[ { "completion_time": 0.0479586124420166, "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": -0.0005499220093179158, "left gripper-book distance": 0.4357749723039412, "right gripper-book distance": 0.6055754312850328 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.07687544822692871, "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": 0.0006269252500243905, "left gripper-book distance": 0.4331163262141245, "right gripper-book distance": 0.6036762037637516 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.018563459267291e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.10496139526367188, "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": 0.0005706291447259426, "left gripper-book distance": 0.4321682891394381, "right gripper-book distance": 0.6029729567712037 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.86548475858223e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.13492798805236816, "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": 0.0005687373718711308, "left gripper-book distance": 0.43153304079487775, "right gripper-book distance": 0.6024830876272672 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0476543531686847e-06, "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, "task_success": 0.0 }, { "completion_time": 0.1644914150238037, "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": 0.0005410162351177084, "left gripper-book distance": 0.4311238627856046, "right gripper-book distance": 0.6022358562421329 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00017675039728245258, "bimanual_gripper_vertical_difference": 2.2006893640735827e-09, "task_success": 0.0 }, { "completion_time": 0.19451069831848145, "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": 0.0006258008093172895, "left gripper-book distance": 0.43078983297478435, "right gripper-book distance": 0.6019556296518828 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00019642507390927027, "bimanual_gripper_vertical_difference": 2.7687085587165447e-09, "task_success": 0.0 }, { "completion_time": 0.22422575950622559, "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": 0.0004688275609842085, "left gripper-book distance": 0.43077462079720164, "right gripper-book distance": 0.6019130132663452 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00018898803668993995, "bimanual_gripper_vertical_difference": 3.305395037043825e-09, "task_success": 0.0 }, { "completion_time": 0.2540280818939209, "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": 0.0004182019826148853, "left gripper-book distance": 0.43068681109045664, "right gripper-book distance": 0.6019135470334914 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00040343131833661363, "bimanual_gripper_vertical_difference": 4.199730702092452e-09, "task_success": 0.0 }, { "completion_time": 0.2832508087158203, "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": 0.0005395705888888713, "left gripper-book distance": 0.429188125184258, "right gripper-book distance": 0.6010650022939845 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.009125305363494172, "bimanual_gripper_vertical_difference": 2.1730859173698905e-05, "task_success": 0.0 }, { "completion_time": 0.3119468688964844, "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": 0.0006842872566457103, "left gripper-book distance": 0.42214309973235586, "right gripper-book distance": 0.5998131943834987 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.08813111426292686, "bimanual_gripper_vertical_difference": 0.00031068901394704085, "task_success": 0.0 }, { "completion_time": 0.340198278427124, "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": 0.0007002196905033786, "left gripper-book distance": 0.4138694466088337, "right gripper-book distance": 0.5994686195884414 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2700452230945284, "bimanual_gripper_vertical_difference": 0.0007262715942249122, "task_success": 0.0 }, { "completion_time": 0.3690500259399414, "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": 0.0006425476075017089, "left gripper-book distance": 0.40408989158525865, "right gripper-book distance": 0.5995224556689042 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4829026518615538, "bimanual_gripper_vertical_difference": 0.0013226705631601554, "task_success": 0.0 }, { "completion_time": 0.39844536781311035, "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": 0.0005172507000927862, "left gripper-book distance": 0.3880055321280433, "right gripper-book distance": 0.5993173126502882 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6881076994138465, "bimanual_gripper_vertical_difference": 0.0026311498103398757, "task_success": 0.0 }, { "completion_time": 0.4279053211212158, "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": 0.0005603016154918095, "left gripper-book distance": 0.3655761483196953, "right gripper-book distance": 0.5985617503257782 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8815691382435105, "bimanual_gripper_vertical_difference": 0.005035010807070758, "task_success": 0.0 }, { "completion_time": 0.457167387008667, "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": 0.00045690089265826295, "left gripper-book distance": 0.33965265733917305, "right gripper-book distance": 0.5977700180801584 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.05323736058701, "bimanual_gripper_vertical_difference": 0.00866958317772187, "task_success": 0.0 }, { "completion_time": 0.48655271530151367, "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": 0.00054029138502798, "left gripper-book distance": 0.30664951125934153, "right gripper-book distance": 0.596801683495419 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1784936652668263, "bimanual_gripper_vertical_difference": 0.013855564570728299, "task_success": 0.0 }, { "completion_time": 0.5162270069122314, "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": 0.0006667582979320574, "left gripper-book distance": 0.26356426079506473, "right gripper-book distance": 0.595865262390134 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2886302679615076, "bimanual_gripper_vertical_difference": 0.02101020515284701, "task_success": 0.0 }, { "completion_time": 0.5460963249206543, "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": 0.0006786678112372657, "left gripper-book distance": 0.21159373492748085, "right gripper-book distance": 0.5950955471842285 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3933045359921028, "bimanual_gripper_vertical_difference": 0.0304331435171082, "task_success": 0.0 }, { "completion_time": 0.5750284194946289, "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": 0.000570684063656679, "left gripper-book distance": 0.15920049535318367, "right gripper-book distance": 0.5944179763981239 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.473889962371297, "bimanual_gripper_vertical_difference": 0.04219914457905999, "task_success": 0.0 }, { "completion_time": 0.6020355224609375, "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": -0.004359638393852672, "left gripper-book distance": 0.14243604661338186, "right gripper-book distance": 0.5972450506716763 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.483427424858689, "bimanual_gripper_vertical_difference": 0.054249496563356106, "task_success": 0.0 }, { "completion_time": 0.630457878112793, "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": -0.0017615755659903254, "left gripper-book distance": 0.13993952494604472, "right gripper-book distance": 0.5962015506478957 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4697859654226524, "bimanual_gripper_vertical_difference": 0.0651103260725248, "task_success": 0.0 }, { "completion_time": 0.6579546928405762, "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": -0.0023061405540889535, "left gripper-book distance": 0.13737759241407282, "right gripper-book distance": 0.597603479910496 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4905531958228544, "bimanual_gripper_vertical_difference": 0.07501432098558293, "task_success": 0.0 }, { "completion_time": 0.6842610836029053, "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": -0.001387530708106266, "left gripper-book distance": 0.1351636599887859, "right gripper-book distance": 0.597532800344077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5367369562795736, "bimanual_gripper_vertical_difference": 0.08393505618050061, "task_success": 0.0 }, { "completion_time": 0.7111959457397461, "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": -0.001037948480963391, "left gripper-book distance": 0.1339803729197455, "right gripper-book distance": 0.5959053103365454 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5883137357429684, "bimanual_gripper_vertical_difference": 0.09193548188929089, "task_success": 0.0 }, { "completion_time": 0.7407577037811279, "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": 0.0002809221741987278, "left gripper-book distance": 0.13791706768138023, "right gripper-book distance": 0.5939988679859435 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6241081696081312, "bimanual_gripper_vertical_difference": 0.09887499268793841, "task_success": 0.0 }, { "completion_time": 0.7703976631164551, "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": 0.00018737671603674677, "left gripper-book distance": 0.15459352030127602, "right gripper-book distance": 0.5933283962350203 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6443938670558451, "bimanual_gripper_vertical_difference": 0.10447445839881818, "task_success": 0.0 }, { "completion_time": 0.7989673614501953, "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": 0.00018674681124442039, "left gripper-book distance": 0.17974954152849382, "right gripper-book distance": 0.5920602471647476 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6565696589241827, "bimanual_gripper_vertical_difference": 0.10862115077139418, "task_success": 0.0 }, { "completion_time": 0.82796311378479, "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": 0.00018701437310852942, "left gripper-book distance": 0.20659140246567356, "right gripper-book distance": 0.5901683093219151 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6699129408868534, "bimanual_gripper_vertical_difference": 0.11153291594764238, "task_success": 0.0 }, { "completion_time": 0.8574738502502441, "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": 0.000187108802301994, "left gripper-book distance": 0.23517227203497734, "right gripper-book distance": 0.5879881003007085 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6821526010511647, "bimanual_gripper_vertical_difference": 0.11339114919083448, "task_success": 0.0 }, { "completion_time": 0.8855764865875244, "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": 0.00018719296292790677, "left gripper-book distance": 0.24025427399343302, "right gripper-book distance": 0.5862080206858094 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6565134034235902, "bimanual_gripper_vertical_difference": 0.11507345377554823, "task_success": 0.0 }, { "completion_time": 0.9162411689758301, "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": 0.00018727713487298736, "left gripper-book distance": 0.23625853069618136, "right gripper-book distance": 0.585617942574502 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6305379340537478, "bimanual_gripper_vertical_difference": 0.11680007336658445, "task_success": 0.0 }, { "completion_time": 0.9454150199890137, "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": 0.00018736119364315407, "left gripper-book distance": 0.214966045136554, "right gripper-book distance": 0.5856207518930721 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6189307907343236, "bimanual_gripper_vertical_difference": 0.11909571165415822, "task_success": 0.0 }, { "completion_time": 0.9783477783203125, "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": 0.00018744510027224326, "left gripper-book distance": 0.1719243843081409, "right gripper-book distance": 0.5855312007683209 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6182731725910724, "bimanual_gripper_vertical_difference": 0.12255673762766306, "task_success": 0.0 }, { "completion_time": 1.0078392028808594, "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": 0.0001875288540114095, "left gripper-book distance": 0.14505804287995555, "right gripper-book distance": 0.5854597384825161 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5968770717035081, "bimanual_gripper_vertical_difference": 0.1266086776701673, "task_success": 0.0 }, { "completion_time": 1.0369343757629395, "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": 9.245878032793087e-05, "left gripper-book distance": 0.13554793754568953, "right gripper-book distance": 0.5856716552750864 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5690664126439609, "bimanual_gripper_vertical_difference": 0.1307199219667603, "task_success": 0.0 }, { "completion_time": 1.0666773319244385, "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": 0.0005410817808385593, "left gripper-book distance": 0.1293989873237576, "right gripper-book distance": 0.5854805964498406 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5401622675052953, "bimanual_gripper_vertical_difference": 0.13476977723453012, "task_success": 0.0 }, { "completion_time": 1.0955452919006348, "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": 0.0005850568917937782, "left gripper-book distance": 0.125845371710772, "right gripper-book distance": 0.5856279213144081 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5076364323665175, "bimanual_gripper_vertical_difference": 0.13870495423446813, "task_success": 0.0 }, { "completion_time": 1.1259853839874268, "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": 0.0005604969789900771, "left gripper-book distance": 0.12331730546273782, "right gripper-book distance": 0.585954381461582 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4738191256211304, "bimanual_gripper_vertical_difference": 0.14250316304866845, "task_success": 0.0 }, { "completion_time": 1.153947114944458, "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": 0.0007627065663168286, "left gripper-book distance": 0.1225789028357926, "right gripper-book distance": 0.5859144966792533 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4423624029162787, "bimanual_gripper_vertical_difference": 0.14611586770632176, "task_success": 0.0 }, { "completion_time": 1.182929277420044, "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": 0.0008892657317025598, "left gripper-book distance": 0.1223399547310515, "right gripper-book distance": 0.586124748592235 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4170617896986093, "bimanual_gripper_vertical_difference": 0.14953973534130788, "task_success": 0.0 }, { "completion_time": 1.2149150371551514, "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": 0.0008217107596862894, "left gripper-book distance": 0.12301143371585353, "right gripper-book distance": 0.5862921076346399 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3954071755354427, "bimanual_gripper_vertical_difference": 0.15278878163149553, "task_success": 0.0 }, { "completion_time": 1.2429418563842773, "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": 0.0010361641414385891, "left gripper-book distance": 0.12280440376989737, "right gripper-book distance": 0.5868574441368488 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.375273707203171, "bimanual_gripper_vertical_difference": 0.15588167216382876, "task_success": 0.0 }, { "completion_time": 1.269618034362793, "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": 0.0007519708850149964, "left gripper-book distance": 0.12292846176240704, "right gripper-book distance": 0.5873589497400273 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3548546275821567, "bimanual_gripper_vertical_difference": 0.1588313845693098, "task_success": 0.0 }, { "completion_time": 1.2967448234558105, "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": 0.0007628535165714601, "left gripper-book distance": 0.12318242171923646, "right gripper-book distance": 0.5869887031101145 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3326081281225066, "bimanual_gripper_vertical_difference": 0.1616503453314558, "task_success": 0.0 }, { "completion_time": 1.3256690502166748, "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": 0.0007747948944889504, "left gripper-book distance": 0.12326531687960074, "right gripper-book distance": 0.5864651006340815 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.310508871185122, "bimanual_gripper_vertical_difference": 0.16434489547391362, "task_success": 0.0 }, { "completion_time": 1.3536105155944824, "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": 0.0008194164069316168, "left gripper-book distance": 0.12310067856918383, "right gripper-book distance": 0.5856247734039142 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2890285556520942, "bimanual_gripper_vertical_difference": 0.1669264954396785, "task_success": 0.0 }, { "completion_time": 1.3828632831573486, "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": 0.0008741522442472505, "left gripper-book distance": 0.12301886506091278, "right gripper-book distance": 0.5844934707502057 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2681925174901636, "bimanual_gripper_vertical_difference": 0.16939993611495027, "task_success": 0.0 }, { "completion_time": 1.4109599590301514, "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": 0.0008126613729169119, "left gripper-book distance": 0.12300088158718966, "right gripper-book distance": 0.5836169628543653 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.245901675784508, "bimanual_gripper_vertical_difference": 0.17177250216438286, "task_success": 0.0 }, { "completion_time": 1.43898344039917, "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": 0.0006995650161639722, "left gripper-book distance": 0.12303658437150906, "right gripper-book distance": 0.5832929217591465 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2227690164241254, "bimanual_gripper_vertical_difference": 0.1740486798622521, "task_success": 0.0 }, { "completion_time": 1.4673466682434082, "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": 0.0007365333585446221, "left gripper-book distance": 0.12291460164541423, "right gripper-book distance": 0.5831554074342647 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1987940405986401, "bimanual_gripper_vertical_difference": 0.17623380958540052, "task_success": 0.0 }, { "completion_time": 1.4972960948944092, "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": 0.0006354169932203391, "left gripper-book distance": 0.12233272619913894, "right gripper-book distance": 0.5832993426059181 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1790568709289586, "bimanual_gripper_vertical_difference": 0.1783525507315695, "task_success": 0.0 }, { "completion_time": 1.5272583961486816, "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": 0.0003264563739352466, "left gripper-book distance": 0.1251389080258129, "right gripper-book distance": 0.583412185497613 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1634016670230758, "bimanual_gripper_vertical_difference": 0.18037309368224155, "task_success": 0.0 }, { "completion_time": 1.557391881942749, "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": 0.00047363996565275013, "left gripper-book distance": 0.13171994220065766, "right gripper-book distance": 0.5833426405842397 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1503957212565363, "bimanual_gripper_vertical_difference": 0.18223887094756291, "task_success": 0.0 }, { "completion_time": 1.5869624614715576, "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": 0.0005539767706197463, "left gripper-book distance": 0.14033987639713008, "right gripper-book distance": 0.5834068864398203 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1385947804464678, "bimanual_gripper_vertical_difference": 0.1839143776810626, "task_success": 0.0 }, { "completion_time": 1.6158137321472168, "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": 0.0006257821197777069, "left gripper-book distance": 0.14753350071601615, "right gripper-book distance": 0.5835746478256608 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1265134360376856, "bimanual_gripper_vertical_difference": 0.18540874539313182, "task_success": 0.0 }, { "completion_time": 1.645528793334961, "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": 0.00048684749652794235, "left gripper-book distance": 0.15166503192596426, "right gripper-book distance": 0.5839449443888822 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.116567699378596, "bimanual_gripper_vertical_difference": 0.18675627195444974, "task_success": 0.0 }, { "completion_time": 1.6755437850952148, "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": 0.0006353193443330296, "left gripper-book distance": 0.15283377005727738, "right gripper-book distance": 0.5839905874797737 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1176436595682229, "bimanual_gripper_vertical_difference": 0.18798032462898426, "task_success": 0.0 }, { "completion_time": 1.7050306797027588, "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": 0.0004552651590615797, "left gripper-book distance": 0.1531648047820224, "right gripper-book distance": 0.5840010292760294 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1264483830968004, "bimanual_gripper_vertical_difference": 0.1890856866330918, "task_success": 0.0 }, { "completion_time": 1.734344720840454, "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": 0.00043936288303547677, "left gripper-book distance": 0.15376590732313997, "right gripper-book distance": 0.5837977697859289 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1383425894698436, "bimanual_gripper_vertical_difference": 0.19007195640485566, "task_success": 0.0 }, { "completion_time": 1.7640469074249268, "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": 0.0005828611205023204, "left gripper-book distance": 0.1559169373833638, "right gripper-book distance": 0.5835222358891163 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1507367494481875, "bimanual_gripper_vertical_difference": 0.19093708182863722, "task_success": 0.0 }, { "completion_time": 1.7961246967315674, "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": 0.00032432403835724877, "left gripper-book distance": 0.15959670143597243, "right gripper-book distance": 0.5834856397211424 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1627367911594322, "bimanual_gripper_vertical_difference": 0.19169393077450403, "task_success": 0.0 }, { "completion_time": 1.8264803886413574, "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": 0.0004740958091844494, "left gripper-book distance": 0.16312814045314278, "right gripper-book distance": 0.5832121443419256 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1728996078618634, "bimanual_gripper_vertical_difference": 0.19236956002821035, "task_success": 0.0 }, { "completion_time": 1.8558454513549805, "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": 0.0005546527441185889, "left gripper-book distance": 0.16653041912456082, "right gripper-book distance": 0.5828994301483845 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.182355920922177, "bimanual_gripper_vertical_difference": 0.1929962347468214, "task_success": 0.0 }, { "completion_time": 1.884526014328003, "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": 0.0004103577240570644, "left gripper-book distance": 0.16941353762987332, "right gripper-book distance": 0.5826270440108431 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1917897217553055, "bimanual_gripper_vertical_difference": 0.1936071265558485, "task_success": 0.0 }, { "completion_time": 1.9158282279968262, "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": 0.0004750881562082254, "left gripper-book distance": 0.17139496690689515, "right gripper-book distance": 0.5822110948902973 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2021940811556042, "bimanual_gripper_vertical_difference": 0.1942251454482894, "task_success": 0.0 }, { "completion_time": 1.943979024887085, "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": 0.0005433774525311907, "left gripper-book distance": 0.17318078387820643, "right gripper-book distance": 0.5818113099076694 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2104835433464303, "bimanual_gripper_vertical_difference": 0.19486067499083515, "task_success": 0.0 }, { "completion_time": 1.9732921123504639, "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": 0.0004687913040828384, "left gripper-book distance": 0.17492645768367743, "right gripper-book distance": 0.5816243432621162 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2163365053758344, "bimanual_gripper_vertical_difference": 0.19552276212095812, "task_success": 0.0 }, { "completion_time": 2.0024521350860596, "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": 0.0005547870085000906, "left gripper-book distance": 0.17683879036015163, "right gripper-book distance": 0.581333278108581 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.216069679690622, "bimanual_gripper_vertical_difference": 0.19621426563235222, "task_success": 0.0 }, { "completion_time": 2.033140182495117, "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": 0.0004583892516010213, "left gripper-book distance": 0.17957383329612814, "right gripper-book distance": 0.581155285668245 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2155917164976626, "bimanual_gripper_vertical_difference": 0.19692609620802382, "task_success": 0.0 }, { "completion_time": 2.062725067138672, "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": 0.00048217864916622055, "left gripper-book distance": 0.18214870213772025, "right gripper-book distance": 0.5809681380485142 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.224303162115582, "bimanual_gripper_vertical_difference": 0.19764915987475745, "task_success": 0.0 }, { "completion_time": 2.0927979946136475, "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": 0.0006261819125837897, "left gripper-book distance": 0.1839527049240168, "right gripper-book distance": 0.5807237563004641 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.241103218593334, "bimanual_gripper_vertical_difference": 0.19837951687183977, "task_success": 0.0 }, { "completion_time": 2.1226038932800293, "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": 0.0003250866000771291, "left gripper-book distance": 0.18499466895809918, "right gripper-book distance": 0.5807406283032931 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2636461208905052, "bimanual_gripper_vertical_difference": 0.19911809755463922, "task_success": 0.0 }, { "completion_time": 2.151179313659668, "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": 0.0005660737212148659, "left gripper-book distance": 0.18444732003751163, "right gripper-book distance": 0.5805631570500213 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2870940937953625, "bimanual_gripper_vertical_difference": 0.19987412720627762, "task_success": 0.0 }, { "completion_time": 2.1812050342559814, "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": 0.0004617918685532185, "left gripper-book distance": 0.18383449159251716, "right gripper-book distance": 0.5807098435274631 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.310054179601395, "bimanual_gripper_vertical_difference": 0.20064950503136872, "task_success": 0.0 }, { "completion_time": 2.209907054901123, "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": 0.0005857179640128551, "left gripper-book distance": 0.1826133685517889, "right gripper-book distance": 0.5807144439669042 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3253896576595503, "bimanual_gripper_vertical_difference": 0.20145202062337322, "task_success": 0.0 }, { "completion_time": 2.2398805618286133, "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": 0.0005080647020092588, "left gripper-book distance": 0.1812250393422025, "right gripper-book distance": 0.5808092040170526 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3382404727884438, "bimanual_gripper_vertical_difference": 0.2022805315776639, "task_success": 0.0 }, { "completion_time": 2.268620729446411, "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": 0.0006385930784732485, "left gripper-book distance": 0.1793677929832985, "right gripper-book distance": 0.5806772085136322 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3379570094524391, "bimanual_gripper_vertical_difference": 0.2031283490958384, "task_success": 0.0 }, { "completion_time": 2.298326015472412, "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": 0.0006166960501187146, "left gripper-book distance": 0.17751759975752465, "right gripper-book distance": 0.5806803478356122 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.327534676496947, "bimanual_gripper_vertical_difference": 0.2039866072911871, "task_success": 0.0 }, { "completion_time": 2.3268210887908936, "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": 0.0006229590000248475, "left gripper-book distance": 0.1756709519973137, "right gripper-book distance": 0.5806956140444509 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3218439595533091, "bimanual_gripper_vertical_difference": 0.20484985999303174, "task_success": 0.0 }, { "completion_time": 2.35689377784729, "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": 0.0006537482937765127, "left gripper-book distance": 0.17391365439945353, "right gripper-book distance": 0.5807376612784478 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3258863433851862, "bimanual_gripper_vertical_difference": 0.20571320485008404, "task_success": 0.0 }, { "completion_time": 2.3900835514068604, "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": 0.0006455360719267444, "left gripper-book distance": 0.1716470371081593, "right gripper-book distance": 0.5809233669083503 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3201336356050868, "bimanual_gripper_vertical_difference": 0.20657549320244245, "task_success": 0.0 }, { "completion_time": 2.421340227127075, "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": 0.0005821427500680709, "left gripper-book distance": 0.1697697065891076, "right gripper-book distance": 0.5811866565967697 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3102336560990462, "bimanual_gripper_vertical_difference": 0.20742845527488085, "task_success": 0.0 }, { "completion_time": 2.451216459274292, "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": 0.0005174965375098761, "left gripper-book distance": 0.1691555257194952, "right gripper-book distance": 0.5807547448526568 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3002860181285065, "bimanual_gripper_vertical_difference": 0.20824849500390433, "task_success": 0.0 }, { "completion_time": 2.4806344509124756, "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": 0.000503489336718288, "left gripper-book distance": 0.16888047407744414, "right gripper-book distance": 0.5795723037001723 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2857247802525986, "bimanual_gripper_vertical_difference": 0.20903976344881775, "task_success": 0.0 }, { "completion_time": 2.509572744369507, "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": 0.0005453740896599335, "left gripper-book distance": 0.16864184619591932, "right gripper-book distance": 0.5786743508467729 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2712115658412675, "bimanual_gripper_vertical_difference": 0.20980564741820082, "task_success": 0.0 }, { "completion_time": 2.5375380516052246, "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": 0.000603617859925798, "left gripper-book distance": 0.1684981548428072, "right gripper-book distance": 0.5780554439507487 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.256819851366896, "bimanual_gripper_vertical_difference": 0.21054943331861237, "task_success": 0.0 }, { "completion_time": 2.5652616024017334, "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": 0.0006007015918249037, "left gripper-book distance": 0.16837326724415685, "right gripper-book distance": 0.5775093386545838 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2425685556967572, "bimanual_gripper_vertical_difference": 0.2112723221944721, "task_success": 0.0 }, { "completion_time": 2.5944066047668457, "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": 0.0006317799918363898, "left gripper-book distance": 0.16895384737284225, "right gripper-book distance": 0.576307414889343 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.240774087374344, "bimanual_gripper_vertical_difference": 0.21196037270686469, "task_success": 0.0 }, { "completion_time": 2.6228981018066406, "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": 0.0006381214469979302, "left gripper-book distance": 0.17082146235329795, "right gripper-book distance": 0.5755410273790341 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2480053745154052, "bimanual_gripper_vertical_difference": 0.212611490152564, "task_success": 0.0 }, { "completion_time": 2.6515986919403076, "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": 0.000599174557897153, "left gripper-book distance": 0.17373824330798457, "right gripper-book distance": 0.5753489735776539 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2607265551353952, "bimanual_gripper_vertical_difference": 0.21323310644678872, "task_success": 0.0 }, { "completion_time": 2.6812572479248047, "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": 0.00048379533488818183, "left gripper-book distance": 0.17721413639230002, "right gripper-book distance": 0.5755109096371798 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2767436212822332, "bimanual_gripper_vertical_difference": 0.2138388914925181, "task_success": 0.0 }, { "completion_time": 2.710883855819702, "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": 0.0005281982114081485, "left gripper-book distance": 0.1795839304022208, "right gripper-book distance": 0.5756169220346478 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2941423441880844, "bimanual_gripper_vertical_difference": 0.21445429751285458, "task_success": 0.0 }, { "completion_time": 2.7398738861083984, "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": 0.0004863738636038395, "left gripper-book distance": 0.1809448427320683, "right gripper-book distance": 0.5758408318600313 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.31097740517057, "bimanual_gripper_vertical_difference": 0.21510401487436132, "task_success": 0.0 }, { "completion_time": 2.769012928009033, "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": 0.0005722628215386605, "left gripper-book distance": 0.18140545213081308, "right gripper-book distance": 0.5761176835027633 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3222609296686387, "bimanual_gripper_vertical_difference": 0.21580068668619706, "task_success": 0.0 }, { "completion_time": 2.7966489791870117, "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": 0.0003521569320077411, "left gripper-book distance": 0.1815537747731137, "right gripper-book distance": 0.5765436431482232 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3330175299579, "bimanual_gripper_vertical_difference": 0.2165457774414544, "task_success": 0.0 }, { "completion_time": 2.825401782989502, "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": 0.0005688260307540327, "left gripper-book distance": 0.18056272502569312, "right gripper-book distance": 0.5765070520646398 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3435690978740187, "bimanual_gripper_vertical_difference": 0.21733819384733222, "task_success": 0.0 }, { "completion_time": 2.8575634956359863, "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": 0.00046840863348551753, "left gripper-book distance": 0.1787108530516491, "right gripper-book distance": 0.5767647535375985 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3444819631738596, "bimanual_gripper_vertical_difference": 0.21817266505837302, "task_success": 0.0 }, { "completion_time": 2.887204170227051, "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": 0.0006272608505120125, "left gripper-book distance": 0.17553878464496755, "right gripper-book distance": 0.5768865375502631 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3413886282405236, "bimanual_gripper_vertical_difference": 0.21904045694725308, "task_success": 0.0 }, { "completion_time": 2.9161717891693115, "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": 0.0004959460846634123, "left gripper-book distance": 0.1714730251123415, "right gripper-book distance": 0.5772149166515705 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3404834438629794, "bimanual_gripper_vertical_difference": 0.21993449162516285, "task_success": 0.0 }, { "completion_time": 2.945761203765869, "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": 0.0006191794397061301, "left gripper-book distance": 0.16597837059817372, "right gripper-book distance": 0.5775043679972225 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3384547255597676, "bimanual_gripper_vertical_difference": 0.22085043915512373, "task_success": 0.0 }, { "completion_time": 2.9780938625335693, "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": 0.000321545708183657, "left gripper-book distance": 0.15930934764342494, "right gripper-book distance": 0.577944799882598 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.334369623935394, "bimanual_gripper_vertical_difference": 0.22178559287712235, "task_success": 0.0 }, { "completion_time": 3.007988452911377, "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": 0.00047652160321987047, "left gripper-book distance": 0.15188545013793994, "right gripper-book distance": 0.578146945760832 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3305226325092052, "bimanual_gripper_vertical_difference": 0.22273582621848026, "task_success": 0.0 }, { "completion_time": 3.036982536315918, "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": 0.0005181735081177807, "left gripper-book distance": 0.14507853173476057, "right gripper-book distance": 0.5785970792852805 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3261527018355403, "bimanual_gripper_vertical_difference": 0.22369723653808085, "task_success": 0.0 }, { "completion_time": 3.066711902618408, "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": 0.00043022194508846034, "left gripper-book distance": 0.13895849927520776, "right gripper-book distance": 0.5792574012561007 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3212840119287153, "bimanual_gripper_vertical_difference": 0.22467018740278988, "task_success": 0.0 }, { "completion_time": 3.09735107421875, "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": 0.0004623021898628732, "left gripper-book distance": 0.13346548357955318, "right gripper-book distance": 0.5797571721919308 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3172446980620032, "bimanual_gripper_vertical_difference": 0.2256591988421113, "task_success": 0.0 }, { "completion_time": 3.127385139465332, "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": 0.001338166549831321, "left gripper-book distance": 0.1296212726666298, "right gripper-book distance": 0.5791060693054111 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3123341397275625, "bimanual_gripper_vertical_difference": 0.22666982368991803, "task_success": 0.0 }, { "completion_time": 3.1546504497528076, "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": 0.0009502856311827124, "left gripper-book distance": 0.12937269987635117, "right gripper-book distance": 0.5783076262549424 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3039360861272222, "bimanual_gripper_vertical_difference": 0.22768259975022465, "task_success": 0.0 }, { "completion_time": 3.1824045181274414, "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": 0.001127114955609354, "left gripper-book distance": 0.12905075983798106, "right gripper-book distance": 0.5780233321421545 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2952565476547144, "bimanual_gripper_vertical_difference": 0.22869050772323524, "task_success": 0.0 }, { "completion_time": 3.2104554176330566, "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": 0.0014671515551201164, "left gripper-book distance": 0.128999994470359, "right gripper-book distance": 0.5778622542448926 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2862919155926544, "bimanual_gripper_vertical_difference": 0.22968882073592742, "task_success": 0.0 }, { "completion_time": 3.238274097442627, "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": 0.0017324450986381246, "left gripper-book distance": 0.12877580426125235, "right gripper-book distance": 0.5776071326136809 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2770372924615536, "bimanual_gripper_vertical_difference": 0.23067792387771713, "task_success": 0.0 }, { "completion_time": 3.265875816345215, "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": 0.00020879519450556216, "left gripper-book distance": 0.13139215550456806, "right gripper-book distance": 0.578023398454988 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2734526001895614, "bimanual_gripper_vertical_difference": 0.23161173267469803, "task_success": 0.0 }, { "completion_time": 3.2933847904205322, "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": 0.0001792439066912177, "left gripper-book distance": 0.1305357551580165, "right gripper-book distance": 0.5778726891644912 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.266295348498657, "bimanual_gripper_vertical_difference": 0.23248787687618658, "task_success": 0.0 }, { "completion_time": 3.3222897052764893, "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": 0.003279400746160621, "left gripper-book distance": 0.1326420902351103, "right gripper-book distance": 0.5746532530336336 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2647221156610022, "bimanual_gripper_vertical_difference": 0.23331257158362842, "task_success": 0.0 }, { "completion_time": 3.3510992527008057, "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": 0.008362144160570795, "left gripper-book distance": 0.13770496224416687, "right gripper-book distance": 0.5657217999178814 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2652597979254079, "bimanual_gripper_vertical_difference": 0.2340611143410466, "task_success": 0.0 }, { "completion_time": 3.380636692047119, "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": 0.01654000382749876, "left gripper-book distance": 0.1423077010372911, "right gripper-book distance": 0.5546702234469862 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2686512110144086, "bimanual_gripper_vertical_difference": 0.23471481509352188, "task_success": 0.0 }, { "completion_time": 3.4098072052001953, "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": 0.026089339032184244, "left gripper-book distance": 0.14673045806378437, "right gripper-book distance": 0.5446557995101774 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.276239716774272, "bimanual_gripper_vertical_difference": 0.23524424920480252, "task_success": 0.0 }, { "completion_time": 3.4377360343933105, "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": 0.047981915105511086, "left gripper-book distance": 0.1470683335550208, "right gripper-book distance": 0.5304962171020602 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2847501522307336, "bimanual_gripper_vertical_difference": 0.23564196120147787, "task_success": 0.0 }, { "completion_time": 3.4683332443237305, "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": 0.07560717301208386, "left gripper-book distance": 0.14796776688755506, "right gripper-book distance": 0.5144285342075936 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.2941738601524804, "bimanual_gripper_vertical_difference": 0.2358795496726234, "task_success": 1.0 } ]