[ { "completion_time": 0.04484724998474121, "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": -0.0007666270635142691, "left gripper-book distance": 0.6117715575435706, "right gripper-book distance": 0.43300596388084184 }, "success": 0.0, "bimanual_arm_velocity_difference": 7.89668476285088e-06, "bimanual_gripper_vertical_difference": 8.671932061332654e-10, "task_success": 0.0 }, { "completion_time": 0.0739738941192627, "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": 0.0005958777675035831, "left gripper-book distance": 0.6097610907223434, "right gripper-book distance": 0.4301361605148799 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.030265929641508e-06, "bimanual_gripper_vertical_difference": 1.1568094260283601e-09, "task_success": 0.0 }, { "completion_time": 0.10277247428894043, "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": 0.0006894749595599547, "left gripper-book distance": 0.6089706872091781, "right gripper-book distance": 0.42902788559303295 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.000130222153519702, "bimanual_gripper_vertical_difference": 1.5469560447437896e-09, "task_success": 0.0 }, { "completion_time": 0.1327362060546875, "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": 0.0006972466476317107, "left gripper-book distance": 0.6084956110241441, "right gripper-book distance": 0.42836469927721543 }, "success": 0.0, "bimanual_arm_velocity_difference": 9.805880404226402e-05, "bimanual_gripper_vertical_difference": 2.1510205283625794e-09, "task_success": 0.0 }, { "completion_time": 0.16186952590942383, "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": 0.0006627031077650614, "left gripper-book distance": 0.6082175515210789, "right gripper-book distance": 0.42797453356589044 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00033347675791038677, "bimanual_gripper_vertical_difference": 4.547524534714853e-09, "task_success": 0.0 }, { "completion_time": 0.19075512886047363, "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": 0.0007170998511991655, "left gripper-book distance": 0.6079824435819975, "right gripper-book distance": 0.4276535920236059 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0002865699502439638, "bimanual_gripper_vertical_difference": 6.547557681220913e-09, "task_success": 0.0 }, { "completion_time": 0.21990609169006348, "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": 0.0006968550315975541, "left gripper-book distance": 0.6078686501707983, "right gripper-book distance": 0.42749864826567446 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0002458030901270339, "bimanual_gripper_vertical_difference": 8.84787931809683e-09, "task_success": 0.0 }, { "completion_time": 0.24810314178466797, "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": 0.0006765782154590783, "left gripper-book distance": 0.6077998773854594, "right gripper-book distance": 0.4274058249779681 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00021518557087516708, "bimanual_gripper_vertical_difference": 1.0828285462727294e-08, "task_success": 0.0 }, { "completion_time": 0.2763020992279053, "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": 0.0006843966285252634, "left gripper-book distance": 0.6077433833310506, "right gripper-book distance": 0.42732569045565477 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00019673199045591453, "bimanual_gripper_vertical_difference": 1.2564391576535488e-08, "task_success": 0.0 }, { "completion_time": 0.3067770004272461, "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": 0.0006827878438018242, "left gripper-book distance": 0.6068271811433852, "right gripper-book distance": 0.425501398829975 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.027378934657978797, "bimanual_gripper_vertical_difference": 5.479082969708227e-05, "task_success": 0.0 }, { "completion_time": 0.33550000190734863, "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": 0.0006824649785168724, "left gripper-book distance": 0.6056268953585872, "right gripper-book distance": 0.42209679396006716 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.14849515922748346, "bimanual_gripper_vertical_difference": 0.0002772918853477928, "task_success": 0.0 }, { "completion_time": 0.36555981636047363, "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": 0.0006473034766713015, "left gripper-book distance": 0.6047024346465808, "right gripper-book distance": 0.4207590398613401 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.30499418152195573, "bimanual_gripper_vertical_difference": 0.0005302848824927745, "task_success": 0.0 }, { "completion_time": 0.3944826126098633, "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": 0.0006888115005798667, "left gripper-book distance": 0.60387583725605, "right gripper-book distance": 0.42152777502915695 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4606947922295777, "bimanual_gripper_vertical_difference": 0.0007401444820734477, "task_success": 0.0 }, { "completion_time": 0.42340946197509766, "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": 0.0006517521995382802, "left gripper-book distance": 0.6033601121910152, "right gripper-book distance": 0.42045416593865 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.596851159220461, "bimanual_gripper_vertical_difference": 0.0011869942590854166, "task_success": 0.0 }, { "completion_time": 0.4520225524902344, "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": 0.000694464762931557, "left gripper-book distance": 0.6029720821024294, "right gripper-book distance": 0.4161541474907279 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7180296189147152, "bimanual_gripper_vertical_difference": 0.0021756918522312318, "task_success": 0.0 }, { "completion_time": 0.4794762134552002, "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": 0.0005586022868635521, "left gripper-book distance": 0.6027904961532101, "right gripper-book distance": 0.4176836791332249 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7995199378280786, "bimanual_gripper_vertical_difference": 0.003309687619715146, "task_success": 0.0 }, { "completion_time": 0.5066385269165039, "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": 0.0006804567575262599, "left gripper-book distance": 0.6024479828620877, "right gripper-book distance": 0.42368564843977163 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8573158279511418, "bimanual_gripper_vertical_difference": 0.004330031382019464, "task_success": 0.0 }, { "completion_time": 0.533738374710083, "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": 0.0007001469957061968, "left gripper-book distance": 0.6022747651381195, "right gripper-book distance": 0.4267055904549121 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9031731816144859, "bimanual_gripper_vertical_difference": 0.005463132041528966, "task_success": 0.0 }, { "completion_time": 0.5608632564544678, "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": 0.0006620924098940106, "left gripper-book distance": 0.6021012775858685, "right gripper-book distance": 0.42231117349678815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9382133695570698, "bimanual_gripper_vertical_difference": 0.00709253610834308, "task_success": 0.0 }, { "completion_time": 0.5878622531890869, "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": 0.000663273673344067, "left gripper-book distance": 0.6019069860745757, "right gripper-book distance": 0.4105501705611904 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9634006106235582, "bimanual_gripper_vertical_difference": 0.009465288254437843, "task_success": 0.0 }, { "completion_time": 0.6184570789337158, "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": 0.0007008892979852854, "left gripper-book distance": 0.6018233583936738, "right gripper-book distance": 0.39346548812158544 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9753848348916774, "bimanual_gripper_vertical_difference": 0.01263762125512881, "task_success": 0.0 }, { "completion_time": 0.647801399230957, "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": 0.0006623734391064673, "left gripper-book distance": 0.6019161674089879, "right gripper-book distance": 0.37391598042061647 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9761271060180405, "bimanual_gripper_vertical_difference": 0.016521824108781193, "task_success": 0.0 }, { "completion_time": 0.6763656139373779, "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": 0.0006633075861571802, "left gripper-book distance": 0.6020623454817831, "right gripper-book distance": 0.3535774697282434 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9742891158883297, "bimanual_gripper_vertical_difference": 0.02099513025991731, "task_success": 0.0 }, { "completion_time": 0.7043561935424805, "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": 0.0007010962464888415, "left gripper-book distance": 0.6021618210036886, "right gripper-book distance": 0.33337602832243324 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9735594680045275, "bimanual_gripper_vertical_difference": 0.025891784260638446, "task_success": 0.0 }, { "completion_time": 0.732358455657959, "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": 0.0006626812552880113, "left gripper-book distance": 0.6022413449748664, "right gripper-book distance": 0.31467076230139046 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9724912112182771, "bimanual_gripper_vertical_difference": 0.031023510615400558, "task_success": 0.0 }, { "completion_time": 0.762202262878418, "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": 0.0006633613941295913, "left gripper-book distance": 0.6022943165288046, "right gripper-book distance": 0.2978568456723991 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9732679401451689, "bimanual_gripper_vertical_difference": 0.036209478253575504, "task_success": 0.0 }, { "completion_time": 0.7907736301422119, "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": 0.0007013168581895268, "left gripper-book distance": 0.6023596272734667, "right gripper-book distance": 0.2826451497617213 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.978644348390047, "bimanual_gripper_vertical_difference": 0.04129624113754487, "task_success": 0.0 }, { "completion_time": 0.8186917304992676, "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": 0.0006511088327987302, "left gripper-book distance": 0.6025002601357061, "right gripper-book distance": 0.268520369880665 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.991985865539846, "bimanual_gripper_vertical_difference": 0.04617528986276668, "task_success": 0.0 }, { "completion_time": 0.8481078147888184, "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": 0.0006736851219985018, "left gripper-book distance": 0.6026269876649654, "right gripper-book distance": 0.255820152018782 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0105836918289897, "bimanual_gripper_vertical_difference": 0.05078336106339103, "task_success": 0.0 }, { "completion_time": 0.8781323432922363, "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": 0.0006562548085640163, "left gripper-book distance": 0.6028250174794944, "right gripper-book distance": 0.2454285987159647 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.028958435448031, "bimanual_gripper_vertical_difference": 0.055099954570919915, "task_success": 0.0 }, { "completion_time": 0.9067854881286621, "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": 0.0006547577723442499, "left gripper-book distance": 0.6029938724916339, "right gripper-book distance": 0.23824785415619973 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.040385678327952, "bimanual_gripper_vertical_difference": 0.059116343140219886, "task_success": 0.0 }, { "completion_time": 0.9354662895202637, "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": 0.0007033338785082943, "left gripper-book distance": 0.6030560645274237, "right gripper-book distance": 0.2346263624206851 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.045072139321303, "bimanual_gripper_vertical_difference": 0.06281331424688869, "task_success": 0.0 }, { "completion_time": 0.9659600257873535, "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": 0.0006602837974661879, "left gripper-book distance": 0.603065438156396, "right gripper-book distance": 0.23325759322777967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0537618134642528, "bimanual_gripper_vertical_difference": 0.06619966561696244, "task_success": 0.0 }, { "completion_time": 0.9961080551147461, "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": 0.0006869659630744929, "left gripper-book distance": 0.6030807021770653, "right gripper-book distance": 0.23162748600712452 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0605433746405992, "bimanual_gripper_vertical_difference": 0.06932614465797968, "task_success": 0.0 }, { "completion_time": 1.0255494117736816, "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": 0.0006931035308528344, "left gripper-book distance": 0.603121125750983, "right gripper-book distance": 0.22839321357077164 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0589133184649147, "bimanual_gripper_vertical_difference": 0.0722866576555361, "task_success": 0.0 }, { "completion_time": 1.05464768409729, "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": 0.0006696158233149285, "left gripper-book distance": 0.6031116376410115, "right gripper-book distance": 0.22457357031989003 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0543400371304832, "bimanual_gripper_vertical_difference": 0.07513654419235184, "task_success": 0.0 }, { "completion_time": 1.0850582122802734, "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": 0.0006408508461283047, "left gripper-book distance": 0.6032213279063718, "right gripper-book distance": 0.22401659179186853 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.050820457091659, "bimanual_gripper_vertical_difference": 0.07782178632375197, "task_success": 0.0 }, { "completion_time": 1.114335298538208, "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": 0.0006859583741157804, "left gripper-book distance": 0.6019958239495683, "right gripper-book distance": 0.22185087595992894 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0234903774175022, "bimanual_gripper_vertical_difference": 0.08037369513459657, "task_success": 0.0 }, { "completion_time": 1.1432502269744873, "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": 0.0006940064479756813, "left gripper-book distance": 0.6008640777064467, "right gripper-book distance": 0.2202857986725512 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9972495391773756, "bimanual_gripper_vertical_difference": 0.08279171565240258, "task_success": 0.0 }, { "completion_time": 1.1721417903900146, "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": 0.0005643404773552074, "left gripper-book distance": 0.6002212243322097, "right gripper-book distance": 0.21936851628546866 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9723203389174611, "bimanual_gripper_vertical_difference": 0.08508724454867005, "task_success": 0.0 }, { "completion_time": 1.2030270099639893, "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": 0.0005767373841506496, "left gripper-book distance": 0.5996642148113505, "right gripper-book distance": 0.21868565920605906 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9486089911934339, "bimanual_gripper_vertical_difference": 0.08726984999168771, "task_success": 0.0 }, { "completion_time": 1.2311468124389648, "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": 0.0006465852967738606, "left gripper-book distance": 0.5988162287217568, "right gripper-book distance": 0.2172694151551588 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9263902230428336, "bimanual_gripper_vertical_difference": 0.08935225512898387, "task_success": 0.0 }, { "completion_time": 1.2617053985595703, "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": 0.0006809212839747891, "left gripper-book distance": 0.5973914551924795, "right gripper-book distance": 0.21156963830928224 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9245587640767721, "bimanual_gripper_vertical_difference": 0.0914274748614722, "task_success": 0.0 }, { "completion_time": 1.289881706237793, "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": 0.0006462376527631708, "left gripper-book distance": 0.5962146423744304, "right gripper-book distance": 0.20468404431603793 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9381722483006428, "bimanual_gripper_vertical_difference": 0.09352429124364042, "task_success": 0.0 }, { "completion_time": 1.3181116580963135, "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": 0.0006468484439112743, "left gripper-book distance": 0.5954698620791066, "right gripper-book distance": 0.19898968790186583 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9590123576915222, "bimanual_gripper_vertical_difference": 0.0956207801997821, "task_success": 0.0 }, { "completion_time": 1.346189022064209, "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": 0.0006722359602804318, "left gripper-book distance": 0.5948880780115884, "right gripper-book distance": 0.1946624926173454 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9722517639665081, "bimanual_gripper_vertical_difference": 0.09770060875958127, "task_success": 0.0 }, { "completion_time": 1.374342441558838, "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": 0.0006638535986527305, "left gripper-book distance": 0.5944445800613694, "right gripper-book distance": 0.1900651780372553 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9740849992535422, "bimanual_gripper_vertical_difference": 0.09978233334049898, "task_success": 0.0 }, { "completion_time": 1.4032726287841797, "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": 0.0006828238623863836, "left gripper-book distance": 0.5941597101410666, "right gripper-book distance": 0.18452138369675045 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9717690511254503, "bimanual_gripper_vertical_difference": 0.10189558499705115, "task_success": 0.0 }, { "completion_time": 1.4346106052398682, "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": 0.0006710212246108238, "left gripper-book distance": 0.593972097896392, "right gripper-book distance": 0.17916239128054381 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9703309330829166, "bimanual_gripper_vertical_difference": 0.10404830902777067, "task_success": 0.0 }, { "completion_time": 1.4660420417785645, "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": 0.0006951942430039049, "left gripper-book distance": 0.5938358424992293, "right gripper-book distance": 0.17564867062461512 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9688235058947038, "bimanual_gripper_vertical_difference": 0.1062192866972498, "task_success": 0.0 }, { "completion_time": 1.4967410564422607, "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": 0.0005662408901769833, "left gripper-book distance": 0.5939297813275527, "right gripper-book distance": 0.1751462600253815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.968777489350257, "bimanual_gripper_vertical_difference": 0.10838047307907625, "task_success": 0.0 }, { "completion_time": 1.5273141860961914, "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": 0.000587936603771988, "left gripper-book distance": 0.5939620367315157, "right gripper-book distance": 0.17758182656252836 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9687569419834801, "bimanual_gripper_vertical_difference": 0.11049631759356486, "task_success": 0.0 }, { "completion_time": 1.55769944190979, "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": 0.0005647756137807658, "left gripper-book distance": 0.5939678485061692, "right gripper-book distance": 0.18212828023365504 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9682107490629236, "bimanual_gripper_vertical_difference": 0.11254039834871538, "task_success": 0.0 }, { "completion_time": 1.5873959064483643, "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": 0.0006823479012391109, "left gripper-book distance": 0.5938495363749796, "right gripper-book distance": 0.18389393896475714 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9659542153315435, "bimanual_gripper_vertical_difference": 0.1145609846880792, "task_success": 0.0 }, { "completion_time": 1.6161949634552002, "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": 0.0006955086988371662, "left gripper-book distance": 0.5937821388785472, "right gripper-book distance": 0.1808842102842968 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9632213229838011, "bimanual_gripper_vertical_difference": 0.11663670218130581, "task_success": 0.0 }, { "completion_time": 1.6454291343688965, "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": 0.0006375813198294944, "left gripper-book distance": 0.5936552047690301, "right gripper-book distance": 0.1752036134761448 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9587167335356579, "bimanual_gripper_vertical_difference": 0.1188054207581882, "task_success": 0.0 }, { "completion_time": 1.6753578186035156, "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": 0.0006983797445655471, "left gripper-book distance": 0.5934519539391298, "right gripper-book distance": 0.1705066731140786 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9520383380554033, "bimanual_gripper_vertical_difference": 0.12104266829736929, "task_success": 0.0 }, { "completion_time": 1.7042505741119385, "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": 0.0006381929657699459, "left gripper-book distance": 0.5934621391011667, "right gripper-book distance": 0.1688726617897209 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9445701770580481, "bimanual_gripper_vertical_difference": 0.1233025127701455, "task_success": 0.0 }, { "completion_time": 1.7329468727111816, "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": 0.0006633001477809319, "left gripper-book distance": 0.5934531983344109, "right gripper-book distance": 0.1700230898700807 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9366464892850896, "bimanual_gripper_vertical_difference": 0.12554053150700142, "task_success": 0.0 }, { "completion_time": 1.7626519203186035, "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": 0.000677125556468372, "left gripper-book distance": 0.5934884530618938, "right gripper-book distance": 0.17326926285693536 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9281490798728989, "bimanual_gripper_vertical_difference": 0.12771560250232702, "task_success": 0.0 }, { "completion_time": 1.793403148651123, "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": 0.0007065639767355192, "left gripper-book distance": 0.5935505533500355, "right gripper-book distance": 0.17803391502724614 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9191307038945861, "bimanual_gripper_vertical_difference": 0.1297942933303085, "task_success": 0.0 }, { "completion_time": 1.8220138549804688, "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": 0.0006624466697757736, "left gripper-book distance": 0.5936183960832263, "right gripper-book distance": 0.18298885021086597 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.908849022004259, "bimanual_gripper_vertical_difference": 0.1317586798248868, "task_success": 0.0 }, { "completion_time": 1.8504486083984375, "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": 0.0006625958121077025, "left gripper-book distance": 0.5936235065196618, "right gripper-book distance": 0.18614473778579838 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8973634891893324, "bimanual_gripper_vertical_difference": 0.13361934695389463, "task_success": 0.0 }, { "completion_time": 1.8802363872528076, "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": 0.0005651511067452653, "left gripper-book distance": 0.5937307524903135, "right gripper-book distance": 0.18644680132325317 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8892608518609759, "bimanual_gripper_vertical_difference": 0.13542892179176197, "task_success": 0.0 }, { "completion_time": 1.9094600677490234, "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": 0.0006831858711161543, "left gripper-book distance": 0.5935890843527327, "right gripper-book distance": 0.18669456283985691 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8851250170151419, "bimanual_gripper_vertical_difference": 0.1371992437304546, "task_success": 0.0 }, { "completion_time": 1.939683437347412, "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": 0.0006964809930487537, "left gripper-book distance": 0.5933428197885896, "right gripper-book distance": 0.1875976982927715 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8833295752085603, "bimanual_gripper_vertical_difference": 0.13894057324072084, "task_success": 0.0 }, { "completion_time": 1.9707005023956299, "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": 0.0006384791108080545, "left gripper-book distance": 0.5930905415194875, "right gripper-book distance": 0.18817132100418507 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8797642721633578, "bimanual_gripper_vertical_difference": 0.14064779301887761, "task_success": 0.0 }, { "completion_time": 2.001619815826416, "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": 0.0006985546286762956, "left gripper-book distance": 0.5929304855511869, "right gripper-book distance": 0.18708975995990249 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8751183427462866, "bimanual_gripper_vertical_difference": 0.1423090166145639, "task_success": 0.0 }, { "completion_time": 2.0325019359588623, "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": 0.0006384866121419419, "left gripper-book distance": 0.5929596191584399, "right gripper-book distance": 0.18194616765731236 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8734743299122832, "bimanual_gripper_vertical_difference": 0.14391918420263922, "task_success": 0.0 }, { "completion_time": 2.062993288040161, "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": 0.000664290448327387, "left gripper-book distance": 0.59288017648213, "right gripper-book distance": 0.17236144184073468 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8765867357436138, "bimanual_gripper_vertical_difference": 0.14547467615863185, "task_success": 0.0 }, { "completion_time": 2.093255043029785, "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": 0.0006769722814379264, "left gripper-book distance": 0.5925830501784466, "right gripper-book distance": 0.16184668042089398 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.884121470431008, "bimanual_gripper_vertical_difference": 0.14698602503961705, "task_success": 0.0 }, { "completion_time": 2.122483730316162, "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": 0.0007074759732750291, "left gripper-book distance": 0.5919817038460115, "right gripper-book distance": 0.15079868364778326 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8947523960042917, "bimanual_gripper_vertical_difference": 0.14848544337239786, "task_success": 0.0 }, { "completion_time": 2.1545441150665283, "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": 0.0006633096573814834, "left gripper-book distance": 0.5912701998485814, "right gripper-book distance": 0.14177457719414466 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.904272205570824, "bimanual_gripper_vertical_difference": 0.14997953386958288, "task_success": 0.0 }, { "completion_time": 2.1851396560668945, "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": 0.0006631350006965908, "left gripper-book distance": 0.590610869808591, "right gripper-book distance": 0.13530587683856768 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9105100206495685, "bimanual_gripper_vertical_difference": 0.15146738706839763, "task_success": 0.0 }, { "completion_time": 2.217237949371338, "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": 0.0005178942788381935, "left gripper-book distance": 0.5902305304756806, "right gripper-book distance": 0.13081262686056117 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9124252698029365, "bimanual_gripper_vertical_difference": 0.15294891395020344, "task_success": 0.0 }, { "completion_time": 2.2460527420043945, "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": 0.0006166357866774774, "left gripper-book distance": 0.5898608128129643, "right gripper-book distance": 0.12697620282465158 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9091350680358389, "bimanual_gripper_vertical_difference": 0.15442720688924458, "task_success": 0.0 }, { "completion_time": 2.275357246398926, "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": 0.0006539183185252373, "left gripper-book distance": 0.5897316824176081, "right gripper-book distance": 0.12438851783959469 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8994955560302524, "bimanual_gripper_vertical_difference": 0.15589798233819505, "task_success": 0.0 }, { "completion_time": 2.3040366172790527, "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": 0.0005950604176320207, "left gripper-book distance": 0.5897098589729315, "right gripper-book distance": 0.12547248566966623 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.892358562721702, "bimanual_gripper_vertical_difference": 0.15732665390948639, "task_success": 0.0 }, { "completion_time": 2.332590341567993, "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": 0.0005863558727434715, "left gripper-book distance": 0.5898021747582556, "right gripper-book distance": 0.131525620087017 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8891421019885486, "bimanual_gripper_vertical_difference": 0.15866739248201217, "task_success": 0.0 }, { "completion_time": 2.3615589141845703, "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": 0.0005543115136009691, "left gripper-book distance": 0.59000893329319, "right gripper-book distance": 0.14161919640251225 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.890938627198873, "bimanual_gripper_vertical_difference": 0.15988950342085922, "task_success": 0.0 }, { "completion_time": 2.3980751037597656, "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": 0.0005771696651358793, "left gripper-book distance": 0.590090179602175, "right gripper-book distance": 0.1534194610824723 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8962321304545129, "bimanual_gripper_vertical_difference": 0.1609832141788518, "task_success": 0.0 }, { "completion_time": 2.431593894958496, "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": 0.0006509514586752196, "left gripper-book distance": 0.590214506291096, "right gripper-book distance": 0.16277957119057146 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9006271982912744, "bimanual_gripper_vertical_difference": 0.16198529731589234, "task_success": 0.0 }, { "completion_time": 2.4642746448516846, "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": 0.0006282907673257343, "left gripper-book distance": 0.5903930984889336, "right gripper-book distance": 0.16859110864158172 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9065859879710609, "bimanual_gripper_vertical_difference": 0.16294911204677245, "task_success": 0.0 }, { "completion_time": 2.4974303245544434, "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": 0.0005609982774331668, "left gripper-book distance": 0.5893005239865787, "right gripper-book distance": 0.1645783064022804 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9011267044983746, "bimanual_gripper_vertical_difference": 0.16392217579177978, "task_success": 0.0 }, { "completion_time": 2.528860330581665, "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": 0.0005885304279447112, "left gripper-book distance": 0.5881598495168101, "right gripper-book distance": 0.16181357866111 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8918338647240168, "bimanual_gripper_vertical_difference": 0.16488326827967217, "task_success": 0.0 }, { "completion_time": 2.5589237213134766, "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": 0.0005149160654306373, "left gripper-book distance": 0.5873919692457213, "right gripper-book distance": 0.16130971505362615 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8823391953785946, "bimanual_gripper_vertical_difference": 0.16581645751561938, "task_success": 0.0 }, { "completion_time": 2.5881311893463135, "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": 0.0006170801980804885, "left gripper-book distance": 0.5860948855333253, "right gripper-book distance": 0.15889959271173637 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8733508393706877, "bimanual_gripper_vertical_difference": 0.16674296916770123, "task_success": 0.0 }, { "completion_time": 2.61739444732666, "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": 0.0006544906723418009, "left gripper-book distance": 0.5848848052231141, "right gripper-book distance": 0.15715277287640878 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8685349995191072, "bimanual_gripper_vertical_difference": 0.16767723744510293, "task_success": 0.0 }, { "completion_time": 2.646315097808838, "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": 0.0005955878508856483, "left gripper-book distance": 0.5841764463408347, "right gripper-book distance": 0.15654182374320633 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8653455460991115, "bimanual_gripper_vertical_difference": 0.1686215508478512, "task_success": 0.0 }, { "completion_time": 2.6768343448638916, "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": 0.0005868414365771679, "left gripper-book distance": 0.5837097132215224, "right gripper-book distance": 0.1577925756029278 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8634688905285789, "bimanual_gripper_vertical_difference": 0.16956419958772848, "task_success": 0.0 }, { "completion_time": 2.705813407897949, "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": 0.0005547046307332604, "left gripper-book distance": 0.5832367780286254, "right gripper-book distance": 0.16286985509164395 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.863470596283786, "bimanual_gripper_vertical_difference": 0.17047110016086886, "task_success": 0.0 }, { "completion_time": 2.73539400100708, "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": 0.000577493791001249, "left gripper-book distance": 0.5827997443990215, "right gripper-book distance": 0.16792331877643515 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8629561973899185, "bimanual_gripper_vertical_difference": 0.17134427047852197, "task_success": 0.0 }, { "completion_time": 2.7652812004089355, "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": 0.0006514637577129667, "left gripper-book distance": 0.5825367991815996, "right gripper-book distance": 0.17164615304477418 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8720810865141395, "bimanual_gripper_vertical_difference": 0.17221627573564566, "task_success": 0.0 }, { "completion_time": 2.79536771774292, "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": 0.0006288354978480903, "left gripper-book distance": 0.5824171128341908, "right gripper-book distance": 0.17938973307158845 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.884779580558077, "bimanual_gripper_vertical_difference": 0.17307123359122137, "task_success": 0.0 }, { "completion_time": 2.8244500160217285, "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": 0.0005615204400857277, "left gripper-book distance": 0.5824683972290816, "right gripper-book distance": 0.18914665174442133 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.897072162617308, "bimanual_gripper_vertical_difference": 0.17389585197395444, "task_success": 0.0 }, { "completion_time": 2.853511095046997, "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": 0.0005889767022226877, "left gripper-book distance": 0.5825601230354438, "right gripper-book distance": 0.1986425182798703 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9066447111174144, "bimanual_gripper_vertical_difference": 0.17468333954376047, "task_success": 0.0 }, { "completion_time": 2.882277250289917, "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": 0.0005151145955467618, "left gripper-book distance": 0.5826881244681996, "right gripper-book distance": 0.20430593624236695 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9053505811717467, "bimanual_gripper_vertical_difference": 0.17543589726212291, "task_success": 0.0 }, { "completion_time": 2.911850929260254, "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": 0.0006175159903450966, "left gripper-book distance": 0.5827205485180184, "right gripper-book distance": 0.20081418558723593 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.90320213433595, "bimanual_gripper_vertical_difference": 0.1761843244863094, "task_success": 0.0 }, { "completion_time": 2.9409189224243164, "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": 0.0006550454642654246, "left gripper-book distance": 0.5828030492407976, "right gripper-book distance": 0.18761610561181993 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.911852189904155, "bimanual_gripper_vertical_difference": 0.17698607875920203, "task_success": 0.0 }, { "completion_time": 2.9697365760803223, "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": 0.0005961032974857172, "left gripper-book distance": 0.5827923328389815, "right gripper-book distance": 0.16568882418557157 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9277595201422073, "bimanual_gripper_vertical_difference": 0.1779037076160617, "task_success": 0.0 }, { "completion_time": 2.999159097671509, "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": 0.0010073996007615715, "left gripper-book distance": 0.5828488863201262, "right gripper-book distance": 0.14629120996216707 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9341419015245139, "bimanual_gripper_vertical_difference": 0.17890118515958617, "task_success": 0.0 }, { "completion_time": 3.0269510746002197, "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": 0.0035253107229523684, "left gripper-book distance": 0.586581470056715, "right gripper-book distance": 0.1554955407755153 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9419934165171487, "bimanual_gripper_vertical_difference": 0.17981466321795767, "task_success": 0.0 }, { "completion_time": 3.0532822608947754, "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": 0.0028245205253397687, "left gripper-book distance": 0.5887257735564273, "right gripper-book distance": 0.15312280559220712 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9452994765492473, "bimanual_gripper_vertical_difference": 0.18074190348511987, "task_success": 0.0 }, { "completion_time": 3.081061601638794, "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": 0.0014976383024266626, "left gripper-book distance": 0.5912226277229957, "right gripper-book distance": 0.1525463277916594 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9457234333884057, "bimanual_gripper_vertical_difference": 0.18167004261329117, "task_success": 0.0 }, { "completion_time": 3.107431411743164, "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": 0.0007268059456204679, "left gripper-book distance": 0.5929459126952734, "right gripper-book distance": 0.1532167216448612 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9443483909231453, "bimanual_gripper_vertical_difference": 0.18259290510396, "task_success": 0.0 }, { "completion_time": 3.1349329948425293, "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": 0.0006796527647054962, "left gripper-book distance": 0.5932002820923848, "right gripper-book distance": 0.15446741060177105 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.940152110349765, "bimanual_gripper_vertical_difference": 0.18349447752798753, "task_success": 0.0 }, { "completion_time": 3.164766311645508, "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": 0.0005857274260860912, "left gripper-book distance": 0.5930436385891059, "right gripper-book distance": 0.15559256905754654 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9365164119168332, "bimanual_gripper_vertical_difference": 0.18437684588009287, "task_success": 0.0 }, { "completion_time": 3.192629337310791, "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": 0.0006275262200374776, "left gripper-book distance": 0.592911782642803, "right gripper-book distance": 0.15902460783511405 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9353571557220326, "bimanual_gripper_vertical_difference": 0.18523247974312373, "task_success": 0.0 }, { "completion_time": 3.2218973636627197, "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": 0.0005654252954211403, "left gripper-book distance": 0.5928698296723556, "right gripper-book distance": 0.16920005059135101 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9393771199822306, "bimanual_gripper_vertical_difference": 0.1860139329483563, "task_success": 0.0 }, { "completion_time": 3.2503411769866943, "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": 0.0006099363356050214, "left gripper-book distance": 0.5929879886814896, "right gripper-book distance": 0.19045937918790848 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9470799170969549, "bimanual_gripper_vertical_difference": 0.18663430625141672, "task_success": 0.0 }, { "completion_time": 3.2787554264068604, "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": 0.0004861523478335572, "left gripper-book distance": 0.5932452736826095, "right gripper-book distance": 0.21354755782761262 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9553750378785628, "bimanual_gripper_vertical_difference": 0.18706532772411927, "task_success": 0.0 }, { "completion_time": 3.307084321975708, "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": 0.0005064056643478976, "left gripper-book distance": 0.5932427913254015, "right gripper-book distance": 0.2327829429871514 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9624634338944258, "bimanual_gripper_vertical_difference": 0.18731720787573783, "task_success": 0.0 }, { "completion_time": 3.3352575302124023, "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": 0.0005000653716153991, "left gripper-book distance": 0.593155994839424, "right gripper-book distance": 0.24806707667781477 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9715513519440862, "bimanual_gripper_vertical_difference": 0.18740249780057014, "task_success": 0.0 }, { "completion_time": 3.3631794452667236, "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": 0.0005252518288610952, "left gripper-book distance": 0.5928178602505164, "right gripper-book distance": 0.2590673119860147 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.981335160177116, "bimanual_gripper_vertical_difference": 0.18733300312783138, "task_success": 0.0 }, { "completion_time": 3.3909857273101807, "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": 0.000503076857509166, "left gripper-book distance": 0.5922034076144355, "right gripper-book distance": 0.26231746448518434 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9966689929946358, "bimanual_gripper_vertical_difference": 0.18715253502285084, "task_success": 0.0 }, { "completion_time": 3.4183290004730225, "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": 0.000488406422043397, "left gripper-book distance": 0.5914725812809366, "right gripper-book distance": 0.2578857756121348 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0184702187194958, "bimanual_gripper_vertical_difference": 0.18691443065541213, "task_success": 0.0 }, { "completion_time": 3.4461257457733154, "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": 0.0004771450651114284, "left gripper-book distance": 0.5909676784702029, "right gripper-book distance": 0.24981824760772217 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0422695904933643, "bimanual_gripper_vertical_difference": 0.18665606747504, "task_success": 0.0 }, { "completion_time": 3.4738144874572754, "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": 0.00048115237839263525, "left gripper-book distance": 0.5896755820309606, "right gripper-book distance": 0.23594261403244987 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0538573347976716, "bimanual_gripper_vertical_difference": 0.1864936497011251, "task_success": 0.0 }, { "completion_time": 3.5024847984313965, "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": 0.0005932578810448064, "left gripper-book distance": 0.5885092247489659, "right gripper-book distance": 0.22071473027069807 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0521801376118867, "bimanual_gripper_vertical_difference": 0.18646708661347405, "task_success": 0.0 }, { "completion_time": 3.530938148498535, "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": 0.0006628570150877255, "left gripper-book distance": 0.587763315963555, "right gripper-book distance": 0.2208200783216089 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0484381774510954, "bimanual_gripper_vertical_difference": 0.1864340526670105, "task_success": 0.0 }, { "completion_time": 3.561236619949341, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006318472811360776, "left gripper-book distance": 0.5873175409028971, "right gripper-book distance": 0.23640609069735585 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.052004430638295, "bimanual_gripper_vertical_difference": 0.18625491068508318, "task_success": 0.0 }, { "completion_time": 3.5889668464660645, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006687780526606346, "left gripper-book distance": 0.5868050043547364, "right gripper-book distance": 0.2399768212569451 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0473746294538067, "bimanual_gripper_vertical_difference": 0.18603918487929863, "task_success": 0.0 }, { "completion_time": 3.6177141666412354, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005760377796378835, "left gripper-book distance": 0.5856053810009746, "right gripper-book distance": 0.23627737846934632 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0453568679183594, "bimanual_gripper_vertical_difference": 0.1858411639901714, "task_success": 0.0 }, { "completion_time": 3.646519660949707, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006476963909692879, "left gripper-book distance": 0.5844387336833025, "right gripper-book distance": 0.23193999739730636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0502845659849998, "bimanual_gripper_vertical_difference": 0.18567197178027, "task_success": 0.0 }, { "completion_time": 3.6752164363861084, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006086414325706668, "left gripper-book distance": 0.5833384467102807, "right gripper-book distance": 0.22966309700911844 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0593588452671943, "bimanual_gripper_vertical_difference": 0.18552871706254395, "task_success": 0.0 }, { "completion_time": 3.7041327953338623, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005708814137168616, "left gripper-book distance": 0.5822024798646344, "right gripper-book distance": 0.22795933836129936 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0702715385533716, "bimanual_gripper_vertical_difference": 0.18541456073059936, "task_success": 0.0 }, { "completion_time": 3.7326548099517822, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00044377934972017474, "left gripper-book distance": 0.5813302500824754, "right gripper-book distance": 0.22557296542095379 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0801530199251892, "bimanual_gripper_vertical_difference": 0.18533623648544292, "task_success": 0.0 }, { "completion_time": 3.7613186836242676, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005664431379669432, "left gripper-book distance": 0.5806422215125396, "right gripper-book distance": 0.22037232105373483 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0908413098573773, "bimanual_gripper_vertical_difference": 0.1853101940383909, "task_success": 0.0 }, { "completion_time": 3.790217638015747, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000649253244093817, "left gripper-book distance": 0.5803255513997053, "right gripper-book distance": 0.21073316249126295 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1003163693683518, "bimanual_gripper_vertical_difference": 0.1853640762874021, "task_success": 0.0 }, { "completion_time": 3.818558931350708, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006496835683154067, "left gripper-book distance": 0.5802267185356961, "right gripper-book distance": 0.19767670220453304 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.108503671620415, "bimanual_gripper_vertical_difference": 0.18551330525475804, "task_success": 0.0 }, { "completion_time": 3.8473703861236572, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005211498865363984, "left gripper-book distance": 0.5802895708713102, "right gripper-book distance": 0.1824982526381916 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.115014232773054, "bimanual_gripper_vertical_difference": 0.1857622654808988, "task_success": 0.0 }, { "completion_time": 3.8766860961914062, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006765724130753936, "left gripper-book distance": 0.5802543428206783, "right gripper-book distance": 0.1666261036130208 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1183998646946265, "bimanual_gripper_vertical_difference": 0.18610472687997934, "task_success": 0.0 }, { "completion_time": 3.905223846435547, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006449541927255886, "left gripper-book distance": 0.5803878057230005, "right gripper-book distance": 0.15257997658631464 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1202196640404214, "bimanual_gripper_vertical_difference": 0.18652316701200763, "task_success": 0.0 }, { "completion_time": 3.933831214904785, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004200354883192592, "left gripper-book distance": 0.5806199878731194, "right gripper-book distance": 0.14159880558604684 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1206475876005602, "bimanual_gripper_vertical_difference": 0.18699782132522424, "task_success": 0.0 }, { "completion_time": 3.9618642330169678, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005591275312669675, "left gripper-book distance": 0.580257577802337, "right gripper-book distance": 0.13684187190926742 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1147583877268814, "bimanual_gripper_vertical_difference": 0.18749302889717115, "task_success": 0.0 }, { "completion_time": 3.990870237350464, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006181343275092344, "left gripper-book distance": 0.579041961480214, "right gripper-book distance": 0.135631912915107 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1066805925354493, "bimanual_gripper_vertical_difference": 0.18797856033483817, "task_success": 0.0 }, { "completion_time": 4.01958155632019, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00044298912536278046, "left gripper-book distance": 0.5782104081666879, "right gripper-book distance": 0.1351936632413762 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0986826873006095, "bimanual_gripper_vertical_difference": 0.1884523096235629, "task_success": 0.0 }, { "completion_time": 4.047959089279175, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005129010354275598, "left gripper-book distance": 0.5775253822650606, "right gripper-book distance": 0.13478265284493327 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0907708592994199, "bimanual_gripper_vertical_difference": 0.1889161808641127, "task_success": 0.0 }, { "completion_time": 4.0792906284332275, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006151927784256994, "left gripper-book distance": 0.5763713273738065, "right gripper-book distance": 0.13304291751415945 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.084722472890649, "bimanual_gripper_vertical_difference": 0.1893760036650299, "task_success": 0.0 }, { "completion_time": 4.107090473175049, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006535884709707451, "left gripper-book distance": 0.5751407928217456, "right gripper-book distance": 0.12816305344879467 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0846897910334858, "bimanual_gripper_vertical_difference": 0.1898459723135398, "task_success": 0.0 }, { "completion_time": 4.138766288757324, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000422783273691385, "left gripper-book distance": 0.5745259195388024, "right gripper-book distance": 0.12294583355883787 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0870996493795748, "bimanual_gripper_vertical_difference": 0.190320048417258, "task_success": 0.0 }, { "completion_time": 4.166672706604004, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006983455594921084, "left gripper-book distance": 0.5732290196471641, "right gripper-book distance": 0.11988620099268232 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0907597627461731, "bimanual_gripper_vertical_difference": 0.19079440575136913, "task_success": 0.0 }, { "completion_time": 4.194383144378662, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00047566032047596796, "left gripper-book distance": 0.5721664365747653, "right gripper-book distance": 0.11764766680858685 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0958947629311953, "bimanual_gripper_vertical_difference": 0.19127686537638092, "task_success": 0.0 }, { "completion_time": 4.223257780075073, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006610530359091316, "left gripper-book distance": 0.5714168351190394, "right gripper-book distance": 0.11437790059690327 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.10114302369889, "bimanual_gripper_vertical_difference": 0.19177428470866215, "task_success": 0.0 }, { "completion_time": 4.251805543899536, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000371925253871086, "left gripper-book distance": 0.5712523204954538, "right gripper-book distance": 0.11110661584247225 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1060327328900452, "bimanual_gripper_vertical_difference": 0.192290266371864, "task_success": 0.0 }, { "completion_time": 4.280657052993774, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0003971360497780907, "left gripper-book distance": 0.5711510086043089, "right gripper-book distance": 0.10762027648583435 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1090281104174153, "bimanual_gripper_vertical_difference": 0.19282397744860522, "task_success": 0.0 }, { "completion_time": 4.308634042739868, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0003449630703676876, "left gripper-book distance": 0.5712049628876005, "right gripper-book distance": 0.10407838147715087 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.109445535271741, "bimanual_gripper_vertical_difference": 0.1933753561974912, "task_success": 0.0 }, { "completion_time": 4.336565732955933, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0007428614467230865, "left gripper-book distance": 0.572047205870982, "right gripper-book distance": 0.10248580344306076 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1085413581237404, "bimanual_gripper_vertical_difference": 0.1939344639225282, "task_success": 0.0 }, { "completion_time": 4.365949630737305, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0013264493465512395, "left gripper-book distance": 0.5723366362601735, "right gripper-book distance": 0.10127055246092073 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1061469583697559, "bimanual_gripper_vertical_difference": 0.19449528241980368, "task_success": 0.0 }, { "completion_time": 4.394060850143433, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.00021792987916136042, "left gripper-book distance": 0.5711542564524155, "right gripper-book distance": 0.10003748178779562 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1034468880682893, "bimanual_gripper_vertical_difference": 0.19505002810735736, "task_success": 0.0 }, { "completion_time": 4.423288106918335, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.001218825813611546, "left gripper-book distance": 0.5718902543887509, "right gripper-book distance": 0.0993519284506193 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1022534211645851, "bimanual_gripper_vertical_difference": 0.1956075919071365, "task_success": 0.0 }, { "completion_time": 4.452269792556763, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0013222215547538108, "left gripper-book distance": 0.5718337609388483, "right gripper-book distance": 0.0983023596197019 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1031818271116587, "bimanual_gripper_vertical_difference": 0.19616997149695672, "task_success": 0.0 }, { "completion_time": 4.481190204620361, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0009598622090187803, "left gripper-book distance": 0.5719407223961497, "right gripper-book distance": 0.09724723929288413 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.104018647802871, "bimanual_gripper_vertical_difference": 0.19673337845368413, "task_success": 0.0 }, { "completion_time": 4.5112245082855225, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0014190078798982375, "left gripper-book distance": 0.572024043853652, "right gripper-book distance": 0.09615312339929653 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1036442534937039, "bimanual_gripper_vertical_difference": 0.19729916901282235, "task_success": 0.0 }, { "completion_time": 4.539703607559204, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0011489304779485066, "left gripper-book distance": 0.5714305257518992, "right gripper-book distance": 0.09530133987261305 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1027441501293038, "bimanual_gripper_vertical_difference": 0.19785903760316226, "task_success": 0.0 }, { "completion_time": 4.568238735198975, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0005044612695901396, "left gripper-book distance": 0.5705857504612682, "right gripper-book distance": 0.09479667368378593 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1050627382196931, "bimanual_gripper_vertical_difference": 0.1984057841769886, "task_success": 0.0 }, { "completion_time": 4.598179578781128, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004791897357050434, "left gripper-book distance": 0.569285983015078, "right gripper-book distance": 0.0947080934652089 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1104497110939597, "bimanual_gripper_vertical_difference": 0.19893257347724735, "task_success": 0.0 }, { "completion_time": 4.627629995346069, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005473499443068297, "left gripper-book distance": 0.5686646978598247, "right gripper-book distance": 0.09525754609529116 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1201974370402534, "bimanual_gripper_vertical_difference": 0.19944500078600094, "task_success": 0.0 }, { "completion_time": 4.657328844070435, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.001448755107912314, "left gripper-book distance": 0.5680552512313306, "right gripper-book distance": 0.09559460562721386 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1336967656269128, "bimanual_gripper_vertical_difference": 0.19994007819243034, "task_success": 0.0 }, { "completion_time": 4.68649959564209, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0014783843337622393, "left gripper-book distance": 0.5683540555429526, "right gripper-book distance": 0.09616272823204101 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1493274111891396, "bimanual_gripper_vertical_difference": 0.20042511784883224, "task_success": 0.0 }, { "completion_time": 4.716287612915039, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -9.571847363387676e-06, "left gripper-book distance": 0.5711651150213259, "right gripper-book distance": 0.09902075480839181 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1631776271850103, "bimanual_gripper_vertical_difference": 0.20090084679078396, "task_success": 0.0 }, { "completion_time": 4.743448734283447, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0002634818674821515, "left gripper-book distance": 0.5714443134696416, "right gripper-book distance": 0.10270150938187474 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1748641545342566, "bimanual_gripper_vertical_difference": 0.20136468287940543, "task_success": 0.0 }, { "completion_time": 4.773604154586792, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000544271068059099, "left gripper-book distance": 0.5712542752155014, "right gripper-book distance": 0.10702187733213844 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1870076365060453, "bimanual_gripper_vertical_difference": 0.2017963234658919, "task_success": 0.0 }, { "completion_time": 4.802609920501709, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00046200503114235403, "left gripper-book distance": 0.5712825061835384, "right gripper-book distance": 0.11265376993244101 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2024865253987214, "bimanual_gripper_vertical_difference": 0.20217683300032294, "task_success": 0.0 }, { "completion_time": 4.832160472869873, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0010559255434751114, "left gripper-book distance": 0.5701956484749314, "right gripper-book distance": 0.1184541269443746 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.220070806150193, "bimanual_gripper_vertical_difference": 0.20250889799331878, "task_success": 0.0 }, { "completion_time": 4.860619068145752, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007064091484393353, "left gripper-book distance": 0.5695217449068625, "right gripper-book distance": 0.12476641578508961 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2295625986789116, "bimanual_gripper_vertical_difference": 0.20281823392821452, "task_success": 0.0 }, { "completion_time": 4.889280796051025, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005055261064708105, "left gripper-book distance": 0.569524998032758, "right gripper-book distance": 0.13213671709905775 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2373073931531084, "bimanual_gripper_vertical_difference": 0.20311477535790426, "task_success": 0.0 }, { "completion_time": 4.9185686111450195, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004189854615003208, "left gripper-book distance": 0.569451334003123, "right gripper-book distance": 0.140241780926047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2429270927872964, "bimanual_gripper_vertical_difference": 0.20340408750546454, "task_success": 0.0 }, { "completion_time": 4.948692083358765, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005018770179966436, "left gripper-book distance": 0.5692794844828848, "right gripper-book distance": 0.1472820932917619 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2423235404049913, "bimanual_gripper_vertical_difference": 0.20369132268527013, "task_success": 0.0 }, { "completion_time": 4.977190256118774, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005468873932917839, "left gripper-book distance": 0.5691676805260731, "right gripper-book distance": 0.15087392956109838 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2401066542913466, "bimanual_gripper_vertical_difference": 0.20397556046732376, "task_success": 0.0 }, { "completion_time": 5.009783506393433, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005249790301812274, "left gripper-book distance": 0.5691919671196889, "right gripper-book distance": 0.14987591901438346 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.236967458576249, "bimanual_gripper_vertical_difference": 0.20426169755280243, "task_success": 0.0 }, { "completion_time": 5.038482666015625, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005419397970551909, "left gripper-book distance": 0.5692410716069506, "right gripper-book distance": 0.1447325436795509 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2393047094536436, "bimanual_gripper_vertical_difference": 0.2045571453249411, "task_success": 0.0 }, { "completion_time": 5.068103551864624, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006463935486723527, "left gripper-book distance": 0.5692963012069322, "right gripper-book distance": 0.13620537181645354 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2472324827161, "bimanual_gripper_vertical_difference": 0.20486641473786577, "task_success": 0.0 }, { "completion_time": 5.097610712051392, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004080126193597433, "left gripper-book distance": 0.5696018064552596, "right gripper-book distance": 0.12510259044123284 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2577904776885303, "bimanual_gripper_vertical_difference": 0.20520163276936684, "task_success": 0.0 }, { "completion_time": 5.126904726028442, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.001208790071655086, "left gripper-book distance": 0.5711380760972783, "right gripper-book distance": 0.11651695000069612 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.269108523618447, "bimanual_gripper_vertical_difference": 0.20555963404776703, "task_success": 0.0 }, { "completion_time": 5.15537691116333, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0004612154773619981, "left gripper-book distance": 0.5705444451232345, "right gripper-book distance": 0.11263638048670663 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2797047927386935, "bimanual_gripper_vertical_difference": 0.20591587030587186, "task_success": 0.0 }, { "completion_time": 5.184350252151489, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0007151364583011244, "left gripper-book distance": 0.5708459253909642, "right gripper-book distance": 0.10853257834051569 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2901259831315883, "bimanual_gripper_vertical_difference": 0.20628747193281305, "task_success": 0.0 }, { "completion_time": 5.214189767837524, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 3.1092858038261895e-06, "left gripper-book distance": 0.5694158274852554, "right gripper-book distance": 0.10876869347066846 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3006139156286063, "bimanual_gripper_vertical_difference": 0.20666347559479903, "task_success": 0.0 }, { "completion_time": 5.244351148605347, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006097124369184304, "left gripper-book distance": 0.5676196091074214, "right gripper-book distance": 0.10950848227456945 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.311866552631061, "bimanual_gripper_vertical_difference": 0.20705277546513506, "task_success": 0.0 }, { "completion_time": 5.274101972579956, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.00034869152851579877, "left gripper-book distance": 0.5667183504815153, "right gripper-book distance": 0.1128926095434331 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3225589196542118, "bimanual_gripper_vertical_difference": 0.20745617110597508, "task_success": 0.0 }, { "completion_time": 5.306514263153076, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00013844637700721751, "left gripper-book distance": 0.5660528517933375, "right gripper-book distance": 0.11304920250410158 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3330062715738018, "bimanual_gripper_vertical_difference": 0.20787842752332625, "task_success": 0.0 }, { "completion_time": 5.33693790435791, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0001924195187616995, "left gripper-book distance": 0.5654293931408401, "right gripper-book distance": 0.1129861793554843 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3392942881362937, "bimanual_gripper_vertical_difference": 0.20831884140870788, "task_success": 0.0 }, { "completion_time": 5.367088556289673, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0013218952066429424, "left gripper-book distance": 0.5640161397768143, "right gripper-book distance": 0.113315274047503 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3401919182248727, "bimanual_gripper_vertical_difference": 0.20876241629135997, "task_success": 0.0 }, { "completion_time": 5.3965559005737305, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.005514711174832154, "left gripper-book distance": 0.5573691429475943, "right gripper-book distance": 0.1179587414992423 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.341247612884791, "bimanual_gripper_vertical_difference": 0.20917988288764575, "task_success": 0.0 }, { "completion_time": 5.42615270614624, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.014142136887882129, "left gripper-book distance": 0.5448215695731876, "right gripper-book distance": 0.125890815850491 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3466854766018734, "bimanual_gripper_vertical_difference": 0.20953342041235873, "task_success": 0.0 }, { "completion_time": 5.456571102142334, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.023801952519846625, "left gripper-book distance": 0.5274003588365991, "right gripper-book distance": 0.13544156000953525 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3508565816284515, "bimanual_gripper_vertical_difference": 0.2098008959025059, "task_success": 0.0 }, { "completion_time": 5.4868388175964355, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.03788284637705008, "left gripper-book distance": 0.5047354667179988, "right gripper-book distance": 0.14133574943400873 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3549517635240194, "bimanual_gripper_vertical_difference": 0.20997691317528802, "task_success": 0.0 }, { "completion_time": 5.517299652099609, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.05619686582811978, "left gripper-book distance": 0.47821540411500424, "right gripper-book distance": 0.1437399006397285 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.3595918290937947, "bimanual_gripper_vertical_difference": 0.2100634187664106, "task_success": 1.0 } ]