[ { "completion_time": 0.04617023468017578, "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": -0.0005525680743987404, "left gripper-book distance": 0.4322920579723853, "right gripper-book distance": 0.6131792156063691 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.58691598269134e-06, "bimanual_gripper_vertical_difference": 7.089449027830597e-10, "task_success": 0.0 }, { "completion_time": 0.07609891891479492, "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": 0.0006267181770766017, "left gripper-book distance": 0.4296096497087015, "right gripper-book distance": 0.6113019752594321 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3332512934886853e-06, "bimanual_gripper_vertical_difference": 6.199987190314005e-10, "task_success": 0.0 }, { "completion_time": 0.10620760917663574, "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": 0.0005698219302235907, "left gripper-book distance": 0.4286538940465161, "right gripper-book distance": 0.6106071466500651 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.6833489319045185e-05, "bimanual_gripper_vertical_difference": 8.007678224212592e-10, "task_success": 0.0 }, { "completion_time": 0.13593244552612305, "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": 0.000567070166057948, "left gripper-book distance": 0.4280133285797819, "right gripper-book distance": 0.6101234013585217 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.02098823638263e-05, "bimanual_gripper_vertical_difference": 1.175751662696456e-09, "task_success": 0.0 }, { "completion_time": 0.16579747200012207, "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": 0.000538394594478131, "left gripper-book distance": 0.4276028127270197, "right gripper-book distance": 0.6098805760712466 }, "success": 0.0, "bimanual_arm_velocity_difference": 5.753691526892389e-05, "bimanual_gripper_vertical_difference": 2.2725608062046376e-09, "task_success": 0.0 }, { "completion_time": 0.1972198486328125, "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": 0.0005662630170185645, "left gripper-book distance": 0.42732777806603406, "right gripper-book distance": 0.6096190187050795 }, "success": 0.0, "bimanual_arm_velocity_difference": 5.320684198917205e-05, "bimanual_gripper_vertical_difference": 3.5393157293839295e-09, "task_success": 0.0 }, { "completion_time": 0.2278907299041748, "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": 0.0005170652001216247, "left gripper-book distance": 0.4271892842545051, "right gripper-book distance": 0.6095479551584955 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00012956234950658077, "bimanual_gripper_vertical_difference": 4.735292761079027e-09, "task_success": 0.0 }, { "completion_time": 0.25690364837646484, "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": 0.000650967684024617, "left gripper-book distance": 0.42696775721361935, "right gripper-book distance": 0.6093447956879836 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00014612312490531294, "bimanual_gripper_vertical_difference": 6.0544000646256535e-09, "task_success": 0.0 }, { "completion_time": 0.2862672805786133, "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": 0.0005085565217400889, "left gripper-book distance": 0.4270352782904947, "right gripper-book distance": 0.6093734820137773 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00016705710644736793, "bimanual_gripper_vertical_difference": 7.06105134856077e-09, "task_success": 0.0 }, { "completion_time": 0.31493067741394043, "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": 0.0005364008668605758, "left gripper-book distance": 0.4269551960785055, "right gripper-book distance": 0.6093383627412152 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00041579058744389743, "bimanual_gripper_vertical_difference": 7.594791351372976e-09, "task_success": 0.0 }, { "completion_time": 0.34387969970703125, "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": 0.0005449648087560988, "left gripper-book distance": 0.42691456282592327, "right gripper-book distance": 0.609314699405009 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00037888096047409225, "bimanual_gripper_vertical_difference": 7.878254876752583e-09, "task_success": 0.0 }, { "completion_time": 0.37203383445739746, "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": 0.0005442941136839519, "left gripper-book distance": 0.42692480911920105, "right gripper-book distance": 0.6092377291731702 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0003479198107883017, "bimanual_gripper_vertical_difference": 7.818630798350767e-09, "task_success": 0.0 }, { "completion_time": 0.4001336097717285, "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": 0.0005311447362011945, "left gripper-book distance": 0.4269200682144713, "right gripper-book distance": 0.6092438180525257 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00038519853593406715, "bimanual_gripper_vertical_difference": 7.675128908492578e-09, "task_success": 0.0 }, { "completion_time": 0.4281041622161865, "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": 0.0004474364023966393, "left gripper-book distance": 0.42698779799074804, "right gripper-book distance": 0.6092971285829536 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0004089831472705554, "bimanual_gripper_vertical_difference": 7.403041291098589e-09, "task_success": 0.0 }, { "completion_time": 0.4557058811187744, "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": 0.0005985855982018062, "left gripper-book distance": 0.4268500123383797, "right gripper-book distance": 0.6091737360594769 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0004559732016293455, "bimanual_gripper_vertical_difference": 7.231962288282527e-09, "task_success": 0.0 }, { "completion_time": 0.48559069633483887, "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": 0.0005579517501622666, "left gripper-book distance": 0.4268931268598903, "right gripper-book distance": 0.6091764963429328 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0005862587982402639, "bimanual_gripper_vertical_difference": 6.8939495917463844e-09, "task_success": 0.0 }, { "completion_time": 0.5175485610961914, "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": 0.0005574621025938864, "left gripper-book distance": 0.4269045170816027, "right gripper-book distance": 0.6091453197696446 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0011945611496314346, "bimanual_gripper_vertical_difference": 7.198616800691331e-09, "task_success": 0.0 }, { "completion_time": 0.5451412200927734, "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": 0.0006030427376320091, "left gripper-book distance": 0.4268602226908595, "right gripper-book distance": 0.609111565507326 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0015207428322088709, "bimanual_gripper_vertical_difference": 7.227306234961854e-09, "task_success": 0.0 }, { "completion_time": 0.5731050968170166, "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": 0.0005567955492969956, "left gripper-book distance": 0.4269046532855669, "right gripper-book distance": 0.6091368464756266 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0015003655713566448, "bimanual_gripper_vertical_difference": 7.501254190899723e-09, "task_success": 0.0 }, { "completion_time": 0.6023471355438232, "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": 0.0006630391231099431, "left gripper-book distance": 0.4268050227328538, "right gripper-book distance": 0.609063685768095 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0015046220526935222, "bimanual_gripper_vertical_difference": 7.764335163695791e-09, "task_success": 0.0 }, { "completion_time": 0.6326923370361328, "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": 0.0005496149248460647, "left gripper-book distance": 0.42692952593642447, "right gripper-book distance": 0.6090979293620206 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0015169972584569323, "bimanual_gripper_vertical_difference": 8.165703647647216e-09, "task_success": 0.0 }, { "completion_time": 0.6629343032836914, "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": 0.0005184527944226414, "left gripper-book distance": 0.4269544178074257, "right gripper-book distance": 0.6091235736985924 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0015039960886009474, "bimanual_gripper_vertical_difference": 8.412434516668166e-09, "task_success": 0.0 }, { "completion_time": 0.6912808418273926, "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": 0.0005818431698676463, "left gripper-book distance": 0.42691081463719216, "right gripper-book distance": 0.6090452810625833 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0014416850028771049, "bimanual_gripper_vertical_difference": 8.725399774681241e-09, "task_success": 0.0 }, { "completion_time": 0.7192597389221191, "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": 0.0005482299769045129, "left gripper-book distance": 0.42581819087868955, "right gripper-book distance": 0.6082951659912476 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0014111212655244728, "bimanual_gripper_vertical_difference": 1.5854710380310462e-06, "task_success": 0.0 }, { "completion_time": 0.74922776222229, "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": 0.0005783460177349875, "left gripper-book distance": 0.4235627891246488, "right gripper-book distance": 0.6071283998997511 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.020556932148579576, "bimanual_gripper_vertical_difference": 8.670637257770509e-06, "task_success": 0.0 }, { "completion_time": 0.7777140140533447, "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": 0.0005741762620512514, "left gripper-book distance": 0.41957571719772596, "right gripper-book distance": 0.6062114241813695 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.06503595229952158, "bimanual_gripper_vertical_difference": 6.6151742967723e-05, "task_success": 0.0 }, { "completion_time": 0.8059561252593994, "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": 0.0005436831382339413, "left gripper-book distance": 0.4149373350861912, "right gripper-book distance": 0.6054962112725953 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.12493484925988955, "bimanual_gripper_vertical_difference": 0.00016998137792694295, "task_success": 0.0 }, { "completion_time": 0.8349616527557373, "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": 0.0005696439635530792, "left gripper-book distance": 0.4121811960011563, "right gripper-book distance": 0.6047844113152913 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.19813122870350414, "bimanual_gripper_vertical_difference": 0.00023724028380173973, "task_success": 0.0 }, { "completion_time": 0.8631317615509033, "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": 0.0005179997370408085, "left gripper-book distance": 0.41319195766808564, "right gripper-book distance": 0.6041953357588001 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.28241415359562533, "bimanual_gripper_vertical_difference": 0.0002967904497903016, "task_success": 0.0 }, { "completion_time": 0.8917787075042725, "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": 0.0006504043474506727, "left gripper-book distance": 0.4161367265342619, "right gripper-book distance": 0.603612592051259 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3673007691332751, "bimanual_gripper_vertical_difference": 0.0004932606423252884, "task_success": 0.0 }, { "completion_time": 0.9212315082550049, "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": 0.0005049047891396707, "left gripper-book distance": 0.41983721969565096, "right gripper-book distance": 0.6033165664040515 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4502441498305569, "bimanual_gripper_vertical_difference": 0.0007448147577409153, "task_success": 0.0 }, { "completion_time": 0.949347734451294, "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": 0.0005957809097456579, "left gripper-book distance": 0.4235952313847355, "right gripper-book distance": 0.6029412479609016 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5294514520259663, "bimanual_gripper_vertical_difference": 0.0009567965778799412, "task_success": 0.0 }, { "completion_time": 0.9782452583312988, "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": 0.0006669785147279672, "left gripper-book distance": 0.4205416646928541, "right gripper-book distance": 0.6027058765859962 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5962313506244302, "bimanual_gripper_vertical_difference": 0.000993634532785939, "task_success": 0.0 }, { "completion_time": 1.0077126026153564, "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": 0.0006836061772172997, "left gripper-book distance": 0.39930710659769914, "right gripper-book distance": 0.6026523395728612 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6489378807590997, "bimanual_gripper_vertical_difference": 0.001837622765348131, "task_success": 0.0 }, { "completion_time": 1.036043405532837, "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": 0.0005740548282563429, "left gripper-book distance": 0.3570895181135918, "right gripper-book distance": 0.6024344052478906 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7043503048974338, "bimanual_gripper_vertical_difference": 0.004036532890592933, "task_success": 0.0 }, { "completion_time": 1.064227819442749, "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": 0.000544640793701423, "left gripper-book distance": 0.3075795406848424, "right gripper-book distance": 0.6020452138065944 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7622344027494585, "bimanual_gripper_vertical_difference": 0.007811310535840104, "task_success": 0.0 }, { "completion_time": 1.0921964645385742, "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": 0.0005263761525174937, "left gripper-book distance": 0.2620041659746873, "right gripper-book distance": 0.6016408335810364 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8188604248984118, "bimanual_gripper_vertical_difference": 0.013202351608370064, "task_success": 0.0 }, { "completion_time": 1.1196165084838867, "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": 0.0004104543854391851, "left gripper-book distance": 0.23646222580258644, "right gripper-book distance": 0.6014835123234281 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8760840668148243, "bimanual_gripper_vertical_difference": 0.020107159144858822, "task_success": 0.0 }, { "completion_time": 1.1466755867004395, "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": 0.00047450845114904716, "left gripper-book distance": 0.2318100651709534, "right gripper-book distance": 0.60133465980046 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9072165136473521, "bimanual_gripper_vertical_difference": 0.027891548214635613, "task_success": 0.0 }, { "completion_time": 1.1740548610687256, "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": 0.0006761847515820429, "left gripper-book distance": 0.22590310627164648, "right gripper-book distance": 0.601176968594048 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9307621269006437, "bimanual_gripper_vertical_difference": 0.03594658714069376, "task_success": 0.0 }, { "completion_time": 1.2049217224121094, "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": 0.000520719562530525, "left gripper-book distance": 0.21312938602089035, "right gripper-book distance": 0.6013604732168459 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9382670847269279, "bimanual_gripper_vertical_difference": 0.04372827034256902, "task_success": 0.0 }, { "completion_time": 1.232480764389038, "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": 0.0005610039712816706, "left gripper-book distance": 0.19447316793052902, "right gripper-book distance": 0.601387740919987 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9513318963793467, "bimanual_gripper_vertical_difference": 0.050746032583085236, "task_success": 0.0 }, { "completion_time": 1.2604691982269287, "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": 0.000436499587795125, "left gripper-book distance": 0.17845222731634586, "right gripper-book distance": 0.6012492784376446 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9715104413038178, "bimanual_gripper_vertical_difference": 0.05677572308581541, "task_success": 0.0 }, { "completion_time": 1.2886505126953125, "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": 0.0007093661774595361, "left gripper-book distance": 0.17269024710324746, "right gripper-book distance": 0.600887643323121 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9928743533240258, "bimanual_gripper_vertical_difference": 0.06180980219322754, "task_success": 0.0 }, { "completion_time": 1.3167221546173096, "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": 0.00045936991223560764, "left gripper-book distance": 0.17896908019911417, "right gripper-book distance": 0.60119772890953 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0148488647755545, "bimanual_gripper_vertical_difference": 0.06592729107108385, "task_success": 0.0 }, { "completion_time": 1.346081018447876, "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": 0.0005140612384264553, "left gripper-book distance": 0.19530303065776247, "right gripper-book distance": 0.6013960382164328 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0383275109578267, "bimanual_gripper_vertical_difference": 0.06918227815363663, "task_success": 0.0 }, { "completion_time": 1.3745224475860596, "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": 0.0006844821151124059, "left gripper-book distance": 0.22082128127555933, "right gripper-book distance": 0.6013925445361002 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0618288004378431, "bimanual_gripper_vertical_difference": 0.07158281571707559, "task_success": 0.0 }, { "completion_time": 1.4030299186706543, "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": 0.0005105091744764811, "left gripper-book distance": 0.2530243258851854, "right gripper-book distance": 0.6015822549831948 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0847165530374545, "bimanual_gripper_vertical_difference": 0.0731470178719832, "task_success": 0.0 }, { "completion_time": 1.4349563121795654, "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": 0.000535121686411455, "left gripper-book distance": 0.2841055292810697, "right gripper-book distance": 0.6015005886020924 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.093626607581754, "bimanual_gripper_vertical_difference": 0.0739886098114787, "task_success": 0.0 }, { "completion_time": 1.4649312496185303, "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": 0.00044778663167299726, "left gripper-book distance": 0.2964078512567056, "right gripper-book distance": 0.6003990296343555 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0773204599573807, "bimanual_gripper_vertical_difference": 0.07451136069811591, "task_success": 0.0 }, { "completion_time": 1.4941082000732422, "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": 0.0007232264745223871, "left gripper-book distance": 0.28773215694834586, "right gripper-book distance": 0.599155980490528 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.065756883540902, "bimanual_gripper_vertical_difference": 0.07515035950759308, "task_success": 0.0 }, { "completion_time": 1.522977590560913, "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": 0.0005603397100504282, "left gripper-book distance": 0.2656384140734227, "right gripper-book distance": 0.5985578065161176 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0658148859875916, "bimanual_gripper_vertical_difference": 0.07618661798505236, "task_success": 0.0 }, { "completion_time": 1.5515778064727783, "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": 0.0005245215875613329, "left gripper-book distance": 0.23540977786075165, "right gripper-book distance": 0.5974098575465409 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0735653392774163, "bimanual_gripper_vertical_difference": 0.07775480574608384, "task_success": 0.0 }, { "completion_time": 1.581516981124878, "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": 0.0005864749705964956, "left gripper-book distance": 0.1988504953560085, "right gripper-book distance": 0.5960827686169358 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0907677680948074, "bimanual_gripper_vertical_difference": 0.07999085819528826, "task_success": 0.0 }, { "completion_time": 1.6110563278198242, "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": 0.0005383271348463614, "left gripper-book distance": 0.16291124671141538, "right gripper-book distance": 0.5950999537428318 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.107796615858437, "bimanual_gripper_vertical_difference": 0.08295843798555234, "task_success": 0.0 }, { "completion_time": 1.6378428936004639, "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": -8.750121938128075e-08, "left gripper-book distance": 0.1460836043354451, "right gripper-book distance": 0.5948235027646787 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1149705788009183, "bimanual_gripper_vertical_difference": 0.08623751380552218, "task_success": 0.0 }, { "completion_time": 1.6638965606689453, "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": -0.0008094400088136666, "left gripper-book distance": 0.14437877888940343, "right gripper-book distance": 0.5935671855476 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1204428259567532, "bimanual_gripper_vertical_difference": 0.08939581051024591, "task_success": 0.0 }, { "completion_time": 1.6931071281433105, "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": 0.00046536242684480644, "left gripper-book distance": 0.14232404613239424, "right gripper-book distance": 0.59094157587657 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.129809332203635, "bimanual_gripper_vertical_difference": 0.09238697259288736, "task_success": 0.0 }, { "completion_time": 1.722656011581421, "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": 0.0005420645881324404, "left gripper-book distance": 0.14655567586756388, "right gripper-book distance": 0.5908962615167239 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1454303379221873, "bimanual_gripper_vertical_difference": 0.09506570797562038, "task_success": 0.0 }, { "completion_time": 1.7514798641204834, "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": 0.0007274391175878803, "left gripper-book distance": 0.16126512015822836, "right gripper-book distance": 0.5907367173665895 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1652564233509457, "bimanual_gripper_vertical_difference": 0.09732383400028514, "task_success": 0.0 }, { "completion_time": 1.7831330299377441, "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": 0.0005711894311888344, "left gripper-book distance": 0.16431144553165886, "right gripper-book distance": 0.5907730201450175 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1738701768332098, "bimanual_gripper_vertical_difference": 0.0994440937630758, "task_success": 0.0 }, { "completion_time": 1.8123712539672852, "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": 0.0006426952200341285, "left gripper-book distance": 0.14847815338920423, "right gripper-book distance": 0.5907666265672508 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1743354464694504, "bimanual_gripper_vertical_difference": 0.10175090615191522, "task_success": 0.0 }, { "completion_time": 1.84196138381958, "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": 0.0005808515668759284, "left gripper-book distance": 0.14242338551049566, "right gripper-book distance": 0.5909574411239973 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1714050137803675, "bimanual_gripper_vertical_difference": 0.10409924045649602, "task_success": 0.0 }, { "completion_time": 1.8715829849243164, "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": 0.0005547194185143711, "left gripper-book distance": 0.14663392527531205, "right gripper-book distance": 0.5912856043781031 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1680365530914831, "bimanual_gripper_vertical_difference": 0.10633566294170119, "task_success": 0.0 }, { "completion_time": 1.9005167484283447, "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": 0.0005719615405130885, "left gripper-book distance": 0.15414058602856232, "right gripper-book distance": 0.5915877731791825 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1610455387603895, "bimanual_gripper_vertical_difference": 0.10841844388354423, "task_success": 0.0 }, { "completion_time": 1.9298481941223145, "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": 0.0005913984744202461, "left gripper-book distance": 0.16304042419026504, "right gripper-book distance": 0.5917676654121931 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1528234796923478, "bimanual_gripper_vertical_difference": 0.11033249503741493, "task_success": 0.0 }, { "completion_time": 1.9593186378479004, "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": 0.0005348605150071739, "left gripper-book distance": 0.1707903639546127, "right gripper-book distance": 0.5919242975083863 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1468593217376024, "bimanual_gripper_vertical_difference": 0.11210869175110925, "task_success": 0.0 }, { "completion_time": 1.9887096881866455, "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": 0.0005643999439230996, "left gripper-book distance": 0.17541607297514364, "right gripper-book distance": 0.592295736527992 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1454129910948854, "bimanual_gripper_vertical_difference": 0.11380114178016605, "task_success": 0.0 }, { "completion_time": 2.017164707183838, "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": 0.0005333341671965863, "left gripper-book distance": 0.17628942889505442, "right gripper-book distance": 0.5928709380390826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1497778405847827, "bimanual_gripper_vertical_difference": 0.11546923771170825, "task_success": 0.0 }, { "completion_time": 2.0464415550231934, "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": 0.000511437454889796, "left gripper-book distance": 0.17422588440274517, "right gripper-book distance": 0.5932639338399454 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1531122003590073, "bimanual_gripper_vertical_difference": 0.11715244464137514, "task_success": 0.0 }, { "completion_time": 2.0756165981292725, "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": 0.0005866203912702206, "left gripper-book distance": 0.17028089621968623, "right gripper-book distance": 0.5933809344504406 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1495917223910421, "bimanual_gripper_vertical_difference": 0.1188618576242151, "task_success": 0.0 }, { "completion_time": 2.1052396297454834, "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": 0.0005618052036511223, "left gripper-book distance": 0.16643871756180367, "right gripper-book distance": 0.5931964854197854 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1408025348780386, "bimanual_gripper_vertical_difference": 0.12056050302178349, "task_success": 0.0 }, { "completion_time": 2.1349282264709473, "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": 0.0005785106641496007, "left gripper-book distance": 0.16400031871024273, "right gripper-book distance": 0.5919218008908032 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1308922781457587, "bimanual_gripper_vertical_difference": 0.12222026929772127, "task_success": 0.0 }, { "completion_time": 2.163870334625244, "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": 0.0005248669679224216, "left gripper-book distance": 0.16236784650683087, "right gripper-book distance": 0.5909278129735498 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1183761024443934, "bimanual_gripper_vertical_difference": 0.12383854480570648, "task_success": 0.0 }, { "completion_time": 2.1934640407562256, "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": 0.0005731254342059566, "left gripper-book distance": 0.16089776356948282, "right gripper-book distance": 0.589509058313646 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1157757228548315, "bimanual_gripper_vertical_difference": 0.12541331902312863, "task_success": 0.0 }, { "completion_time": 2.223212718963623, "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": 0.0005617617122954943, "left gripper-book distance": 0.16121780815737757, "right gripper-book distance": 0.5884866582732737 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.127077549814321, "bimanual_gripper_vertical_difference": 0.12694141289939576, "task_success": 0.0 }, { "completion_time": 2.253124713897705, "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": 0.0005362095501101338, "left gripper-book distance": 0.1634906146299011, "right gripper-book distance": 0.587786407764767 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1431050099098379, "bimanual_gripper_vertical_difference": 0.12842060857278256, "task_success": 0.0 }, { "completion_time": 2.2829205989837646, "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": 0.0005137353726551996, "left gripper-book distance": 0.1647486088943066, "right gripper-book distance": 0.5871827385792177 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.156949734456736, "bimanual_gripper_vertical_difference": 0.12987510054163942, "task_success": 0.0 }, { "completion_time": 2.3126559257507324, "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": 0.0005883885930401123, "left gripper-book distance": 0.16258628785220375, "right gripper-book distance": 0.5867882355640088 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1693759747476584, "bimanual_gripper_vertical_difference": 0.13134738636925417, "task_success": 0.0 }, { "completion_time": 2.3428955078125, "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": 0.0005628832109534354, "left gripper-book distance": 0.15622990312286902, "right gripper-book distance": 0.5868235660335755 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1816071466492377, "bimanual_gripper_vertical_difference": 0.13288399113058486, "task_success": 0.0 }, { "completion_time": 2.378007173538208, "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": 0.0005789422246549325, "left gripper-book distance": 0.1473617376999667, "right gripper-book distance": 0.5868860839086331 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1939188835163144, "bimanual_gripper_vertical_difference": 0.1345064096466358, "task_success": 0.0 }, { "completion_time": 2.406621217727661, "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": 0.0007636942573051586, "left gripper-book distance": 0.1376252338699314, "right gripper-book distance": 0.5869684798632497 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.192288442062992, "bimanual_gripper_vertical_difference": 0.13621010654047178, "task_success": 0.0 }, { "completion_time": 2.4368038177490234, "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": 0.0007713177421505568, "left gripper-book distance": 0.13625544961776923, "right gripper-book distance": 0.5870290676347496 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.184304264834161, "bimanual_gripper_vertical_difference": 0.1378734721794155, "task_success": 0.0 }, { "completion_time": 2.4659411907196045, "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": 0.000771528384824971, "left gripper-book distance": 0.1346633787297666, "right gripper-book distance": 0.5868931314590743 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1797719066545864, "bimanual_gripper_vertical_difference": 0.1394985148626476, "task_success": 0.0 }, { "completion_time": 2.4958274364471436, "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": 0.0007716894794115303, "left gripper-book distance": 0.13274189060878344, "right gripper-book distance": 0.5866786278160868 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.17689128583921, "bimanual_gripper_vertical_difference": 0.14108635603037867, "task_success": 0.0 }, { "completion_time": 2.525425672531128, "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": 0.000771850240431915, "left gripper-book distance": 0.13063566743880747, "right gripper-book distance": 0.5864049834918794 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1753216608413628, "bimanual_gripper_vertical_difference": 0.14263691651620808, "task_success": 0.0 }, { "completion_time": 2.554542064666748, "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": 0.0007720109521223151, "left gripper-book distance": 0.12752796269542535, "right gripper-book distance": 0.5860785074016354 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1701865197511505, "bimanual_gripper_vertical_difference": 0.1441495215760396, "task_success": 0.0 }, { "completion_time": 2.584707498550415, "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": 0.0007721716539993428, "left gripper-book distance": 0.12397059417993486, "right gripper-book distance": 0.5857117604509555 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.162751529146276, "bimanual_gripper_vertical_difference": 0.14562315997741582, "task_success": 0.0 }, { "completion_time": 2.6130807399749756, "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": 0.0010503832858269613, "left gripper-book distance": 0.12362060121463274, "right gripper-book distance": 0.5843723238645311 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1566595990357997, "bimanual_gripper_vertical_difference": 0.147054853439593, "task_success": 0.0 }, { "completion_time": 2.6405019760131836, "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": 0.0008403905968181746, "left gripper-book distance": 0.12443744522493709, "right gripper-book distance": 0.5826406563719614 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1503572563020565, "bimanual_gripper_vertical_difference": 0.1484519691191309, "task_success": 0.0 }, { "completion_time": 2.6675288677215576, "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": 0.0007541948436540213, "left gripper-book distance": 0.12562858667551718, "right gripper-book distance": 0.5810428054297488 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1429147704613722, "bimanual_gripper_vertical_difference": 0.1498109341886287, "task_success": 0.0 }, { "completion_time": 2.693389654159546, "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": 0.0007104716343756534, "left gripper-book distance": 0.12667292141783837, "right gripper-book distance": 0.5806048225236997 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1344384122776512, "bimanual_gripper_vertical_difference": 0.15113022438498905, "task_success": 0.0 }, { "completion_time": 2.7213594913482666, "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": 0.0007807131822580304, "left gripper-book distance": 0.12767036441559057, "right gripper-book distance": 0.5799694111596663 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1256862146696522, "bimanual_gripper_vertical_difference": 0.15241035183655516, "task_success": 0.0 }, { "completion_time": 2.7490572929382324, "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": 0.0008507595056375106, "left gripper-book distance": 0.12821195663211457, "right gripper-book distance": 0.5795373280311165 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1159610310230204, "bimanual_gripper_vertical_difference": 0.1536548410836967, "task_success": 0.0 }, { "completion_time": 2.775981903076172, "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": 0.0007644951467296046, "left gripper-book distance": 0.12867379737183446, "right gripper-book distance": 0.5792484319080692 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1061879902406382, "bimanual_gripper_vertical_difference": 0.15486728057391574, "task_success": 0.0 }, { "completion_time": 2.8033807277679443, "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": 0.0008042637181460144, "left gripper-book distance": 0.12867555521619867, "right gripper-book distance": 0.5791322800120741 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0972905142607272, "bimanual_gripper_vertical_difference": 0.1560451457904328, "task_success": 0.0 }, { "completion_time": 2.830122947692871, "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": 0.0008658900949556347, "left gripper-book distance": 0.12911876936073066, "right gripper-book distance": 0.5787084707001894 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0886418641479967, "bimanual_gripper_vertical_difference": 0.1571896890357899, "task_success": 0.0 }, { "completion_time": 2.8568737506866455, "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": 0.0009490512135251761, "left gripper-book distance": 0.12931288897049814, "right gripper-book distance": 0.5783566446585098 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0798201198342319, "bimanual_gripper_vertical_difference": 0.1583020268143492, "task_success": 0.0 }, { "completion_time": 2.88362979888916, "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": 0.0010906610538511385, "left gripper-book distance": 0.12942399731684992, "right gripper-book distance": 0.5780863865343842 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0704282777323428, "bimanual_gripper_vertical_difference": 0.15938516238470035, "task_success": 0.0 }, { "completion_time": 2.9103918075561523, "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": 0.0011465387008917638, "left gripper-book distance": 0.12935583676845422, "right gripper-book distance": 0.5778810673392502 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0608447080435899, "bimanual_gripper_vertical_difference": 0.16044449522672052, "task_success": 0.0 }, { "completion_time": 2.9387099742889404, "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": 0.0010120574313770003, "left gripper-book distance": 0.12922215961766856, "right gripper-book distance": 0.57783805952844 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.050680535552997, "bimanual_gripper_vertical_difference": 0.16148624388999447, "task_success": 0.0 }, { "completion_time": 2.9678256511688232, "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": 0.0005222264827380307, "left gripper-book distance": 0.12973566439378123, "right gripper-book distance": 0.5779846540171254 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0438225985622123, "bimanual_gripper_vertical_difference": 0.16251472444514967, "task_success": 0.0 }, { "completion_time": 2.9962689876556396, "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": 0.0005801035831366486, "left gripper-book distance": 0.13309829361479197, "right gripper-book distance": 0.5778219528355377 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.04088423417788, "bimanual_gripper_vertical_difference": 0.16351870767970314, "task_success": 0.0 }, { "completion_time": 3.0256826877593994, "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": 0.0006510613134442789, "left gripper-book distance": 0.14036032730796433, "right gripper-book distance": 0.5780311652315901 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0399555441824315, "bimanual_gripper_vertical_difference": 0.16447465106888376, "task_success": 0.0 }, { "completion_time": 3.0558457374572754, "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": 0.000503413840290734, "left gripper-book distance": 0.15110542499975055, "right gripper-book distance": 0.5784408425003601 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0392693682456193, "bimanual_gripper_vertical_difference": 0.16535020015730073, "task_success": 0.0 }, { "completion_time": 3.085782051086426, "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": 0.0005075387470090398, "left gripper-book distance": 0.16226639514819813, "right gripper-book distance": 0.578862721879258 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0373112775907687, "bimanual_gripper_vertical_difference": 0.16612063750104603, "task_success": 0.0 }, { "completion_time": 3.116337776184082, "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": 0.0005627508494592259, "left gripper-book distance": 0.17127260715732762, "right gripper-book distance": 0.5793559478359407 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0387876279070902, "bimanual_gripper_vertical_difference": 0.16677358782831184, "task_success": 0.0 }, { "completion_time": 3.146672248840332, "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": 0.0004473193668121933, "left gripper-book distance": 0.17919074281162808, "right gripper-book distance": 0.5796970407378522 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0479700856382534, "bimanual_gripper_vertical_difference": 0.1672913316258916, "task_success": 0.0 }, { "completion_time": 3.1756248474121094, "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": 0.0005936513480104821, "left gripper-book distance": 0.18699649073144814, "right gripper-book distance": 0.5795716880396968 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0622942762700431, "bimanual_gripper_vertical_difference": 0.1676620640379357, "task_success": 0.0 }, { "completion_time": 3.2043023109436035, "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": 0.0005111957095027542, "left gripper-book distance": 0.19579151784151355, "right gripper-book distance": 0.5793314608911446 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0780879314195215, "bimanual_gripper_vertical_difference": 0.16788482425293386, "task_success": 0.0 }, { "completion_time": 3.233299970626831, "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": 0.00047948591897817305, "left gripper-book distance": 0.20305096870450573, "right gripper-book distance": 0.5789240249147908 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0956425064721635, "bimanual_gripper_vertical_difference": 0.16798361860982566, "task_success": 0.0 }, { "completion_time": 3.2618489265441895, "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": 0.0005308469297184981, "left gripper-book distance": 0.20697106008721067, "right gripper-book distance": 0.5786538432291449 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.114347499072134, "bimanual_gripper_vertical_difference": 0.16800261284941267, "task_success": 0.0 }, { "completion_time": 3.2938106060028076, "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": 0.0004440982864389875, "left gripper-book distance": 0.2072124941583838, "right gripper-book distance": 0.5784522096755721 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.12987510129444, "bimanual_gripper_vertical_difference": 0.16799195355598265, "task_success": 0.0 }, { "completion_time": 3.3232767581939697, "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": 0.0006352722636137065, "left gripper-book distance": 0.20458753728233783, "right gripper-book distance": 0.5780263920144653 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1408041378334897, "bimanual_gripper_vertical_difference": 0.1679901065025649, "task_success": 0.0 }, { "completion_time": 3.3533060550689697, "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": 0.0006093908034188189, "left gripper-book distance": 0.20172288042114722, "right gripper-book distance": 0.5777049379668571 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.14956515749172, "bimanual_gripper_vertical_difference": 0.16801832857328916, "task_success": 0.0 }, { "completion_time": 3.3831067085266113, "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": 0.000550467888735473, "left gripper-book distance": 0.19955598982684847, "right gripper-book distance": 0.5774069611771337 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.156256955361698, "bimanual_gripper_vertical_difference": 0.1680877548089384, "task_success": 0.0 }, { "completion_time": 3.4134762287139893, "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": 0.0005839424510765134, "left gripper-book distance": 0.1976511497841585, "right gripper-book distance": 0.5771206312239615 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.159907345361948, "bimanual_gripper_vertical_difference": 0.1682085645565356, "task_success": 0.0 }, { "completion_time": 3.4436912536621094, "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": 0.0005047805732579791, "left gripper-book distance": 0.1972802061794829, "right gripper-book distance": 0.5768657129114921 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1642063355533216, "bimanual_gripper_vertical_difference": 0.168380259370805, "task_success": 0.0 }, { "completion_time": 3.473999500274658, "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": 0.0006364372710310207, "left gripper-book distance": 0.19851141028736513, "right gripper-book distance": 0.5765231114775473 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1738105191940593, "bimanual_gripper_vertical_difference": 0.16859938024412108, "task_success": 0.0 }, { "completion_time": 3.503748893737793, "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": 0.0005931155753394757, "left gripper-book distance": 0.19887887121762715, "right gripper-book distance": 0.576270877206778 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.185610046904325, "bimanual_gripper_vertical_difference": 0.16887909050051036, "task_success": 0.0 }, { "completion_time": 3.535799741744995, "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": 0.0005776239725411303, "left gripper-book distance": 0.19829534541951727, "right gripper-book distance": 0.5760704244275077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1967895410353702, "bimanual_gripper_vertical_difference": 0.1692267129288447, "task_success": 0.0 }, { "completion_time": 3.5679407119750977, "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": 0.0005898511655554328, "left gripper-book distance": 0.1976878211239975, "right gripper-book distance": 0.5758645998262971 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2078010358735103, "bimanual_gripper_vertical_difference": 0.16964338789794667, "task_success": 0.0 }, { "completion_time": 3.59777569770813, "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": 0.00038351789959645277, "left gripper-book distance": 0.19772143248803065, "right gripper-book distance": 0.5757887021942519 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2188918779821794, "bimanual_gripper_vertical_difference": 0.17013058532663966, "task_success": 0.0 }, { "completion_time": 3.6261472702026367, "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": 0.0005265404754227765, "left gripper-book distance": 0.19904763608911813, "right gripper-book distance": 0.5755144619968562 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2248754751349422, "bimanual_gripper_vertical_difference": 0.17067956566295042, "task_success": 0.0 }, { "completion_time": 3.6550614833831787, "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": 0.000546220383260021, "left gripper-book distance": 0.20126124839272305, "right gripper-book distance": 0.5753538294827216 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2265276240812268, "bimanual_gripper_vertical_difference": 0.1712769522413846, "task_success": 0.0 }, { "completion_time": 3.684370279312134, "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": 0.0004806924132692014, "left gripper-book distance": 0.2024351991737759, "right gripper-book distance": 0.5752032067482817 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2242421839735158, "bimanual_gripper_vertical_difference": 0.17191629060873817, "task_success": 0.0 }, { "completion_time": 3.7134718894958496, "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": 0.000646226796185867, "left gripper-book distance": 0.20206363491600599, "right gripper-book distance": 0.5750477856715935 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2201233753554006, "bimanual_gripper_vertical_difference": 0.17259534041759708, "task_success": 0.0 }, { "completion_time": 3.741846799850464, "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": 0.0005949292307431131, "left gripper-book distance": 0.2008655612425087, "right gripper-book distance": 0.5751050552865848 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2159790855890564, "bimanual_gripper_vertical_difference": 0.1733139805045061, "task_success": 0.0 }, { "completion_time": 3.7706172466278076, "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": 0.0004612977636601068, "left gripper-book distance": 0.19845166413274182, "right gripper-book distance": 0.5751800862726507 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2137098874428802, "bimanual_gripper_vertical_difference": 0.17407876524242, "task_success": 0.0 }, { "completion_time": 3.799945116043091, "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": 0.0006231812257598834, "left gripper-book distance": 0.19493144451479763, "right gripper-book distance": 0.5750830066725041 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2150544863067068, "bimanual_gripper_vertical_difference": 0.17489545570660298, "task_success": 0.0 }, { "completion_time": 3.828343152999878, "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": 0.000518312675442667, "left gripper-book distance": 0.19045366115684773, "right gripper-book distance": 0.5750972026358817 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2176157366213447, "bimanual_gripper_vertical_difference": 0.17576235189200365, "task_success": 0.0 }, { "completion_time": 3.857956647872925, "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": 0.00044570222524531466, "left gripper-book distance": 0.1847999551789179, "right gripper-book distance": 0.5749954796983187 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.218275596347869, "bimanual_gripper_vertical_difference": 0.1766634792149566, "task_success": 0.0 }, { "completion_time": 3.886514902114868, "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": 0.000556603133887057, "left gripper-book distance": 0.17799704875851413, "right gripper-book distance": 0.5747907819555755 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.216252756703024, "bimanual_gripper_vertical_difference": 0.17757735806533073, "task_success": 0.0 }, { "completion_time": 3.9157373905181885, "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": 0.0005280870344799293, "left gripper-book distance": 0.17065941398627008, "right gripper-book distance": 0.5747229058462676 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2131542190316167, "bimanual_gripper_vertical_difference": 0.17848631563071007, "task_success": 0.0 }, { "completion_time": 3.9454870223999023, "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": 0.0004625533960476158, "left gripper-book distance": 0.16456990635428415, "right gripper-book distance": 0.574746177844728 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.209699705426337, "bimanual_gripper_vertical_difference": 0.17937038851434253, "task_success": 0.0 }, { "completion_time": 3.9743032455444336, "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": 0.0006692793157080379, "left gripper-book distance": 0.15912007571895306, "right gripper-book distance": 0.5746684121313924 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.207245273445487, "bimanual_gripper_vertical_difference": 0.18021964513679947, "task_success": 0.0 }, { "completion_time": 4.002477407455444, "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": 0.0005786598002065491, "left gripper-book distance": 0.1539739049242804, "right gripper-book distance": 0.5749357142286308 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2053666599007544, "bimanual_gripper_vertical_difference": 0.18104462215929235, "task_success": 0.0 }, { "completion_time": 4.0292510986328125, "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": 0.0008011207044652524, "left gripper-book distance": 0.14975926416496804, "right gripper-book distance": 0.5747796549070177 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2018747015247657, "bimanual_gripper_vertical_difference": 0.18186023180100105, "task_success": 0.0 }, { "completion_time": 4.057239294052124, "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": 0.0019124227037236041, "left gripper-book distance": 0.1486765429112798, "right gripper-book distance": 0.5720389509609178 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.199019904974997, "bimanual_gripper_vertical_difference": 0.18267502499622562, "task_success": 0.0 }, { "completion_time": 4.085276126861572, "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": 0.00108507423059645, "left gripper-book distance": 0.14708649500523524, "right gripper-book distance": 0.5718150301931327 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.19652585391828, "bimanual_gripper_vertical_difference": 0.18349377640334757, "task_success": 0.0 }, { "completion_time": 4.115089178085327, "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": 0.0007975086354481409, "left gripper-book distance": 0.14511927397661498, "right gripper-book distance": 0.5714293816641457 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1928416347457318, "bimanual_gripper_vertical_difference": 0.18431941402394336, "task_success": 0.0 }, { "completion_time": 4.145024538040161, "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": 0.0006381375611705931, "left gripper-book distance": 0.1430212567966267, "right gripper-book distance": 0.5714435746381319 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1874502870494792, "bimanual_gripper_vertical_difference": 0.1851526508527817, "task_success": 0.0 }, { "completion_time": 4.173694849014282, "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": 0.0004754814470459001, "left gripper-book distance": 0.14101354501843252, "right gripper-book distance": 0.5716118603238437 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1809393333583011, "bimanual_gripper_vertical_difference": 0.18598984292869916, "task_success": 0.0 }, { "completion_time": 4.202218770980835, "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": 0.0006656588560493004, "left gripper-book distance": 0.13895328318156647, "right gripper-book distance": 0.5714722719417253 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.175027967900861, "bimanual_gripper_vertical_difference": 0.18682979133841554, "task_success": 0.0 }, { "completion_time": 4.233200788497925, "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": 0.0006795555808412068, "left gripper-book distance": 0.137184711004126, "right gripper-book distance": 0.5714074081569465 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.168966698805873, "bimanual_gripper_vertical_difference": 0.18766989100250564, "task_success": 0.0 }, { "completion_time": 4.261333465576172, "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": 0.0005852953255587323, "left gripper-book distance": 0.13442732750578362, "right gripper-book distance": 0.5714166815236077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1663468178762055, "bimanual_gripper_vertical_difference": 0.18850631063653533, "task_success": 0.0 }, { "completion_time": 4.291008710861206, "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": 0.0005681543907861686, "left gripper-book distance": 0.13076880538092092, "right gripper-book distance": 0.5713652171594128 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.164098024540933, "bimanual_gripper_vertical_difference": 0.18933737259859468, "task_success": 0.0 }, { "completion_time": 4.3219990730285645, "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": 0.0005937974950142033, "left gripper-book distance": 0.1288764324018977, "right gripper-book distance": 0.571398002923695 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1673461355022883, "bimanual_gripper_vertical_difference": 0.1901509546670144, "task_success": 0.0 }, { "completion_time": 4.352361679077148, "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": 0.00045897379823089945, "left gripper-book distance": 0.1259623563133272, "right gripper-book distance": 0.5717097236816583 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1742865042945727, "bimanual_gripper_vertical_difference": 0.1909523250426928, "task_success": 0.0 }, { "completion_time": 4.382624626159668, "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": 0.0003676434441493015, "left gripper-book distance": 0.12226867521704085, "right gripper-book distance": 0.5718119498325492 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1778662812899325, "bimanual_gripper_vertical_difference": 0.1917688158570923, "task_success": 0.0 }, { "completion_time": 4.413322687149048, "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": 0.00010695223492640515, "left gripper-book distance": 0.1223764156201754, "right gripper-book distance": 0.5717856888878776 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1785201266815508, "bimanual_gripper_vertical_difference": 0.19257594518373494, "task_success": 0.0 }, { "completion_time": 4.444397687911987, "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": 0.00010529137630421737, "left gripper-book distance": 0.12191141935335292, "right gripper-book distance": 0.5715637919260373 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1754472033641514, "bimanual_gripper_vertical_difference": 0.19338109957864225, "task_success": 0.0 }, { "completion_time": 4.474658489227295, "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": 0.0003863918008875089, "left gripper-book distance": 0.12200049302162178, "right gripper-book distance": 0.5713985553064957 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1699914052044469, "bimanual_gripper_vertical_difference": 0.19417313310131548, "task_success": 0.0 }, { "completion_time": 4.502490520477295, "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": -1.2524602391761341e-05, "left gripper-book distance": 0.12213222226757389, "right gripper-book distance": 0.5722341668553577 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1670380332402464, "bimanual_gripper_vertical_difference": 0.19496471166089555, "task_success": 0.0 }, { "completion_time": 4.530475378036499, "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": -0.0014795800724083374, "left gripper-book distance": 0.12426777498842898, "right gripper-book distance": 0.5732408157862564 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1616929441476822, "bimanual_gripper_vertical_difference": 0.19574447606106785, "task_success": 0.0 }, { "completion_time": 4.5577263832092285, "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": -0.00031090961473834167, "left gripper-book distance": 0.12505434778178287, "right gripper-book distance": 0.5724075393654853 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1574370959395603, "bimanual_gripper_vertical_difference": 0.1965081777493527, "task_success": 0.0 }, { "completion_time": 4.58478307723999, "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": 0.00034358386590371826, "left gripper-book distance": 0.12584800450353684, "right gripper-book distance": 0.5718937469083543 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.153457563841155, "bimanual_gripper_vertical_difference": 0.19725823304063478, "task_success": 0.0 }, { "completion_time": 4.611873626708984, "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": 0.00021119487808696213, "left gripper-book distance": 0.1266933231196157, "right gripper-book distance": 0.5716605531625869 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1492141157725964, "bimanual_gripper_vertical_difference": 0.1979965562839083, "task_success": 0.0 }, { "completion_time": 4.639060974121094, "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": -0.00024511338619559453, "left gripper-book distance": 0.1276795404225718, "right gripper-book distance": 0.5719522570039933 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1441770131622453, "bimanual_gripper_vertical_difference": 0.1987246086891219, "task_success": 0.0 }, { "completion_time": 4.667558431625366, "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": 0.0007948078405242143, "left gripper-book distance": 0.12793470118681238, "right gripper-book distance": 0.5714566108036455 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.138083261284458, "bimanual_gripper_vertical_difference": 0.19943766527198234, "task_success": 0.0 }, { "completion_time": 4.698456525802612, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0014604181070663191, "left gripper-book distance": 0.12818943781504602, "right gripper-book distance": 0.5710546341607182 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1326218222897257, "bimanual_gripper_vertical_difference": 0.20013579843409385, "task_success": 0.0 }, { "completion_time": 4.728123426437378, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0014446564756204205, "left gripper-book distance": 0.12870441325553253, "right gripper-book distance": 0.5712379895353946 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1279379935187686, "bimanual_gripper_vertical_difference": 0.20082311088926527, "task_success": 0.0 }, { "completion_time": 4.760361433029175, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0017486224210329082, "left gripper-book distance": 0.12862395994620907, "right gripper-book distance": 0.5711682083741452 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1225656694549646, "bimanual_gripper_vertical_difference": 0.20149801711130952, "task_success": 0.0 }, { "completion_time": 4.7930052280426025, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0023449330236323673, "left gripper-book distance": 0.12891799836148407, "right gripper-book distance": 0.5707788265890393 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.117147084938412, "bimanual_gripper_vertical_difference": 0.2021586311056087, "task_success": 0.0 }, { "completion_time": 4.825071334838867, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0032529257885911544, "left gripper-book distance": 0.1297920355435779, "right gripper-book distance": 0.5700747091012639 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1123439961687258, "bimanual_gripper_vertical_difference": 0.20280284805969712, "task_success": 0.0 }, { "completion_time": 4.853410959243774, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.004634045112355434, "left gripper-book distance": 0.1305443063625024, "right gripper-book distance": 0.5689877893021728 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1078425443834716, "bimanual_gripper_vertical_difference": 0.20342620645407958, "task_success": 0.0 }, { "completion_time": 4.8816962242126465, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.006508373106455578, "left gripper-book distance": 0.13209608207290674, "right gripper-book distance": 0.5669826030718775 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1034004288333767, "bimanual_gripper_vertical_difference": 0.2040236983171371, "task_success": 0.0 }, { "completion_time": 4.910264492034912, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.013040178781335121, "left gripper-book distance": 0.1366164629311244, "right gripper-book distance": 0.5587207920197403 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1018959775452721, "bimanual_gripper_vertical_difference": 0.20455504882682077, "task_success": 0.0 }, { "completion_time": 4.940244197845459, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.026004974684564863, "left gripper-book distance": 0.1461477793769256, "right gripper-book distance": 0.5392767785464168 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1057833930845724, "bimanual_gripper_vertical_difference": 0.20494545043612494, "task_success": 0.0 }, { "completion_time": 4.968672037124634, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0481270376373395, "left gripper-book distance": 0.1541765049532938, "right gripper-book distance": 0.5112706106537452 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1115698783745136, "bimanual_gripper_vertical_difference": 0.20514801056270685, "task_success": 0.0 }, { "completion_time": 4.997817039489746, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.08430018025170116, "left gripper-book distance": 0.1547726281119742, "right gripper-book distance": 0.4747162169532177 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.1182908808936363, "bimanual_gripper_vertical_difference": 0.20519804540642547, "task_success": 1.0 } ]