[ { "completion_time": 0.046608686447143555, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": -0.0007844605031643859, "left gripper-book distance": 0.6147711764099125, "right gripper-book distance": 0.43195300023170574 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475814776e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.07667279243469238, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00033994971899609094, "left gripper-book distance": 0.6130176369563399, "right gripper-book distance": 0.4292782762106505 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.018563459267291e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.10704541206359863, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007641767498167695, "left gripper-book distance": 0.6119488179204439, "right gripper-book distance": 0.4278946069720547 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.865484758547535e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.13802003860473633, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007613712753206103, "left gripper-book distance": 0.6115006919216645, "right gripper-book distance": 0.4272395826241545 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0476543531634805e-06, "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, "task_success": 0.0 }, { "completion_time": 0.17074894905090332, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007517708597292172, "left gripper-book distance": 0.6112066738471786, "right gripper-book distance": 0.42682907964323363 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00016736439362920324, "bimanual_gripper_vertical_difference": 2.150032241132749e-09, "task_success": 0.0 }, { "completion_time": 0.20064783096313477, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007639611810051905, "left gripper-book distance": 0.6110042531110575, "right gripper-book distance": 0.42654838173282816 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00013959168152933698, "bimanual_gripper_vertical_difference": 3.0065443838248975e-09, "task_success": 0.0 }, { "completion_time": 0.23025870323181152, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007125519175744666, "left gripper-book distance": 0.6109256036867294, "right gripper-book distance": 0.4264171124811335 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0002377856926023271, "bimanual_gripper_vertical_difference": 2.9578610037463348e-09, "task_success": 0.0 }, { "completion_time": 0.25943708419799805, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007509105409198025, "left gripper-book distance": 0.6108186512246768, "right gripper-book distance": 0.42627057132484136 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0004959211256728591, "bimanual_gripper_vertical_difference": 2.993774922410708e-09, "task_success": 0.0 }, { "completion_time": 0.2896435260772705, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007619806570356991, "left gripper-book distance": 0.6100550028308033, "right gripper-book distance": 0.4242603050618869 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.022626330285983615, "bimanual_gripper_vertical_difference": 0.00010503865996135274, "task_success": 0.0 }, { "completion_time": 0.3189370632171631, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007566524037991851, "left gripper-book distance": 0.6085361526072305, "right gripper-book distance": 0.419130624583424 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.09583571359215688, "bimanual_gripper_vertical_difference": 0.0005239071135490159, "task_success": 0.0 }, { "completion_time": 0.3487687110900879, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007717471965280609, "left gripper-book distance": 0.6061051614376883, "right gripper-book distance": 0.40373691542766144 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.25015780210701183, "bimanual_gripper_vertical_difference": 0.002293833620571763, "task_success": 0.0 }, { "completion_time": 0.37826991081237793, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007619082970183877, "left gripper-book distance": 0.6017036715732783, "right gripper-book distance": 0.37407711662140597 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3982284905089992, "bimanual_gripper_vertical_difference": 0.006379863167013333, "task_success": 0.0 }, { "completion_time": 0.4078552722930908, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007522345179654666, "left gripper-book distance": 0.5972430373705376, "right gripper-book distance": 0.3337585412344713 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5352307281402973, "bimanual_gripper_vertical_difference": 0.013218664520297118, "task_success": 0.0 }, { "completion_time": 0.4377570152282715, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007717558918826084, "left gripper-book distance": 0.5943636456956763, "right gripper-book distance": 0.2880324932643809 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6761809850803804, "bimanual_gripper_vertical_difference": 0.022731586398539498, "task_success": 0.0 }, { "completion_time": 0.46791958808898926, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007132892183906447, "left gripper-book distance": 0.5933496013184263, "right gripper-book distance": 0.24139798320823272 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8259546033004944, "bimanual_gripper_vertical_difference": 0.03450501981468667, "task_success": 0.0 }, { "completion_time": 0.497922420501709, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007511335855380219, "left gripper-book distance": 0.5934422318233237, "right gripper-book distance": 0.19767808203668222 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9852598853413699, "bimanual_gripper_vertical_difference": 0.04796034863785878, "task_success": 0.0 }, { "completion_time": 0.5274407863616943, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00076429580066395, "left gripper-book distance": 0.5937612051876854, "right gripper-book distance": 0.1708802064862955 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1019975616379507, "bimanual_gripper_vertical_difference": 0.061599441981715464, "task_success": 0.0 }, { "completion_time": 0.5574254989624023, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007569118027734856, "left gripper-book distance": 0.5936920118166634, "right gripper-book distance": 0.161874261033097 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1991144791786903, "bimanual_gripper_vertical_difference": 0.07400051746276709, "task_success": 0.0 }, { "completion_time": 0.5866022109985352, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007719665880141502, "left gripper-book distance": 0.5935144452720005, "right gripper-book distance": 0.16568057502699776 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.213543481425352, "bimanual_gripper_vertical_difference": 0.08456375437344114, "task_success": 0.0 }, { "completion_time": 0.6166396141052246, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00016236373261913073, "left gripper-book distance": 0.5941625699967755, "right gripper-book distance": 0.17787069034970904 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2203882818465357, "bimanual_gripper_vertical_difference": 0.09326130073439445, "task_success": 0.0 }, { "completion_time": 0.6486167907714844, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007435630442877983, "left gripper-book distance": 0.5947457488433261, "right gripper-book distance": 0.19400280439407627 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2583685428460456, "bimanual_gripper_vertical_difference": 0.1002454559965514, "task_success": 0.0 }, { "completion_time": 0.6788134574890137, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007499264722723442, "left gripper-book distance": 0.5959809035393958, "right gripper-book distance": 0.2134908759223002 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3086476697410605, "bimanual_gripper_vertical_difference": 0.10569754818123321, "task_success": 0.0 }, { "completion_time": 0.7085025310516357, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007690231665216096, "left gripper-book distance": 0.5975164373703569, "right gripper-book distance": 0.21300789507405327 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3323142631223799, "bimanual_gripper_vertical_difference": 0.11065966238873716, "task_success": 0.0 }, { "completion_time": 0.738274335861206, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007586949830663547, "left gripper-book distance": 0.5992824244241416, "right gripper-book distance": 0.19081650467177746 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.356953050695701, "bimanual_gripper_vertical_difference": 0.11604660566727355, "task_success": 0.0 }, { "completion_time": 0.7686018943786621, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007698995223557326, "left gripper-book distance": 0.600986203310476, "right gripper-book distance": 0.17143416923030672 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3796092585216464, "bimanual_gripper_vertical_difference": 0.12167711569752619, "task_success": 0.0 }, { "completion_time": 0.7987189292907715, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004547929379111748, "left gripper-book distance": 0.6027254944296982, "right gripper-book distance": 0.15428023036828536 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4026835733067, "bimanual_gripper_vertical_difference": 0.12743708369839288, "task_success": 0.0 }, { "completion_time": 0.8284730911254883, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006778406048445484, "left gripper-book distance": 0.6038403211354699, "right gripper-book distance": 0.14082053545507717 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3958472939937616, "bimanual_gripper_vertical_difference": 0.13320616552687262, "task_success": 0.0 }, { "completion_time": 0.8581738471984863, "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": { "book lift distance": -0.00037675944556470053, "left gripper-book distance": 0.6055222845358389, "right gripper-book distance": 0.13776609351167374 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3537204184147746, "bimanual_gripper_vertical_difference": 0.1387269079625581, "task_success": 0.0 }, { "completion_time": 0.8881282806396484, "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": { "book lift distance": -0.0010098418617279226, "left gripper-book distance": 0.6067815271248072, "right gripper-book distance": 0.13635219439761104 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.311458916221836, "bimanual_gripper_vertical_difference": 0.1439590487475867, "task_success": 0.0 }, { "completion_time": 0.9180910587310791, "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": { "book lift distance": -0.0017018079709594236, "left gripper-book distance": 0.608243152757329, "right gripper-book distance": 0.13565757278795926 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2853353700642456, "bimanual_gripper_vertical_difference": 0.1488982225216742, "task_success": 0.0 }, { "completion_time": 0.948082685470581, "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": { "book lift distance": -0.0014343795592791642, "left gripper-book distance": 0.6091929856923397, "right gripper-book distance": 0.1351149371848714 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2622766743700575, "bimanual_gripper_vertical_difference": 0.15351435686023693, "task_success": 0.0 }, { "completion_time": 0.9773907661437988, "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": { "book lift distance": -0.0014175101387428057, "left gripper-book distance": 0.610393776559924, "right gripper-book distance": 0.13448355323043412 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.24393002131308, "bimanual_gripper_vertical_difference": 0.157843596978342, "task_success": 0.0 }, { "completion_time": 1.0075972080230713, "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": { "book lift distance": -0.0004064367252126777, "left gripper-book distance": 0.6109741474299868, "right gripper-book distance": 0.13409640470467502 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2345557152537043, "bimanual_gripper_vertical_difference": 0.16188301148135986, "task_success": 0.0 }, { "completion_time": 1.03629732131958, "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": { "book lift distance": -0.0009343787786968427, "left gripper-book distance": 0.6123525182145109, "right gripper-book distance": 0.1342498618089726 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.221281218645284, "bimanual_gripper_vertical_difference": 0.16571152727119987, "task_success": 0.0 }, { "completion_time": 1.0655345916748047, "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": { "book lift distance": 0.00016506108193636848, "left gripper-book distance": 0.6126444695315956, "right gripper-book distance": 0.13416506167891593 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2103298291504658, "bimanual_gripper_vertical_difference": 0.16931420135201813, "task_success": 0.0 }, { "completion_time": 1.095320224761963, "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": { "book lift distance": 0.0006299404251032259, "left gripper-book distance": 0.6131540959058518, "right gripper-book distance": 0.1343376760872784 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1960814367240094, "bimanual_gripper_vertical_difference": 0.1727221756176079, "task_success": 0.0 }, { "completion_time": 1.1278889179229736, "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": { "book lift distance": 0.0005154391370200129, "left gripper-book distance": 0.6136927910055473, "right gripper-book distance": 0.1348405220012154 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1792824077706467, "bimanual_gripper_vertical_difference": 0.17595649765394178, "task_success": 0.0 }, { "completion_time": 1.1573903560638428, "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": { "book lift distance": 0.0002903703173245953, "left gripper-book distance": 0.6140512114578074, "right gripper-book distance": 0.13558497936087754 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1624366666838197, "bimanual_gripper_vertical_difference": 0.17902722729452392, "task_success": 0.0 }, { "completion_time": 1.1867024898529053, "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": { "book lift distance": 0.0007804867245961855, "left gripper-book distance": 0.6137461308307967, "right gripper-book distance": 0.13685179201135314 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1487688309718387, "bimanual_gripper_vertical_difference": 0.18190375710043497, "task_success": 0.0 }, { "completion_time": 1.2172925472259521, "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": { "book lift distance": 0.00035035770055014126, "left gripper-book distance": 0.614072564602629, "right gripper-book distance": 0.1381402333523716 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1352512290103571, "bimanual_gripper_vertical_difference": 0.18464748715633564, "task_success": 0.0 }, { "completion_time": 1.2484655380249023, "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": { "book lift distance": 0.0006678010009326663, "left gripper-book distance": 0.6139199813599205, "right gripper-book distance": 0.13947029678937006 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1233276644605756, "bimanual_gripper_vertical_difference": 0.18724237348770617, "task_success": 0.0 }, { "completion_time": 1.279017448425293, "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": { "book lift distance": 0.0007009436500229338, "left gripper-book distance": 0.6138224566517704, "right gripper-book distance": 0.14053371986391058 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1089769863174563, "bimanual_gripper_vertical_difference": 0.1897135016483777, "task_success": 0.0 }, { "completion_time": 1.3092904090881348, "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": { "book lift distance": 0.000740073336087943, "left gripper-book distance": 0.6136339763810602, "right gripper-book distance": 0.14386031935958046 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1024106202868122, "bimanual_gripper_vertical_difference": 0.19205651000656707, "task_success": 0.0 }, { "completion_time": 1.3385534286499023, "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": { "book lift distance": 0.0007533252945739477, "left gripper-book distance": 0.6137574190383943, "right gripper-book distance": 0.1516938516809369 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.107442514062754, "bimanual_gripper_vertical_difference": 0.19423564723358114, "task_success": 0.0 }, { "completion_time": 1.3679358959197998, "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": { "book lift distance": 0.0007366533560174693, "left gripper-book distance": 0.6141465609104403, "right gripper-book distance": 0.1625362318729195 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1158678779307807, "bimanual_gripper_vertical_difference": 0.19624055757886047, "task_success": 0.0 }, { "completion_time": 1.3974740505218506, "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": { "book lift distance": 0.0007431427220414566, "left gripper-book distance": 0.6146355907387863, "right gripper-book distance": 0.17210948145114355 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.119004591586541, "bimanual_gripper_vertical_difference": 0.19812219771116257, "task_success": 0.0 }, { "completion_time": 1.4271252155303955, "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": { "book lift distance": 0.0007332349440943853, "left gripper-book distance": 0.615519150917665, "right gripper-book distance": 0.17661950503486373 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1201172075845982, "bimanual_gripper_vertical_difference": 0.19999795303140866, "task_success": 0.0 }, { "completion_time": 1.457136869430542, "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": { "book lift distance": 0.000733546695580678, "left gripper-book distance": 0.616792850386778, "right gripper-book distance": 0.1750992250145535 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1290889500303087, "bimanual_gripper_vertical_difference": 0.20199364866080596, "task_success": 0.0 }, { "completion_time": 1.4866564273834229, "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": { "book lift distance": 0.0007410060565120613, "left gripper-book distance": 0.6182698021494315, "right gripper-book distance": 0.16878537918251252 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1354436386769569, "bimanual_gripper_vertical_difference": 0.2041712414621658, "task_success": 0.0 }, { "completion_time": 1.5162522792816162, "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": { "book lift distance": 0.0007465539218417527, "left gripper-book distance": 0.6196765999830567, "right gripper-book distance": 0.16075054744468908 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1339558921601574, "bimanual_gripper_vertical_difference": 0.20648895943780304, "task_success": 0.0 }, { "completion_time": 1.546137809753418, "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": { "book lift distance": 0.0007484991745769776, "left gripper-book distance": 0.6205816473694077, "right gripper-book distance": 0.15916093574237336 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1201705998499452, "bimanual_gripper_vertical_difference": 0.20872143028892726, "task_success": 0.0 }, { "completion_time": 1.5763466358184814, "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": { "book lift distance": 0.0007365458863822782, "left gripper-book distance": 0.6208994556446731, "right gripper-book distance": 0.15453002133005916 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1144410260059265, "bimanual_gripper_vertical_difference": 0.210851202978243, "task_success": 0.0 }, { "completion_time": 1.6061675548553467, "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": { "book lift distance": 0.0007445766575753243, "left gripper-book distance": 0.6210176090207646, "right gripper-book distance": 0.14969044700434642 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1264088776421917, "bimanual_gripper_vertical_difference": 0.21284983482149333, "task_success": 0.0 }, { "completion_time": 1.6352901458740234, "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": { "book lift distance": 0.0007269508184208906, "left gripper-book distance": 0.6213461804577985, "right gripper-book distance": 0.1475077307058492 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1425495184360206, "bimanual_gripper_vertical_difference": 0.21468015843598665, "task_success": 0.0 }, { "completion_time": 1.6653871536254883, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0015887373975069785, "left gripper-book distance": 0.6210685337553886, "right gripper-book distance": 0.14931034671906213 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1501148631696816, "bimanual_gripper_vertical_difference": 0.21634180296773123, "task_success": 0.0 }, { "completion_time": 1.6962451934814453, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.003560037749195999, "left gripper-book distance": 0.6192317725630544, "right gripper-book distance": 0.1524434725668834 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1449499377570709, "bimanual_gripper_vertical_difference": 0.21787434294008282, "task_success": 0.0 }, { "completion_time": 1.7259292602539062, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.004568904170394905, "left gripper-book distance": 0.6184262649278908, "right gripper-book distance": 0.1538269056619893 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1297726581379568, "bimanual_gripper_vertical_difference": 0.2193268569460273, "task_success": 0.0 }, { "completion_time": 1.7546451091766357, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.004275306300693615, "left gripper-book distance": 0.618486049567761, "right gripper-book distance": 0.15385978040235423 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1104534376248074, "bimanual_gripper_vertical_difference": 0.2207484201368807, "task_success": 0.0 }, { "completion_time": 1.784111738204956, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.00016171360422667647, "left gripper-book distance": 0.6213899118798174, "right gripper-book distance": 0.1571080719939734 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0998105476631235, "bimanual_gripper_vertical_difference": 0.2221390268636054, "task_success": 0.0 }, { "completion_time": 1.8131530284881592, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0002640419565639318, "left gripper-book distance": 0.621104835292527, "right gripper-book distance": 0.15830485585344464 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0919799908566294, "bimanual_gripper_vertical_difference": 0.22348852900671667, "task_success": 0.0 }, { "completion_time": 1.8453090190887451, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007269475094054956, "left gripper-book distance": 0.6206986829365161, "right gripper-book distance": 0.15684138060265013 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0865203986030343, "bimanual_gripper_vertical_difference": 0.22482729680578675, "task_success": 0.0 }, { "completion_time": 1.873948097229004, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007373688439742399, "left gripper-book distance": 0.6207515540104421, "right gripper-book distance": 0.15215451238148975 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.07966950475376, "bimanual_gripper_vertical_difference": 0.2261862245910497, "task_success": 0.0 }, { "completion_time": 1.903815507888794, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007391846951941838, "left gripper-book distance": 0.6211716012635398, "right gripper-book distance": 0.14613406321905398 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.068004554575014, "bimanual_gripper_vertical_difference": 0.2275684831019594, "task_success": 0.0 }, { "completion_time": 1.9325892925262451, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000683075527036725, "left gripper-book distance": 0.621502729744255, "right gripper-book distance": 0.14292070707251647 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0565945815206885, "bimanual_gripper_vertical_difference": 0.22892916989097856, "task_success": 0.0 }, { "completion_time": 1.9628422260284424, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007313312717823761, "left gripper-book distance": 0.6211611195612173, "right gripper-book distance": 0.14224599887287767 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0474402337568853, "bimanual_gripper_vertical_difference": 0.23022786144570606, "task_success": 0.0 }, { "completion_time": 1.9917588233947754, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.001043838152986254, "left gripper-book distance": 0.6188501897520546, "right gripper-book distance": 0.14140348786582282 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0405780063009704, "bimanual_gripper_vertical_difference": 0.2314740543532453, "task_success": 0.0 }, { "completion_time": 2.021333694458008, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0015976770353098857, "left gripper-book distance": 0.6156156989567552, "right gripper-book distance": 0.1412768873238839 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0358449429812766, "bimanual_gripper_vertical_difference": 0.23267046537512506, "task_success": 0.0 }, { "completion_time": 2.0492472648620605, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0015093175782416868, "left gripper-book distance": 0.6128081681258184, "right gripper-book distance": 0.14204818715881623 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0308007817879417, "bimanual_gripper_vertical_difference": 0.2338148808037134, "task_success": 0.0 }, { "completion_time": 2.081021308898926, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0014531367516701366, "left gripper-book distance": 0.6111606562712262, "right gripper-book distance": 0.14201584531928615 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0224389186390592, "bimanual_gripper_vertical_difference": 0.23490380537580693, "task_success": 0.0 }, { "completion_time": 2.1099772453308105, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000994694240360361, "left gripper-book distance": 0.6104407481839926, "right gripper-book distance": 0.14209022703077495 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0113778933699142, "bimanual_gripper_vertical_difference": 0.23594185722894784, "task_success": 0.0 }, { "completion_time": 2.1382484436035156, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005574439672716425, "left gripper-book distance": 0.6103549491633752, "right gripper-book distance": 0.14219996309513735 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9997241523339061, "bimanual_gripper_vertical_difference": 0.2369261219704149, "task_success": 0.0 }, { "completion_time": 2.16725492477417, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0001761486335677409, "left gripper-book distance": 0.6103266923950037, "right gripper-book distance": 0.14225515971937555 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9874592149342456, "bimanual_gripper_vertical_difference": 0.23786485633811308, "task_success": 0.0 }, { "completion_time": 2.1956703662872314, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00011778604521250902, "left gripper-book distance": 0.6104077635651196, "right gripper-book distance": 0.14243827421769442 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9750047774950409, "bimanual_gripper_vertical_difference": 0.23876178533040665, "task_success": 0.0 }, { "completion_time": 2.224538803100586, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00018677453879933914, "left gripper-book distance": 0.6108473218885817, "right gripper-book distance": 0.14580855780808993 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9675721201048544, "bimanual_gripper_vertical_difference": 0.23959752848656998, "task_success": 0.0 }, { "completion_time": 2.2533340454101562, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00038085345614846666, "left gripper-book distance": 0.6113622629834013, "right gripper-book distance": 0.1556944137844918 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9684614750745197, "bimanual_gripper_vertical_difference": 0.24032945778918097, "task_success": 0.0 }, { "completion_time": 2.282620668411255, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006994436933741577, "left gripper-book distance": 0.6117722281910095, "right gripper-book distance": 0.17113915520585385 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9749458858755049, "bimanual_gripper_vertical_difference": 0.2409252692316403, "task_success": 0.0 }, { "completion_time": 2.311372995376587, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005089252990601034, "left gripper-book distance": 0.612648375901689, "right gripper-book distance": 0.1887396196353864 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9814017981738794, "bimanual_gripper_vertical_difference": 0.24139336692353658, "task_success": 0.0 }, { "completion_time": 2.34035062789917, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004656129944092813, "left gripper-book distance": 0.6130136679128666, "right gripper-book distance": 0.20223258817556164 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.990128757749194, "bimanual_gripper_vertical_difference": 0.24176950424166682, "task_success": 0.0 }, { "completion_time": 2.3691399097442627, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00044744013881536926, "left gripper-book distance": 0.6127551217970879, "right gripper-book distance": 0.2105584864184922 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0040284688229082, "bimanual_gripper_vertical_difference": 0.24207836645032726, "task_success": 0.0 }, { "completion_time": 2.398857593536377, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005381680972932346, "left gripper-book distance": 0.6116202273511364, "right gripper-book distance": 0.21354018152750534 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.021973254358803, "bimanual_gripper_vertical_difference": 0.24234990557465505, "task_success": 0.0 }, { "completion_time": 2.431678056716919, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004275260682219395, "left gripper-book distance": 0.6097791861545047, "right gripper-book distance": 0.21019225475566367 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0450994334475747, "bimanual_gripper_vertical_difference": 0.24264578471805662, "task_success": 0.0 }, { "completion_time": 2.461226224899292, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004253708392568667, "left gripper-book distance": 0.6067836835914182, "right gripper-book distance": 0.20130929006236434 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0673474112059966, "bimanual_gripper_vertical_difference": 0.24303324464201628, "task_success": 0.0 }, { "completion_time": 2.4908485412597656, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005116759066403631, "left gripper-book distance": 0.6026286262003205, "right gripper-book distance": 0.19437825801567524 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.081231931508093, "bimanual_gripper_vertical_difference": 0.24348351347862185, "task_success": 0.0 }, { "completion_time": 2.5203917026519775, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004697244161059322, "left gripper-book distance": 0.5973250338120372, "right gripper-book distance": 0.18878637646629964 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.091598557372283, "bimanual_gripper_vertical_difference": 0.24397065611344634, "task_success": 0.0 }, { "completion_time": 2.549999713897705, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005053862210550042, "left gripper-book distance": 0.5912492819966781, "right gripper-book distance": 0.18443405254493697 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1047300721256534, "bimanual_gripper_vertical_difference": 0.24447061969341136, "task_success": 0.0 }, { "completion_time": 2.5798964500427246, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00051337449305211, "left gripper-book distance": 0.5853265857411044, "right gripper-book distance": 0.18161919336303048 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1191578412681376, "bimanual_gripper_vertical_difference": 0.244966267975768, "task_success": 0.0 }, { "completion_time": 2.609321117401123, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00043124952893858204, "left gripper-book distance": 0.5804053914020724, "right gripper-book distance": 0.17911794622563787 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1334955086872183, "bimanual_gripper_vertical_difference": 0.2454509574501909, "task_success": 0.0 }, { "completion_time": 2.638009786605835, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00048312202265377024, "left gripper-book distance": 0.576560343720833, "right gripper-book distance": 0.17488066208188302 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1472446732966366, "bimanual_gripper_vertical_difference": 0.24592446036270468, "task_success": 0.0 }, { "completion_time": 2.6666972637176514, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004891886612299334, "left gripper-book distance": 0.5739645530444668, "right gripper-book distance": 0.16890471020632142 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1625358819443787, "bimanual_gripper_vertical_difference": 0.24639179584324802, "task_success": 0.0 }, { "completion_time": 2.6970067024230957, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00042656313322220196, "left gripper-book distance": 0.572270727629442, "right gripper-book distance": 0.16095641135230432 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1743060066074702, "bimanual_gripper_vertical_difference": 0.246852616858792, "task_success": 0.0 }, { "completion_time": 2.726569175720215, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00048265663066704434, "left gripper-book distance": 0.5712164696869929, "right gripper-book distance": 0.15156743824218277 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1732625980608906, "bimanual_gripper_vertical_difference": 0.24731518061512495, "task_success": 0.0 }, { "completion_time": 2.7556707859039307, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006816389228043729, "left gripper-book distance": 0.5709556605920075, "right gripper-book distance": 0.14193300698894196 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1672099981285897, "bimanual_gripper_vertical_difference": 0.24778839426101432, "task_success": 0.0 }, { "completion_time": 2.786062002182007, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004796737962677877, "left gripper-book distance": 0.571700501462262, "right gripper-book distance": 0.13455116952629595 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1675704586926932, "bimanual_gripper_vertical_difference": 0.24826849237725798, "task_success": 0.0 }, { "completion_time": 2.8155806064605713, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005069303547079462, "left gripper-book distance": 0.5707980714665027, "right gripper-book distance": 0.1319913056188327 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.171661876899007, "bimanual_gripper_vertical_difference": 0.24873688475109876, "task_success": 0.0 }, { "completion_time": 2.845682144165039, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004841266112783904, "left gripper-book distance": 0.5696551166857983, "right gripper-book distance": 0.1312259310083931 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1687357344996299, "bimanual_gripper_vertical_difference": 0.24918979604650482, "task_success": 0.0 }, { "completion_time": 2.8746140003204346, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005263281887988303, "left gripper-book distance": 0.5688070306647756, "right gripper-book distance": 0.1307531647537514 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.159301376222244, "bimanual_gripper_vertical_difference": 0.24962949340728013, "task_success": 0.0 }, { "completion_time": 2.9035444259643555, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000370077776039035, "left gripper-book distance": 0.5681571059776437, "right gripper-book distance": 0.13030758575300683 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1491310685029963, "bimanual_gripper_vertical_difference": 0.2500572523534296, "task_success": 0.0 }, { "completion_time": 2.933530807495117, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00043100146988184207, "left gripper-book distance": 0.5671109133020408, "right gripper-book distance": 0.1274724711684939 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1477665574288507, "bimanual_gripper_vertical_difference": 0.25048653645680813, "task_success": 0.0 }, { "completion_time": 2.9626240730285645, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00048216181989113593, "left gripper-book distance": 0.5669223906594789, "right gripper-book distance": 0.12376934091498129 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1536034295022828, "bimanual_gripper_vertical_difference": 0.2509312759484698, "task_success": 0.0 }, { "completion_time": 2.9918198585510254, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004465818300757318, "left gripper-book distance": 0.5677463230719115, "right gripper-book distance": 0.12082125543404258 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1638592032072095, "bimanual_gripper_vertical_difference": 0.2513976741451614, "task_success": 0.0 }, { "completion_time": 3.026872396469116, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00037328496818966883, "left gripper-book distance": 0.569187730734696, "right gripper-book distance": 0.1186286295949627 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1763461972357534, "bimanual_gripper_vertical_difference": 0.25189062246222327, "task_success": 0.0 }, { "completion_time": 3.0566940307617188, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004137351834694325, "left gripper-book distance": 0.5710575341129267, "right gripper-book distance": 0.11602455514813395 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1898085013356554, "bimanual_gripper_vertical_difference": 0.2524236281050303, "task_success": 0.0 }, { "completion_time": 3.0867292881011963, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00047267972243625334, "left gripper-book distance": 0.5732279092650052, "right gripper-book distance": 0.1124599402586667 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2039072832794147, "bimanual_gripper_vertical_difference": 0.25300987086083654, "task_success": 0.0 }, { "completion_time": 3.1161105632781982, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00040697542284551247, "left gripper-book distance": 0.5756380088232134, "right gripper-book distance": 0.10766494137481326 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2188589195479969, "bimanual_gripper_vertical_difference": 0.2536573960003399, "task_success": 0.0 }, { "completion_time": 3.14679217338562, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00048430469902616125, "left gripper-book distance": 0.5780038643855029, "right gripper-book distance": 0.10172006080913594 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2344014173925926, "bimanual_gripper_vertical_difference": 0.25437433490427014, "task_success": 0.0 }, { "completion_time": 3.1762900352478027, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 6.34826081324924e-05, "left gripper-book distance": 0.580396607285548, "right gripper-book distance": 0.09588333174332736 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.245980139720075, "bimanual_gripper_vertical_difference": 0.2551553305866631, "task_success": 0.0 }, { "completion_time": 3.2061517238616943, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0006343331221055903, "left gripper-book distance": 0.5805980022847256, "right gripper-book distance": 0.09667284175673901 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2563278220598968, "bimanual_gripper_vertical_difference": 0.25596402027715176, "task_success": 0.0 }, { "completion_time": 3.2364702224731445, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -3.197119445108587e-05, "left gripper-book distance": 0.5799106723436833, "right gripper-book distance": 0.09846299604349001 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2651158691757358, "bimanual_gripper_vertical_difference": 0.25676157322191395, "task_success": 0.0 }, { "completion_time": 3.2676169872283936, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.001163927480882454, "left gripper-book distance": 0.5806307313550239, "right gripper-book distance": 0.09828450732112447 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2675522042933653, "bimanual_gripper_vertical_difference": 0.25755104676015744, "task_success": 0.0 }, { "completion_time": 3.2975895404815674, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0011167056437639822, "left gripper-book distance": 0.583398739726152, "right gripper-book distance": 0.09872440488055378 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.259608093851008, "bimanual_gripper_vertical_difference": 0.2583306734102121, "task_success": 0.0 }, { "completion_time": 3.3273870944976807, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.002512465798331087, "left gripper-book distance": 0.5846455463941344, "right gripper-book distance": 0.097791519356395 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2524024114849726, "bimanual_gripper_vertical_difference": 0.25910021457453314, "task_success": 0.0 }, { "completion_time": 3.35774564743042, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.009826444789275524, "left gripper-book distance": 0.580597993927216, "right gripper-book distance": 0.1040829297684038 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.251257906477535, "bimanual_gripper_vertical_difference": 0.25983707475846524, "task_success": 0.0 }, { "completion_time": 3.3882741928100586, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.014820362573926937, "left gripper-book distance": 0.5786986508445296, "right gripper-book distance": 0.11225015147171385 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2515043295154342, "bimanual_gripper_vertical_difference": 0.26049036549199917, "task_success": 0.0 }, { "completion_time": 3.416813850402832, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.027940074949286298, "left gripper-book distance": 0.5738362897918066, "right gripper-book distance": 0.11621034441011617 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2549028140854883, "bimanual_gripper_vertical_difference": 0.2609891960489012, "task_success": 0.0 }, { "completion_time": 3.4460606575012207, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.040605657509205195, "left gripper-book distance": 0.5695216383472466, "right gripper-book distance": 0.12198566838805108 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2634156054003014, "bimanual_gripper_vertical_difference": 0.26128685104444593, "task_success": 0.0 }, { "completion_time": 3.477046489715576, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.06252044508850119, "left gripper-book distance": 0.5606488270319685, "right gripper-book distance": 0.12412270425613743 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.2742140083419333, "bimanual_gripper_vertical_difference": 0.26135652384612784, "task_success": 1.0 } ]