[ { "completion_time": 0.04552459716796875, "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": -0.0007267219246452905, "left gripper-book distance": 0.6074776542799727, "right gripper-book distance": 0.43491210313144596 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.99828380799405e-06, "bimanual_gripper_vertical_difference": 7.410863034351678e-10, "task_success": 0.0 }, { "completion_time": 0.07453250885009766, "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": 0.0005835398801459224, "left gripper-book distance": 0.6054882938754567, "right gripper-book distance": 0.43210774606673724 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.002500151288388e-06, "bimanual_gripper_vertical_difference": 9.131697620290424e-10, "task_success": 0.0 }, { "completion_time": 0.10454010963439941, "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": 0.0006634590348869596, "left gripper-book distance": 0.6046932104991077, "right gripper-book distance": 0.4310233015516247 }, "success": 0.0, "bimanual_arm_velocity_difference": 8.092977364810664e-07, "bimanual_gripper_vertical_difference": 1.1637020976470087e-09, "task_success": 0.0 }, { "completion_time": 0.13414359092712402, "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": 0.0006849545009061098, "left gripper-book distance": 0.6042160507933728, "right gripper-book distance": 0.43034664234714276 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.457547165412785e-06, "bimanual_gripper_vertical_difference": 1.2455426690038962e-09, "task_success": 0.0 }, { "completion_time": 0.1634504795074463, "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": 0.0007122343897381089, "left gripper-book distance": 0.6039251151211285, "right gripper-book distance": 0.42988681307421217 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9765812767580383e-06, "bimanual_gripper_vertical_difference": 1.2701646845414416e-09, "task_success": 0.0 }, { "completion_time": 0.19215750694274902, "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": 0.00012077174326297069, "left gripper-book distance": 0.6040796300606041, "right gripper-book distance": 0.43019153369627033 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6532237547582536e-06, "bimanual_gripper_vertical_difference": 1.2122040408494665e-09, "task_success": 0.0 }, { "completion_time": 0.2215738296508789, "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": 0.00014493569273399398, "left gripper-book distance": 0.6039403089583008, "right gripper-book distance": 0.42999366445682496 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4203601580741157e-06, "bimanual_gripper_vertical_difference": 1.1274447407418263e-09, "task_success": 0.0 }, { "completion_time": 0.25133800506591797, "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": 0.00014838302208641796, "left gripper-book distance": 0.6038602548898836, "right gripper-book distance": 0.42987687365436217 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00026286428870497716, "bimanual_gripper_vertical_difference": 1.4626367617065483e-09, "task_success": 0.0 }, { "completion_time": 0.28087782859802246, "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": 0.00014849537769390242, "left gripper-book distance": 0.6038111038750691, "right gripper-book distance": 0.4298031994572103 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0002530767383718771, "bimanual_gripper_vertical_difference": 1.8585252596163098e-09, "task_success": 0.0 }, { "completion_time": 0.3097372055053711, "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": 0.00014858233845882474, "left gripper-book distance": 0.6036522660168788, "right gripper-book distance": 0.4295762693926873 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00027067126911312127, "bimanual_gripper_vertical_difference": 2.841183599500141e-09, "task_success": 0.0 }, { "completion_time": 0.3384859561920166, "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": 0.00014868586590033317, "left gripper-book distance": 0.601928893683664, "right gripper-book distance": 0.42634724571370414 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.03547408460105619, "bimanual_gripper_vertical_difference": 0.00012443969516578497, "task_success": 0.0 }, { "completion_time": 0.3678247928619385, "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": 0.00014878986604682787, "left gripper-book distance": 0.5996762629880721, "right gripper-book distance": 0.4219737351432534 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1448655757006392, "bimanual_gripper_vertical_difference": 0.0005657022670434256, "task_success": 0.0 }, { "completion_time": 0.3956601619720459, "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": 0.00014889358960856747, "left gripper-book distance": 0.5974462776815245, "right gripper-book distance": 0.42020682503813866 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2984462004442833, "bimanual_gripper_vertical_difference": 0.0012473648066227716, "task_success": 0.0 }, { "completion_time": 0.4247751235961914, "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": 0.00014899709684690343, "left gripper-book distance": 0.5953704363654871, "right gripper-book distance": 0.42206656962487504 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.46944021172133416, "bimanual_gripper_vertical_difference": 0.002031336375277875, "task_success": 0.0 }, { "completion_time": 0.4533824920654297, "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": 0.00014910039391224927, "left gripper-book distance": 0.5937703894620997, "right gripper-book distance": 0.421960369709272 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6309008899850547, "bimanual_gripper_vertical_difference": 0.0031286337321893526, "task_success": 0.0 }, { "completion_time": 0.4823880195617676, "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": 0.00014920348091784774, "left gripper-book distance": 0.5926817772841986, "right gripper-book distance": 0.4165774437160243 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7811448880881955, "bimanual_gripper_vertical_difference": 0.004928103900673497, "task_success": 0.0 }, { "completion_time": 0.5105991363525391, "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": 0.00014930635806242876, "left gripper-book distance": 0.592015663317587, "right gripper-book distance": 0.4062387693866638 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9197205547975923, "bimanual_gripper_vertical_difference": 0.00772667462607907, "task_success": 0.0 }, { "completion_time": 0.5389969348907471, "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": 0.0001494090255793612, "left gripper-book distance": 0.591660351810004, "right gripper-book distance": 0.39276462817860297 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0180577668166968, "bimanual_gripper_vertical_difference": 0.0116822778733267, "task_success": 0.0 }, { "completion_time": 0.5706744194030762, "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": 0.00014951148370290213, "left gripper-book distance": 0.5913640602516362, "right gripper-book distance": 0.37298611574694385 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.096329479409741, "bimanual_gripper_vertical_difference": 0.01701317233273389, "task_success": 0.0 }, { "completion_time": 0.5990355014801025, "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": 0.00014961373266819677, "left gripper-book distance": 0.591155669248033, "right gripper-book distance": 0.343748251602438 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.163836592295078, "bimanual_gripper_vertical_difference": 0.024048456532455464, "task_success": 0.0 }, { "completion_time": 0.6304018497467041, "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": 0.0001497157727099463, "left gripper-book distance": 0.5912264419419897, "right gripper-book distance": 0.30868388916860257 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2319376487416906, "bimanual_gripper_vertical_difference": 0.03304416851295385, "task_success": 0.0 }, { "completion_time": 0.658254861831665, "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": 0.0001498176040641841, "left gripper-book distance": 0.5916059593760227, "right gripper-book distance": 0.27885784670954766 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2960075756643343, "bimanual_gripper_vertical_difference": 0.0439973521088878, "task_success": 0.0 }, { "completion_time": 0.68715500831604, "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": 0.0001499192269664995, "left gripper-book distance": 0.5921883937905271, "right gripper-book distance": 0.26302743690847086 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.306807001460964, "bimanual_gripper_vertical_difference": 0.05584258173645442, "task_success": 0.0 }, { "completion_time": 0.7161960601806641, "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": 0.00015002064165359208, "left gripper-book distance": 0.5929643444395811, "right gripper-book distance": 0.24970660002174266 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3029735467560926, "bimanual_gripper_vertical_difference": 0.06749876472600808, "task_success": 0.0 }, { "completion_time": 0.7457075119018555, "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": 0.00015012184836171727, "left gripper-book distance": 0.5938207232528663, "right gripper-book distance": 0.23288783552409398 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3037937315380304, "bimanual_gripper_vertical_difference": 0.07833529753200809, "task_success": 0.0 }, { "completion_time": 0.7752974033355713, "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": 0.0001502228473284628, "left gripper-book distance": 0.5946061908012145, "right gripper-book distance": 0.22023201298295836 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3322682652193167, "bimanual_gripper_vertical_difference": 0.08802939376443254, "task_success": 0.0 }, { "completion_time": 0.8041412830352783, "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": 0.00015032363879108335, "left gripper-book distance": 0.5953116830275188, "right gripper-book distance": 0.2060170823364018 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3722088837165969, "bimanual_gripper_vertical_difference": 0.0963205254526998, "task_success": 0.0 }, { "completion_time": 0.8331854343414307, "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": 0.0001504242229876107, "left gripper-book distance": 0.5960674174921928, "right gripper-book distance": 0.19653095247219549 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4241186140580704, "bimanual_gripper_vertical_difference": 0.103075704953428, "task_success": 0.0 }, { "completion_time": 0.8633050918579102, "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": 0.00015013346480041712, "left gripper-book distance": 0.5969770525495399, "right gripper-book distance": 0.19765920969133294 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4812382410430924, "bimanual_gripper_vertical_difference": 0.10825435938237872, "task_success": 0.0 }, { "completion_time": 0.8921475410461426, "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": 0.00014984443173271522, "left gripper-book distance": 0.5978990363948797, "right gripper-book distance": 0.20666093924593984 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5335991578911057, "bimanual_gripper_vertical_difference": 0.1121206438433183, "task_success": 0.0 }, { "completion_time": 0.9212892055511475, "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": 0.000149512289077669, "left gripper-book distance": 0.5986308723688122, "right gripper-book distance": 0.20944324382362697 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.542091395142982, "bimanual_gripper_vertical_difference": 0.11538825500232196, "task_success": 0.0 }, { "completion_time": 0.9512698650360107, "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": 0.00015016800384026752, "left gripper-book distance": 0.5978158400241982, "right gripper-book distance": 0.20334302301092472 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5222576719547674, "bimanual_gripper_vertical_difference": 0.11860439334687572, "task_success": 0.0 }, { "completion_time": 0.9804773330688477, "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": 0.00014954951594636778, "left gripper-book distance": 0.5966671434253469, "right gripper-book distance": 0.18729428580676452 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5121319430113225, "bimanual_gripper_vertical_difference": 0.12218627010268569, "task_success": 0.0 }, { "completion_time": 1.0099725723266602, "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": 0.00014967014750255636, "left gripper-book distance": 0.5958473366814523, "right gripper-book distance": 0.17011068417476255 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.503737965928067, "bimanual_gripper_vertical_difference": 0.12624186845647728, "task_success": 0.0 }, { "completion_time": 1.039621353149414, "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": 0.0001498043740668642, "left gripper-book distance": 0.5951270135540736, "right gripper-book distance": 0.1644088357066755 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4664285672779207, "bimanual_gripper_vertical_difference": 0.1302939271595864, "task_success": 0.0 }, { "completion_time": 1.0686230659484863, "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": 0.00014993456763645607, "left gripper-book distance": 0.5937649474675825, "right gripper-book distance": 0.1637538424453037 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.440011414744787, "bimanual_gripper_vertical_difference": 0.13404724933989037, "task_success": 0.0 }, { "completion_time": 1.0987393856048584, "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": 0.00015006434789777146, "left gripper-book distance": 0.5925785401443588, "right gripper-book distance": 0.16029654735428275 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.429408754356515, "bimanual_gripper_vertical_difference": 0.1375686044779142, "task_success": 0.0 }, { "completion_time": 1.128699779510498, "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": 0.00015019392146109478, "left gripper-book distance": 0.5919221438150724, "right gripper-book distance": 0.15519617833707502 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4275929580541245, "bimanual_gripper_vertical_difference": 0.1408997301730406, "task_success": 0.0 }, { "completion_time": 1.1586065292358398, "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": 0.00015032327615960295, "left gripper-book distance": 0.5918846207496721, "right gripper-book distance": 0.15009606302482306 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.425345744316211, "bimanual_gripper_vertical_difference": 0.1440774038441325, "task_success": 0.0 }, { "completion_time": 1.1891264915466309, "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": 0.00015045241063382786, "left gripper-book distance": 0.5923185970170307, "right gripper-book distance": 0.144529790738346 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4235225025758798, "bimanual_gripper_vertical_difference": 0.14716639775905604, "task_success": 0.0 }, { "completion_time": 1.2233788967132568, "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": 0.00015058132500544996, "left gripper-book distance": 0.5930089065128972, "right gripper-book distance": 0.13924310862416636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4195623096427417, "bimanual_gripper_vertical_difference": 0.150215475514474, "task_success": 0.0 }, { "completion_time": 1.2533531188964844, "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": 0.00015071001938837814, "left gripper-book distance": 0.5937072417329996, "right gripper-book distance": 0.13458994603643853 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4095236013698562, "bimanual_gripper_vertical_difference": 0.1532289395532685, "task_success": 0.0 }, { "completion_time": 1.2830500602722168, "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": 0.0001508384938897489, "left gripper-book distance": 0.594257539081784, "right gripper-book distance": 0.13110711913633952 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3955475741454912, "bimanual_gripper_vertical_difference": 0.1561792066314882, "task_success": 0.0 }, { "completion_time": 1.3133058547973633, "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": 0.00015096674861758697, "left gripper-book distance": 0.5947051001382403, "right gripper-book distance": 0.12953181388218368 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3790123070940337, "bimanual_gripper_vertical_difference": 0.1590337081746286, "task_success": 0.0 }, { "completion_time": 1.3417258262634277, "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": 0.0005120720771455423, "left gripper-book distance": 0.5949773358208279, "right gripper-book distance": 0.12832111474987987 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.355815544923312, "bimanual_gripper_vertical_difference": 0.1617865214904482, "task_success": 0.0 }, { "completion_time": 1.3725214004516602, "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": 0.00044584415790815957, "left gripper-book distance": 0.5954627464855051, "right gripper-book distance": 0.12645568434964086 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.330538015821282, "bimanual_gripper_vertical_difference": 0.16445729846621496, "task_success": 0.0 }, { "completion_time": 1.4036014080047607, "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": 0.0005904285110359675, "left gripper-book distance": 0.5956665848471934, "right gripper-book distance": 0.12306445430862614 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3084330222902132, "bimanual_gripper_vertical_difference": 0.16707277040550705, "task_success": 0.0 }, { "completion_time": 1.4345076084136963, "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": 0.000444045758200895, "left gripper-book distance": 0.5957579740593286, "right gripper-book distance": 0.12204753746777583 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.288280475426595, "bimanual_gripper_vertical_difference": 0.16958613191348293, "task_success": 0.0 }, { "completion_time": 1.4653747081756592, "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": 0.000709609464104255, "left gripper-book distance": 0.595573114143712, "right gripper-book distance": 0.12090956546741655 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2678682354487838, "bimanual_gripper_vertical_difference": 0.17200307143483717, "task_success": 0.0 }, { "completion_time": 1.4962356090545654, "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": 0.0006876696542871263, "left gripper-book distance": 0.5955861696194327, "right gripper-book distance": 0.12013746215484543 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2473536479613672, "bimanual_gripper_vertical_difference": 0.17432707886778837, "task_success": 0.0 }, { "completion_time": 1.5300722122192383, "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": 0.0006853022768503747, "left gripper-book distance": 0.595545002107391, "right gripper-book distance": 0.11911434542544737 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2303674669370628, "bimanual_gripper_vertical_difference": 0.1765596996921232, "task_success": 0.0 }, { "completion_time": 1.5606753826141357, "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": 0.0005635497088352093, "left gripper-book distance": 0.5954545410802004, "right gripper-book distance": 0.11772159896027476 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2151079203225177, "bimanual_gripper_vertical_difference": 0.17870403449524577, "task_success": 0.0 }, { "completion_time": 1.5902349948883057, "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": 0.000703476217620902, "left gripper-book distance": 0.5951071951718466, "right gripper-book distance": 0.11553623284290652 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1999881005498727, "bimanual_gripper_vertical_difference": 0.1807676205225895, "task_success": 0.0 }, { "completion_time": 1.6197891235351562, "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": 0.0009675150674375299, "left gripper-book distance": 0.5953575820796377, "right gripper-book distance": 0.11564053704849224 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.185856059645296, "bimanual_gripper_vertical_difference": 0.18274312857850206, "task_success": 0.0 }, { "completion_time": 1.6499049663543701, "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": 0.0006999347206777529, "left gripper-book distance": 0.5962185799105405, "right gripper-book distance": 0.11608994641295288 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1708896857762296, "bimanual_gripper_vertical_difference": 0.18463985042921152, "task_success": 0.0 }, { "completion_time": 1.6804444789886475, "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": 0.0008544965886027045, "left gripper-book distance": 0.596216728775294, "right gripper-book distance": 0.11662172130086054 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1552791009839034, "bimanual_gripper_vertical_difference": 0.18645669166204956, "task_success": 0.0 }, { "completion_time": 1.7085850238800049, "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": 0.0007600336333868363, "left gripper-book distance": 0.5962048277463736, "right gripper-book distance": 0.11682834034472073 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.140543554862284, "bimanual_gripper_vertical_difference": 0.18821061198548328, "task_success": 0.0 }, { "completion_time": 1.7395257949829102, "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": 0.0008702723545799262, "left gripper-book distance": 0.5965270314009364, "right gripper-book distance": 0.11677118754508412 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1274113384372624, "bimanual_gripper_vertical_difference": 0.18989722682324875, "task_success": 0.0 }, { "completion_time": 1.7687711715698242, "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": 0.0008032362542685911, "left gripper-book distance": 0.5969030603541481, "right gripper-book distance": 0.11715473503892163 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.113779265463296, "bimanual_gripper_vertical_difference": 0.19151968187954574, "task_success": 0.0 }, { "completion_time": 1.7989656925201416, "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": 0.000835532393711369, "left gripper-book distance": 0.5973874343768931, "right gripper-book distance": 0.11692845625420331 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0993118837440738, "bimanual_gripper_vertical_difference": 0.19308865028185287, "task_success": 0.0 }, { "completion_time": 1.830352783203125, "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": 0.0007596885571180545, "left gripper-book distance": 0.5980135998304109, "right gripper-book distance": 0.11726008887810263 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0855643177441074, "bimanual_gripper_vertical_difference": 0.19460612378471814, "task_success": 0.0 }, { "completion_time": 1.8600878715515137, "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": 0.0007231233727408304, "left gripper-book distance": 0.5984546495161612, "right gripper-book distance": 0.11766452886686153 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0727551265075168, "bimanual_gripper_vertical_difference": 0.1960699602900703, "task_success": 0.0 }, { "completion_time": 1.8908631801605225, "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": 0.0007630487512773065, "left gripper-book distance": 0.5986348956025268, "right gripper-book distance": 0.11851714920070289 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0609102607929919, "bimanual_gripper_vertical_difference": 0.19748474466110297, "task_success": 0.0 }, { "completion_time": 1.921647548675537, "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": 0.0006758592786987316, "left gripper-book distance": 0.5996759630460026, "right gripper-book distance": 0.11841043579020774 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0499941930145262, "bimanual_gripper_vertical_difference": 0.19885731570232942, "task_success": 0.0 }, { "completion_time": 1.9524500370025635, "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": 0.000819484433230766, "left gripper-book distance": 0.5998340355270884, "right gripper-book distance": 0.11881491435272738 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0389292194229496, "bimanual_gripper_vertical_difference": 0.20018244601953408, "task_success": 0.0 }, { "completion_time": 1.9818241596221924, "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": 0.0008264339314716374, "left gripper-book distance": 0.6005202990847771, "right gripper-book distance": 0.11934189570170055 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0283144175569434, "bimanual_gripper_vertical_difference": 0.2014560071677508, "task_success": 0.0 }, { "completion_time": 2.0136210918426514, "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": 0.0009127166153778399, "left gripper-book distance": 0.6007901445565555, "right gripper-book distance": 0.11966048716842613 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.017314589733734, "bimanual_gripper_vertical_difference": 0.20268178053957048, "task_success": 0.0 }, { "completion_time": 2.043520450592041, "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": 0.0009165587258791463, "left gripper-book distance": 0.6010159567570723, "right gripper-book distance": 0.12008688769848477 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0058453278931294, "bimanual_gripper_vertical_difference": 0.20386516833715232, "task_success": 0.0 }, { "completion_time": 2.0735580921173096, "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": 0.0008849490548246131, "left gripper-book distance": 0.6012596078064526, "right gripper-book distance": 0.12054750696059896 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9946820986803084, "bimanual_gripper_vertical_difference": 0.20500756172727944, "task_success": 0.0 }, { "completion_time": 2.10611891746521, "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": 0.0009079068354518327, "left gripper-book distance": 0.6013938631555342, "right gripper-book distance": 0.12087578572701665 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9832647334223231, "bimanual_gripper_vertical_difference": 0.2061112489653842, "task_success": 0.0 }, { "completion_time": 2.1368753910064697, "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": 0.0007890563896911784, "left gripper-book distance": 0.6015659388763233, "right gripper-book distance": 0.12106366512863771 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9709889973267869, "bimanual_gripper_vertical_difference": 0.20718643314636684, "task_success": 0.0 }, { "completion_time": 2.168935537338257, "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": 0.0007676933446407741, "left gripper-book distance": 0.601578102818162, "right gripper-book distance": 0.12108702022702986 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9588414901029139, "bimanual_gripper_vertical_difference": 0.20823788115792038, "task_success": 0.0 }, { "completion_time": 2.2001357078552246, "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": 0.0007918683229282131, "left gripper-book distance": 0.6015633806066638, "right gripper-book distance": 0.12086800628441248 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9491118062968096, "bimanual_gripper_vertical_difference": 0.20927302384800034, "task_success": 0.0 }, { "completion_time": 2.2293100357055664, "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": 0.0007028670098193635, "left gripper-book distance": 0.6016144509388721, "right gripper-book distance": 0.1204034329230772 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9401576511338742, "bimanual_gripper_vertical_difference": 0.210296712276521, "task_success": 0.0 }, { "completion_time": 2.2593750953674316, "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": 0.0005939587145838976, "left gripper-book distance": 0.6017170883048749, "right gripper-book distance": 0.12049068354177729 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9335735747918988, "bimanual_gripper_vertical_difference": 0.21130680756071868, "task_success": 0.0 }, { "completion_time": 2.2888071537017822, "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": 0.0006251011068115764, "left gripper-book distance": 0.6017551403729662, "right gripper-book distance": 0.12362334306717751 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9316305360884217, "bimanual_gripper_vertical_difference": 0.21227948589582643, "task_success": 0.0 }, { "completion_time": 2.3181259632110596, "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": 0.0007577923453343516, "left gripper-book distance": 0.6016240096076543, "right gripper-book distance": 0.13021288836223294 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9333936323433327, "bimanual_gripper_vertical_difference": 0.21318234967577587, "task_success": 0.0 }, { "completion_time": 2.3470876216888428, "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": 0.0007763064423129684, "left gripper-book distance": 0.6012190958974514, "right gripper-book distance": 0.13767738809686433 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9369217851623258, "bimanual_gripper_vertical_difference": 0.21398597272150022, "task_success": 0.0 }, { "completion_time": 2.376842975616455, "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": 0.0002539033237343169, "left gripper-book distance": 0.6014516366407082, "right gripper-book distance": 0.14705672626083469 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9449098873641468, "bimanual_gripper_vertical_difference": 0.21466151855379823, "task_success": 0.0 }, { "completion_time": 2.407092809677124, "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": 0.0007192292279216694, "left gripper-book distance": 0.6012258969457606, "right gripper-book distance": 0.15624925569993894 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9581954916347041, "bimanual_gripper_vertical_difference": 0.2151934008677004, "task_success": 0.0 }, { "completion_time": 2.4382665157318115, "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": 0.0007262285936735502, "left gripper-book distance": 0.6012445875133999, "right gripper-book distance": 0.16339533249586669 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9770740056420193, "bimanual_gripper_vertical_difference": 0.21559624974232922, "task_success": 0.0 }, { "completion_time": 2.4684667587280273, "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": 0.0007270909497744116, "left gripper-book distance": 0.6010993425388307, "right gripper-book distance": 0.16877434015256584 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9991602179381839, "bimanual_gripper_vertical_difference": 0.21588967155790134, "task_success": 0.0 }, { "completion_time": 2.499628782272339, "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": 0.0007279124792516356, "left gripper-book distance": 0.6008673205469351, "right gripper-book distance": 0.17352483559569096 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0213235079976428, "bimanual_gripper_vertical_difference": 0.2160989535945915, "task_success": 0.0 }, { "completion_time": 2.528893232345581, "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": 0.0007287337001815608, "left gripper-book distance": 0.6006661413669279, "right gripper-book distance": 0.17790056397567877 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0437971973061106, "bimanual_gripper_vertical_difference": 0.21625310871042697, "task_success": 0.0 }, { "completion_time": 2.557616949081421, "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": 0.0007295548818521125, "left gripper-book distance": 0.6004688111834316, "right gripper-book distance": 0.1788409612833355 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0686722240952595, "bimanual_gripper_vertical_difference": 0.2163934060407676, "task_success": 0.0 }, { "completion_time": 2.587106943130493, "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": 0.0005198251769304996, "left gripper-book distance": 0.5998667989531208, "right gripper-book distance": 0.18169794990667212 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.087638361002394, "bimanual_gripper_vertical_difference": 0.2165047336497167, "task_success": 0.0 }, { "completion_time": 2.61690354347229, "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": 0.0005356339151423306, "left gripper-book distance": 0.598688575909353, "right gripper-book distance": 0.18308471844011082 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0885159766579795, "bimanual_gripper_vertical_difference": 0.21659497310926956, "task_success": 0.0 }, { "completion_time": 2.6472604274749756, "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": 0.0006104589736837251, "left gripper-book distance": 0.5978017562215588, "right gripper-book distance": 0.1806512696791425 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.082658301357414, "bimanual_gripper_vertical_difference": 0.2166918477807507, "task_success": 0.0 }, { "completion_time": 2.6765995025634766, "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": 0.0007292849754521047, "left gripper-book distance": 0.5971748315264607, "right gripper-book distance": 0.17868914977545522 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0771750682957386, "bimanual_gripper_vertical_difference": 0.21679321430144716, "task_success": 0.0 }, { "completion_time": 2.7056961059570312, "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": 0.0007308887343694392, "left gripper-book distance": 0.5968190147522702, "right gripper-book distance": 0.17779798222018098 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0734005327791907, "bimanual_gripper_vertical_difference": 0.2168931025400928, "task_success": 0.0 }, { "completion_time": 2.7347280979156494, "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": 0.0007317140867595384, "left gripper-book distance": 0.5960005781858045, "right gripper-book distance": 0.1766127553611391 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0635237166356615, "bimanual_gripper_vertical_difference": 0.21698803368439262, "task_success": 0.0 }, { "completion_time": 2.763408660888672, "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": 0.0007325342278702296, "left gripper-book distance": 0.59491379122025, "right gripper-book distance": 0.17488438803814566 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.064886959850697, "bimanual_gripper_vertical_difference": 0.2170800282120611, "task_success": 0.0 }, { "completion_time": 2.7921812534332275, "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": 0.0007333542968165352, "left gripper-book distance": 0.5943192375555763, "right gripper-book distance": 0.17310536658561357 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0742820528872778, "bimanual_gripper_vertical_difference": 0.21719546821548236, "task_success": 0.0 }, { "completion_time": 2.821228504180908, "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": 0.0005824945168643181, "left gripper-book distance": 0.5939799659835806, "right gripper-book distance": 0.17228605841594308 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0887825813132654, "bimanual_gripper_vertical_difference": 0.2173550714325681, "task_success": 0.0 }, { "completion_time": 2.849963665008545, "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": 0.000728610161320975, "left gripper-book distance": 0.5934189357716324, "right gripper-book distance": 0.17157860004643177 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1060583672169133, "bimanual_gripper_vertical_difference": 0.21757044369395967, "task_success": 0.0 }, { "completion_time": 2.878244638442993, "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": 0.0007303968565350871, "left gripper-book distance": 0.5929852404438176, "right gripper-book distance": 0.17068292899578572 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.124881684176537, "bimanual_gripper_vertical_difference": 0.21785030958347126, "task_success": 0.0 }, { "completion_time": 2.906961441040039, "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": 0.000731223793400515, "left gripper-book distance": 0.5926644240506511, "right gripper-book distance": 0.16924091692420218 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1443796077321213, "bimanual_gripper_vertical_difference": 0.21820213120052492, "task_success": 0.0 }, { "completion_time": 2.935908317565918, "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": 0.0007320443137046606, "left gripper-book distance": 0.5923616218055713, "right gripper-book distance": 0.167935949035492 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1580076538359785, "bimanual_gripper_vertical_difference": 0.21862381696142527, "task_success": 0.0 }, { "completion_time": 2.96427059173584, "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": 0.0005371789551198436, "left gripper-book distance": 0.5922396795259838, "right gripper-book distance": 0.16787011826196896 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1697896780341612, "bimanual_gripper_vertical_difference": 0.21910066328200248, "task_success": 0.0 }, { "completion_time": 2.9927051067352295, "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": 0.0007086561546970627, "left gripper-book distance": 0.5920482840157546, "right gripper-book distance": 0.16886900953707457 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1818752646805146, "bimanual_gripper_vertical_difference": 0.219617570875611, "task_success": 0.0 }, { "completion_time": 3.0237863063812256, "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": 0.0007298715814497703, "left gripper-book distance": 0.5919847209115927, "right gripper-book distance": 0.17073197580025024 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1932365165436885, "bimanual_gripper_vertical_difference": 0.22016495281053547, "task_success": 0.0 }, { "completion_time": 3.051215887069702, "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": 0.0007308274574000517, "left gripper-book distance": 0.5919546385738695, "right gripper-book distance": 0.17274507715704088 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1944293120260334, "bimanual_gripper_vertical_difference": 0.22073376686844973, "task_success": 0.0 }, { "completion_time": 3.0797386169433594, "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": 0.0007316486520865251, "left gripper-book distance": 0.5917832853817809, "right gripper-book distance": 0.17484520791386673 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1892729350261206, "bimanual_gripper_vertical_difference": 0.22131374077783178, "task_success": 0.0 }, { "completion_time": 3.109295129776001, "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": 0.0007324689141213758, "left gripper-book distance": 0.5914888605387664, "right gripper-book distance": 0.17638799037049338 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1841835426344154, "bimanual_gripper_vertical_difference": 0.22189970535152626, "task_success": 0.0 }, { "completion_time": 3.1376140117645264, "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": 0.0007332891324619562, "left gripper-book distance": 0.5913230106467185, "right gripper-book distance": 0.17646179319118435 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1785684367774527, "bimanual_gripper_vertical_difference": 0.22249411121662152, "task_success": 0.0 }, { "completion_time": 3.167491912841797, "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": 0.0007133768544789199, "left gripper-book distance": 0.5914052123543879, "right gripper-book distance": 0.175421799867389 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1724373125434069, "bimanual_gripper_vertical_difference": 0.2230999263835675, "task_success": 0.0 }, { "completion_time": 3.1965842247009277, "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": 0.0007294253307323917, "left gripper-book distance": 0.5915320570068985, "right gripper-book distance": 0.17411888299202044 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1663095778876913, "bimanual_gripper_vertical_difference": 0.22371518671848703, "task_success": 0.0 }, { "completion_time": 3.2257277965545654, "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": 0.0007303472402012678, "left gripper-book distance": 0.5915951111527078, "right gripper-book distance": 0.17235234143112077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1593999027953739, "bimanual_gripper_vertical_difference": 0.22433708619062986, "task_success": 0.0 }, { "completion_time": 3.253978729248047, "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": 0.0007311685788070621, "left gripper-book distance": 0.591656783628227, "right gripper-book distance": 0.16976318805501228 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.151992259255275, "bimanual_gripper_vertical_difference": 0.22496417548857123, "task_success": 0.0 }, { "completion_time": 3.283156633377075, "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": 0.0007319892115726923, "left gripper-book distance": 0.5917978298548044, "right gripper-book distance": 0.16628488874472602 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1445150714341228, "bimanual_gripper_vertical_difference": 0.2255952390457803, "task_success": 0.0 }, { "completion_time": 3.313208818435669, "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": 0.000522363145327609, "left gripper-book distance": 0.5921079650420844, "right gripper-book distance": 0.16169355628751297 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.137102175093235, "bimanual_gripper_vertical_difference": 0.22623012650286803, "task_success": 0.0 }, { "completion_time": 3.3425233364105225, "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": 0.0007135558280763066, "left gripper-book distance": 0.5922183852327628, "right gripper-book distance": 0.15592737920616304 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1304331149666524, "bimanual_gripper_vertical_difference": 0.22686904201632022, "task_success": 0.0 }, { "completion_time": 3.372009038925171, "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": 0.0007302449671536815, "left gripper-book distance": 0.5925239091472768, "right gripper-book distance": 0.14985587927796878 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1244399893495705, "bimanual_gripper_vertical_difference": 0.2275184675504239, "task_success": 0.0 }, { "completion_time": 3.4013028144836426, "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": 0.00073117070858153, "left gripper-book distance": 0.592851744561559, "right gripper-book distance": 0.14384936279445282 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1188017500709868, "bimanual_gripper_vertical_difference": 0.22818289502311728, "task_success": 0.0 }, { "completion_time": 3.4302003383636475, "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": 0.0007319916469752386, "left gripper-book distance": 0.5931165609005473, "right gripper-book distance": 0.13798913508940713 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1134697613045468, "bimanual_gripper_vertical_difference": 0.2288590867154955, "task_success": 0.0 }, { "completion_time": 3.4623348712921143, "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": 0.0007328118512848203, "left gripper-book distance": 0.5933909071335249, "right gripper-book distance": 0.13230921893754258 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1080676563215393, "bimanual_gripper_vertical_difference": 0.22954290301063052, "task_success": 0.0 }, { "completion_time": 3.4909331798553467, "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": 0.0007336320131982044, "left gripper-book distance": 0.5937137603636798, "right gripper-book distance": 0.12662010437696222 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1025532961453846, "bimanual_gripper_vertical_difference": 0.23023271342866428, "task_success": 0.0 }, { "completion_time": 3.5204808712005615, "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": 0.0007137214125682023, "left gripper-book distance": 0.594084612409378, "right gripper-book distance": 0.12085784848884315 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0974689077127637, "bimanual_gripper_vertical_difference": 0.23093249464638746, "task_success": 0.0 }, { "completion_time": 3.550595998764038, "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": 0.0006426776674368639, "left gripper-book distance": 0.5941258850953968, "right gripper-book distance": 0.11694649368140782 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0920142232301118, "bimanual_gripper_vertical_difference": 0.2316498739774775, "task_success": 0.0 }, { "completion_time": 3.581587314605713, "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": 0.001131353898640497, "left gripper-book distance": 0.5938910258273427, "right gripper-book distance": 0.11349655668156985 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0862627453705849, "bimanual_gripper_vertical_difference": 0.23238570551075569, "task_success": 0.0 }, { "completion_time": 3.6122279167175293, "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": 0.0008334397858769105, "left gripper-book distance": 0.5940598382362355, "right gripper-book distance": 0.11235574170746476 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0800102392556874, "bimanual_gripper_vertical_difference": 0.23312623443382727, "task_success": 0.0 }, { "completion_time": 3.64178466796875, "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": 0.0008143180164059682, "left gripper-book distance": 0.5939749187176787, "right gripper-book distance": 0.11223537140113467 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0734282739874117, "bimanual_gripper_vertical_difference": 0.23385937256869221, "task_success": 0.0 }, { "completion_time": 3.672182083129883, "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": 0.0008069677269273434, "left gripper-book distance": 0.5938736556910558, "right gripper-book distance": 0.11232828659258592 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0658030690116964, "bimanual_gripper_vertical_difference": 0.2345808480885103, "task_success": 0.0 }, { "completion_time": 3.701162815093994, "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": 0.0006366230237074832, "left gripper-book distance": 0.5940720406415431, "right gripper-book distance": 0.11237594276946977 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0584760627767567, "bimanual_gripper_vertical_difference": 0.23529003330907586, "task_success": 0.0 }, { "completion_time": 3.731109380722046, "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": 0.0005696953542821959, "left gripper-book distance": 0.5939652937997911, "right gripper-book distance": 0.1123865545740932 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.051383554934457, "bimanual_gripper_vertical_difference": 0.23598532659804028, "task_success": 0.0 }, { "completion_time": 3.760993480682373, "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": 0.0006639626016357036, "left gripper-book distance": 0.5935235231958246, "right gripper-book distance": 0.11253107206263098 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.043863092950624, "bimanual_gripper_vertical_difference": 0.2366687439055711, "task_success": 0.0 }, { "completion_time": 3.790682554244995, "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": 0.0005983819379585809, "left gripper-book distance": 0.5933415896719105, "right gripper-book distance": 0.11308786132322388 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0360856082898218, "bimanual_gripper_vertical_difference": 0.23734454957690318, "task_success": 0.0 }, { "completion_time": 3.8199362754821777, "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": 0.0003534286325990177, "left gripper-book distance": 0.5933209378363052, "right gripper-book distance": 0.11371757911671612 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0284750504281057, "bimanual_gripper_vertical_difference": 0.23801377971607357, "task_success": 0.0 }, { "completion_time": 3.8497936725616455, "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": -6.823192885230256e-05, "left gripper-book distance": 0.5933638323878927, "right gripper-book distance": 0.11369757158029252 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0205655909435987, "bimanual_gripper_vertical_difference": 0.2386814550905961, "task_success": 0.0 }, { "completion_time": 3.8790175914764404, "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": -0.0008649484564882126, "left gripper-book distance": 0.593832460994594, "right gripper-book distance": 0.11349602537469791 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0135812957123385, "bimanual_gripper_vertical_difference": 0.2393529038655345, "task_success": 0.0 }, { "completion_time": 3.908417224884033, "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": -0.0006783126966033448, "left gripper-book distance": 0.5936713504026564, "right gripper-book distance": 0.11315973490363787 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.006968741014726, "bimanual_gripper_vertical_difference": 0.24001604049719402, "task_success": 0.0 }, { "completion_time": 3.9366495609283447, "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": -0.00210946872186879, "left gripper-book distance": 0.5943240994032506, "right gripper-book distance": 0.11311212270335107 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0012493858987106, "bimanual_gripper_vertical_difference": 0.24068218897780366, "task_success": 0.0 }, { "completion_time": 3.964931011199951, "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": -0.0013089696886527946, "left gripper-book distance": 0.5941690028337795, "right gripper-book distance": 0.11208660587474159 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9947114989510353, "bimanual_gripper_vertical_difference": 0.24134215928234815, "task_success": 0.0 }, { "completion_time": 3.992633581161499, "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": -0.0004089179235630125, "left gripper-book distance": 0.5935403357621235, "right gripper-book distance": 0.11185861826328802 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9885980109706921, "bimanual_gripper_vertical_difference": 0.24198371976846486, "task_success": 0.0 }, { "completion_time": 4.019866466522217, "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": -0.001512472488038874, "left gripper-book distance": 0.5939621108050562, "right gripper-book distance": 0.11206789894814358 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9821391185312153, "bimanual_gripper_vertical_difference": 0.24262466121297735, "task_success": 0.0 }, { "completion_time": 4.046772718429565, "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": -0.0011395429251239708, "left gripper-book distance": 0.5939270955408396, "right gripper-book distance": 0.11155045525674159 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.976117730549465, "bimanual_gripper_vertical_difference": 0.24325760667066204, "task_success": 0.0 }, { "completion_time": 4.074549913406372, "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": -0.0015526132272479787, "left gripper-book distance": 0.593912838069963, "right gripper-book distance": 0.11244207391523038 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9709149864315757, "bimanual_gripper_vertical_difference": 0.24387720694524054, "task_success": 0.0 }, { "completion_time": 4.102474689483643, "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": -2.138013742414291e-05, "left gripper-book distance": 0.5929676080245051, "right gripper-book distance": 0.11361225413483932 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9673225941374717, "bimanual_gripper_vertical_difference": 0.24447055148612123, "task_success": 0.0 }, { "completion_time": 4.13005518913269, "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": 0.0008047953808266728, "left gripper-book distance": 0.5922054077917924, "right gripper-book distance": 0.1174201108670382 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9656704560879343, "bimanual_gripper_vertical_difference": 0.24503417811038494, "task_success": 0.0 }, { "completion_time": 4.158106565475464, "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": 0.0010815977439312396, "left gripper-book distance": 0.5916347963028589, "right gripper-book distance": 0.12265314218980805 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9639751264187522, "bimanual_gripper_vertical_difference": 0.24557087692140459, "task_success": 0.0 }, { "completion_time": 4.187277555465698, "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": 0.000936238284618307, "left gripper-book distance": 0.5914654185067066, "right gripper-book distance": 0.12745790450324915 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9613117916429745, "bimanual_gripper_vertical_difference": 0.24609020135208307, "task_success": 0.0 }, { "completion_time": 4.216647624969482, "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": 0.001166961814416334, "left gripper-book distance": 0.5910526300198511, "right gripper-book distance": 0.13091441786389757 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.956843654085789, "bimanual_gripper_vertical_difference": 0.2466004721052109, "task_success": 0.0 }, { "completion_time": 4.24499249458313, "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": 0.0014302873969316288, "left gripper-book distance": 0.5906184741099858, "right gripper-book distance": 0.132685041078215 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9511485446406297, "bimanual_gripper_vertical_difference": 0.24710873960328453, "task_success": 0.0 }, { "completion_time": 4.273270845413208, "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": 0.000802414127910378, "left gripper-book distance": 0.5909404569389636, "right gripper-book distance": 0.13342400668839746 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9457893084655663, "bimanual_gripper_vertical_difference": 0.24762106054407226, "task_success": 0.0 }, { "completion_time": 4.302503824234009, "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": 0.0004271334619397882, "left gripper-book distance": 0.5913623655367322, "right gripper-book distance": 0.1339134345798185 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9418101960868095, "bimanual_gripper_vertical_difference": 0.24813892362887613, "task_success": 0.0 }, { "completion_time": 4.331117391586304, "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": -1.0130111643524842e-05, "left gripper-book distance": 0.5920957786801571, "right gripper-book distance": 0.13392199547469436 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9402679304684736, "bimanual_gripper_vertical_difference": 0.24866595346229628, "task_success": 0.0 }, { "completion_time": 4.360506772994995, "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": 0.00038741808560782687, "left gripper-book distance": 0.5923388732547848, "right gripper-book distance": 0.1335399753401395 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9406105777487648, "bimanual_gripper_vertical_difference": 0.2492018110476096, "task_success": 0.0 }, { "completion_time": 4.392613172531128, "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": 0.00045187461048112887, "left gripper-book distance": 0.5926397899591552, "right gripper-book distance": 0.1330309358877553 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9402849168302433, "bimanual_gripper_vertical_difference": 0.24974753881416473, "task_success": 0.0 }, { "completion_time": 4.422304630279541, "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": 0.0005413629698771683, "left gripper-book distance": 0.5927877747915813, "right gripper-book distance": 0.13152459289108173 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9393564665177164, "bimanual_gripper_vertical_difference": 0.250300003195211, "task_success": 0.0 }, { "completion_time": 4.451711416244507, "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": 0.0005414226711000225, "left gripper-book distance": 0.5929549914238843, "right gripper-book distance": 0.1283654778724005 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.938708800416625, "bimanual_gripper_vertical_difference": 0.2508522492962598, "task_success": 0.0 }, { "completion_time": 4.482201337814331, "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": 0.0005895343368091943, "left gripper-book distance": 0.5930958106756685, "right gripper-book distance": 0.12354750090205056 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9371530558408955, "bimanual_gripper_vertical_difference": 0.25140229221947, "task_success": 0.0 }, { "completion_time": 4.511167049407959, "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": 0.0005430500941854266, "left gripper-book distance": 0.5934020305606874, "right gripper-book distance": 0.11757979998582545 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.934648591024894, "bimanual_gripper_vertical_difference": 0.25195353365084655, "task_success": 0.0 }, { "completion_time": 4.539281606674194, "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": 0.0005754573952377884, "left gripper-book distance": 0.5936510793238927, "right gripper-book distance": 0.11178538680270321 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.93210603431126, "bimanual_gripper_vertical_difference": 0.25251085795349587, "task_success": 0.0 }, { "completion_time": 4.568976402282715, "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": -0.000111732442681034, "left gripper-book distance": 0.5926951947750634, "right gripper-book distance": 0.11107107588431234 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9296079795550919, "bimanual_gripper_vertical_difference": 0.25306549125372246, "task_success": 0.0 }, { "completion_time": 4.6001060009002686, "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": 0.0005538959170232616, "left gripper-book distance": 0.5919878789693668, "right gripper-book distance": 0.11068052405876365 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9267976555923059, "bimanual_gripper_vertical_difference": 0.2536034532410645, "task_success": 0.0 }, { "completion_time": 4.630260229110718, "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": -0.002345616816648022, "left gripper-book distance": 0.5939886629713881, "right gripper-book distance": 0.11219567257338904 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9254061306371705, "bimanual_gripper_vertical_difference": 0.25411522218642474, "task_success": 0.0 }, { "completion_time": 4.6602373123168945, "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": -0.0018354482238649439, "left gripper-book distance": 0.5922275424524905, "right gripper-book distance": 0.11255437231071473 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.922715880542861, "bimanual_gripper_vertical_difference": 0.25460877309429414, "task_success": 0.0 }, { "completion_time": 4.689688682556152, "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": -0.002351738479034471, "left gripper-book distance": 0.5918607872773126, "right gripper-book distance": 0.11339418245969882 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9193535105614296, "bimanual_gripper_vertical_difference": 0.2550965777407039, "task_success": 0.0 }, { "completion_time": 4.720243215560913, "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": -0.0036817837395985986, "left gripper-book distance": 0.5909971100518379, "right gripper-book distance": 0.1159000091396616 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9152057694880331, "bimanual_gripper_vertical_difference": 0.25558296422861915, "task_success": 0.0 }, { "completion_time": 4.750206232070923, "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": -0.0021271275059658867, "left gripper-book distance": 0.5889850901334558, "right gripper-book distance": 0.11623405391423464 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9148938658419319, "bimanual_gripper_vertical_difference": 0.2560531170053328, "task_success": 0.0 }, { "completion_time": 4.781835079193115, "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": 0.001696274006959153, "left gripper-book distance": 0.584485820789905, "right gripper-book distance": 0.11704203139482895 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9200002850145668, "bimanual_gripper_vertical_difference": 0.25648563202549424, "task_success": 0.0 }, { "completion_time": 4.812242269515991, "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": 0.008142975737943647, "left gripper-book distance": 0.5822224986810745, "right gripper-book distance": 0.11855041016407367 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9255892185276862, "bimanual_gripper_vertical_difference": 0.256864575090943, "task_success": 0.0 }, { "completion_time": 4.844444036483765, "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": 0.019825307470850984, "left gripper-book distance": 0.5799561200486318, "right gripper-book distance": 0.12108196492569742 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9304815918497739, "bimanual_gripper_vertical_difference": 0.2571547836479282, "task_success": 0.0 }, { "completion_time": 4.875918388366699, "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": 0.034437716391515494, "left gripper-book distance": 0.5778863938384846, "right gripper-book distance": 0.12441267844139393 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9379093298840959, "bimanual_gripper_vertical_difference": 0.2573320904594068, "task_success": 0.0 }, { "completion_time": 4.907080173492432, "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": 0.05132630362834156, "left gripper-book distance": 0.5745780331168895, "right gripper-book distance": 0.12787204397218696 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.948665040090788, "bimanual_gripper_vertical_difference": 0.25737603783557284, "task_success": 0.0 }, { "completion_time": 4.938524961471558, "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": 0.07712155679034816, "left gripper-book distance": 0.5689971243674842, "right gripper-book distance": 0.128118155879706 }, "success": 1.0, "bimanual_arm_velocity_difference": 0.9594936728118655, "bimanual_gripper_vertical_difference": 0.2572741482719253, "task_success": 1.0 } ]