.0 }, { "completion_time": 1.1831660270690918, "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": 0.13298136646153394, "cube to right gripper": 0.1237705045763081, "lift distance": 0.04530024819443046 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.34031381870707317, "bimanual_gripper_vertical_difference": 0.04660282289724431, "task_success": 0.0 }, { "completion_time": 1.1989688873291016, "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": 0.13293102003092072, "cube to right gripper": 0.12100792082794115, "lift distance": 0.04625760772799126 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33727704681766946, "bimanual_gripper_vertical_difference": 0.04606058382961854, "task_success": 0.0 }, { "completion_time": 1.2166037559509277, "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": 0.1328769544716997, "cube to right gripper": 0.1208929057832915, "lift distance": 0.0463413045162151 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33357411108346885, "bimanual_gripper_vertical_difference": 0.045531702015870645, "task_success": 0.0 }, { "completion_time": 1.2337329387664795, "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": 0.13292061739087804, "cube to right gripper": 0.12092100094638665, "lift distance": 0.04646303946501251 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3298144612554709, "bimanual_gripper_vertical_difference": 0.04502085125907734, "task_success": 0.0 }, { "completion_time": 1.2500360012054443, "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": 0.14046979989158506, "cube to right gripper": 0.12104325549018241, "lift distance": 0.043596526230084365 }, "success": 1.0, "bimanual_arm_velocity_difference": 0.3259291691240539, "bimanual_gripper_vertical_difference": 0.04445961554303725, "task_success": 1.0 } ]