[ { "completion_time": 0.04463624954223633, "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": -0.0005354615988285572, "left gripper-book distance": 0.6132287775960731, "right gripper-book distance": 0.43228555404561114 }, "success": 0.0, "bimanual_arm_velocity_difference": 7.619425090865661e-09, "bimanual_gripper_vertical_difference": 1.3532419629314063e-10, "task_success": 0.0 }, { "completion_time": 0.07290101051330566, "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": 0.0006280223638089888, "left gripper-book distance": 0.6113459753668579, "right gripper-book distance": 0.4296269020468408 }, "success": 0.0, "bimanual_arm_velocity_difference": 3.0088532315331734e-05, "bimanual_gripper_vertical_difference": 1.3122195552384142e-09, "task_success": 0.0 }, { "completion_time": 0.10230159759521484, "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": 0.000471407519329059, "left gripper-book distance": 0.6107495060194599, "right gripper-book distance": 0.42875150410349544 }, "success": 0.0, "bimanual_arm_velocity_difference": 3.5187077141122375e-05, "bimanual_gripper_vertical_difference": 1.5664170701275755e-09, "task_success": 0.0 }, { "completion_time": 0.13075494766235352, "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": 0.0005703726063218673, "left gripper-book distance": 0.6102284771460136, "right gripper-book distance": 0.42800242316067555 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.968032225680536e-05, "bimanual_gripper_vertical_difference": 2.729610704133023e-09, "task_success": 0.0 }, { "completion_time": 0.16068387031555176, "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": 0.0004741140604439531, "left gripper-book distance": 0.609997043038311, "right gripper-book distance": 0.427671378795908 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00010787157460040233, "bimanual_gripper_vertical_difference": 3.290103167685743e-09, "task_success": 0.0 }, { "completion_time": 0.18988037109375, "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": 0.0005095090986626527, "left gripper-book distance": 0.6097742741457348, "right gripper-book distance": 0.4273700350204535 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00039948255756805384, "bimanual_gripper_vertical_difference": 4.852928503495946e-09, "task_success": 0.0 }, { "completion_time": 0.21918463706970215, "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": 0.000611500208011595, "left gripper-book distance": 0.6096357134040644, "right gripper-book distance": 0.42707576943692815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007424004797575871, "bimanual_gripper_vertical_difference": 5.443930925100712e-09, "task_success": 0.0 }, { "completion_time": 0.24936771392822266, "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": 0.0006922219422285103, "left gripper-book distance": 0.6095130171923224, "right gripper-book distance": 0.4268834465438472 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0006499815067262677, "bimanual_gripper_vertical_difference": 6.2019842594907004e-09, "task_success": 0.0 }, { "completion_time": 0.28113460540771484, "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": 0.0006421740729198877, "left gripper-book distance": 0.6094896964924914, "right gripper-book distance": 0.4268590235676614 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0005779973878707585, "bimanual_gripper_vertical_difference": 6.552346023782876e-09, "task_success": 0.0 }, { "completion_time": 0.3103766441345215, "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": 0.0005677634235903284, "left gripper-book distance": 0.6095296172313728, "right gripper-book distance": 0.426871164823319 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0005643908165218935, "bimanual_gripper_vertical_difference": 6.8063521041494825e-09, "task_success": 0.0 }, { "completion_time": 0.3404994010925293, "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": 0.0005169604099425351, "left gripper-book distance": 0.6095466383012069, "right gripper-book distance": 0.42688651493798213 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0006209235156900098, "bimanual_gripper_vertical_difference": 7.141784436564597e-09, "task_success": 0.0 }, { "completion_time": 0.3704695701599121, "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": 0.0005462726358747005, "left gripper-book distance": 0.6095489349442856, "right gripper-book distance": 0.4268239907525704 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0009359405745888368, "bimanual_gripper_vertical_difference": 7.90397771307146e-09, "task_success": 0.0 }, { "completion_time": 0.40039753913879395, "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": 0.00044936878692980464, "left gripper-book distance": 0.6095938452835022, "right gripper-book distance": 0.426905534149643 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.001310769344626968, "bimanual_gripper_vertical_difference": 8.299423524495463e-09, "task_success": 0.0 }, { "completion_time": 0.42974185943603516, "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": 0.0006003360561703808, "left gripper-book distance": 0.6094756838269447, "right gripper-book distance": 0.4267605963158397 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.001358361172400412, "bimanual_gripper_vertical_difference": 8.943920096601436e-09, "task_success": 0.0 }, { "completion_time": 0.4589207172393799, "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": 0.0007050836501196756, "left gripper-book distance": 0.6084907408387394, "right gripper-book distance": 0.42373696058625254 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.011099104189350506, "bimanual_gripper_vertical_difference": 9.910427409855297e-05, "task_success": 0.0 }, { "completion_time": 0.48798465728759766, "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": 0.000672429304743094, "left gripper-book distance": 0.6070500990312473, "right gripper-book distance": 0.4164840082997237 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.054940109485474245, "bimanual_gripper_vertical_difference": 0.0005320782853218964, "task_success": 0.0 }, { "completion_time": 0.5169897079467773, "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": 0.0005280724153178262, "left gripper-book distance": 0.6054244830769842, "right gripper-book distance": 0.4072523948919644 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.14246236610851884, "bimanual_gripper_vertical_difference": 0.001416068494477507, "task_success": 0.0 }, { "completion_time": 0.5457277297973633, "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": 0.000713168337942216, "left gripper-book distance": 0.6036314097181227, "right gripper-book distance": 0.3993179743076779 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.24918551304093725, "bimanual_gripper_vertical_difference": 0.002657179715732822, "task_success": 0.0 }, { "completion_time": 0.5752291679382324, "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": 0.00018351676264893868, "left gripper-book distance": 0.6023043423751892, "right gripper-book distance": 0.39551500872047834 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.36342140385611194, "bimanual_gripper_vertical_difference": 0.004069951301034258, "task_success": 0.0 }, { "completion_time": 0.6043155193328857, "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": 0.0005876876603569947, "left gripper-book distance": 0.600453062755819, "right gripper-book distance": 0.393966041693543 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48073621042549625, "bimanual_gripper_vertical_difference": 0.005543620410648831, "task_success": 0.0 }, { "completion_time": 0.6348397731781006, "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": 0.0005354531602246304, "left gripper-book distance": 0.5993154992914378, "right gripper-book distance": 0.3906558704479021 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5886976710627628, "bimanual_gripper_vertical_difference": 0.0072594717453818795, "task_success": 0.0 }, { "completion_time": 0.6637988090515137, "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": 0.0004353745220453398, "left gripper-book distance": 0.5985960201664362, "right gripper-book distance": 0.3799200415306255 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6811926573155557, "bimanual_gripper_vertical_difference": 0.009613749476624613, "task_success": 0.0 }, { "completion_time": 0.6927664279937744, "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": 0.00044173445682882395, "left gripper-book distance": 0.5979671443540696, "right gripper-book distance": 0.35887188684176846 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.758634660767488, "bimanual_gripper_vertical_difference": 0.01304000644255582, "task_success": 0.0 }, { "completion_time": 0.7217786312103271, "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": 0.0005247537511611222, "left gripper-book distance": 0.5973940099713235, "right gripper-book distance": 0.3281442068565588 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8246364976260699, "bimanual_gripper_vertical_difference": 0.01789013879671203, "task_success": 0.0 }, { "completion_time": 0.7521717548370361, "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": 0.0005474515657979406, "left gripper-book distance": 0.5970193147728413, "right gripper-book distance": 0.29099988619071976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8863327138528038, "bimanual_gripper_vertical_difference": 0.024408159255392886, "task_success": 0.0 }, { "completion_time": 0.7815520763397217, "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": 0.00044906980882630787, "left gripper-book distance": 0.596901193723366, "right gripper-book distance": 0.2550677965232976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9476218337935726, "bimanual_gripper_vertical_difference": 0.03269521129231649, "task_success": 0.0 }, { "completion_time": 0.810086727142334, "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": 0.0007063722149750484, "left gripper-book distance": 0.596696752524629, "right gripper-book distance": 0.2318456670924275 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0046516391046714, "bimanual_gripper_vertical_difference": 0.04261744505588846, "task_success": 0.0 }, { "completion_time": 0.8387801647186279, "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": 0.0006756459296377582, "left gripper-book distance": 0.5968614898813311, "right gripper-book distance": 0.2228953981828068 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0262647238254403, "bimanual_gripper_vertical_difference": 0.05338672171200677, "task_success": 0.0 }, { "completion_time": 0.8661403656005859, "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": 0.0005421797007187923, "left gripper-book distance": 0.5973440815571364, "right gripper-book distance": 0.2141927815931384 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.04735447004701, "bimanual_gripper_vertical_difference": 0.06431164486500056, "task_success": 0.0 }, { "completion_time": 0.8933742046356201, "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": 0.0006021670674976054, "left gripper-book distance": 0.5977199284459515, "right gripper-book distance": 0.2010346771898787 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.074663680590326, "bimanual_gripper_vertical_difference": 0.07501240984461971, "task_success": 0.0 }, { "completion_time": 0.9212520122528076, "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": 0.000672229165695537, "left gripper-book distance": 0.5979738908949899, "right gripper-book distance": 0.18589631142738783 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1096189641795615, "bimanual_gripper_vertical_difference": 0.08513687289645024, "task_success": 0.0 }, { "completion_time": 0.9488413333892822, "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": 0.0005163717953968749, "left gripper-book distance": 0.5983887326856724, "right gripper-book distance": 0.1837238154588253 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2012171586016653, "bimanual_gripper_vertical_difference": 0.09444223207546323, "task_success": 0.0 }, { "completion_time": 0.9777257442474365, "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": 0.0004345862268831935, "left gripper-book distance": 0.5973394052361067, "right gripper-book distance": 0.18020155120093304 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3008825785210416, "bimanual_gripper_vertical_difference": 0.10281721349119749, "task_success": 0.0 }, { "completion_time": 1.0061392784118652, "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": 0.0005757230076279818, "left gripper-book distance": 0.5961132669047386, "right gripper-book distance": 0.17786164384251357 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.398183963004093, "bimanual_gripper_vertical_difference": 0.11006535362794312, "task_success": 0.0 }, { "completion_time": 1.034393072128296, "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": 0.0005307942758880912, "left gripper-book distance": 0.5953355026316443, "right gripper-book distance": 0.1783698798375154 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.465039797478866, "bimanual_gripper_vertical_difference": 0.11591112917776895, "task_success": 0.0 }, { "completion_time": 1.063464879989624, "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": 0.0004958808337839349, "left gripper-book distance": 0.5948391534577371, "right gripper-book distance": 0.18744286948529434 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5064096653666206, "bimanual_gripper_vertical_difference": 0.12041901760396215, "task_success": 0.0 }, { "completion_time": 1.0923435688018799, "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": 0.0006939870516703417, "left gripper-book distance": 0.5933375367753374, "right gripper-book distance": 0.20193596627825228 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5297168093603637, "bimanual_gripper_vertical_difference": 0.12372576306055465, "task_success": 0.0 }, { "completion_time": 1.1213836669921875, "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": 0.0005664782063714568, "left gripper-book distance": 0.5923526076058448, "right gripper-book distance": 0.2179134154189113 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5469208693158867, "bimanual_gripper_vertical_difference": 0.12605174205634564, "task_success": 0.0 }, { "completion_time": 1.1506469249725342, "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": 0.00013115114127160155, "left gripper-book distance": 0.5920534696390921, "right gripper-book distance": 0.22310491113275138 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5521255127224745, "bimanual_gripper_vertical_difference": 0.12793199000319597, "task_success": 0.0 }, { "completion_time": 1.179762840270996, "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": 0.0005533662127512606, "left gripper-book distance": 0.5915275880789832, "right gripper-book distance": 0.21266814131967685 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.572879583426162, "bimanual_gripper_vertical_difference": 0.12989640575609526, "task_success": 0.0 }, { "completion_time": 1.2110822200775146, "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": 0.0004180838419078903, "left gripper-book distance": 0.5916632872834234, "right gripper-book distance": 0.20134336026933078 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.624179853559079, "bimanual_gripper_vertical_difference": 0.13206035183484746, "task_success": 0.0 }, { "completion_time": 1.2413723468780518, "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": 0.0004539776971733689, "left gripper-book distance": 0.5918956999887821, "right gripper-book distance": 0.1795353646916109 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6790168571823871, "bimanual_gripper_vertical_difference": 0.13472515702474055, "task_success": 0.0 }, { "completion_time": 1.270481824874878, "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": 0.0005983092805496026, "left gripper-book distance": 0.592145439359869, "right gripper-book distance": 0.16087667730912705 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6976229951219992, "bimanual_gripper_vertical_difference": 0.1378570169779512, "task_success": 0.0 }, { "completion_time": 1.2993299961090088, "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": 0.0005826819215027923, "left gripper-book distance": 0.5924550826041742, "right gripper-book distance": 0.156180437046962 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6944034870078448, "bimanual_gripper_vertical_difference": 0.14109993749353622, "task_success": 0.0 }, { "completion_time": 1.3290371894836426, "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": 0.0006077249946426777, "left gripper-book distance": 0.5926366868020858, "right gripper-book distance": 0.16197950479086431 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6926050489687299, "bimanual_gripper_vertical_difference": 0.14418733297909583, "task_success": 0.0 }, { "completion_time": 1.3597381114959717, "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": 0.0006151222715511384, "left gripper-book distance": 0.5927987355636813, "right gripper-book distance": 0.1669025137304249 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6797150549413318, "bimanual_gripper_vertical_difference": 0.14713720316688655, "task_success": 0.0 }, { "completion_time": 1.389232873916626, "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": 0.000542899243006989, "left gripper-book distance": 0.5930515982792052, "right gripper-book distance": 0.16419561598753435 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6625164229712304, "bimanual_gripper_vertical_difference": 0.15008390133690536, "task_success": 0.0 }, { "completion_time": 1.4188871383666992, "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": 0.0006321551580266149, "left gripper-book distance": 0.5931629277969975, "right gripper-book distance": 0.16013151852163787 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6381434949201612, "bimanual_gripper_vertical_difference": 0.15300362318404995, "task_success": 0.0 }, { "completion_time": 1.4490306377410889, "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": 0.0007150595200132726, "left gripper-book distance": 0.5934319489027853, "right gripper-book distance": 0.1537180108062365 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.611647766359976, "bimanual_gripper_vertical_difference": 0.15590933891798858, "task_success": 0.0 }, { "completion_time": 1.4787309169769287, "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": 0.0005082690904751885, "left gripper-book distance": 0.5938880520958744, "right gripper-book distance": 0.1521311895185301 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5897883014473795, "bimanual_gripper_vertical_difference": 0.15871565067577142, "task_success": 0.0 }, { "completion_time": 1.509744644165039, "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": 0.0004158715424099624, "left gripper-book distance": 0.5939576089294877, "right gripper-book distance": 0.15013047406545857 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.572326490775722, "bimanual_gripper_vertical_difference": 0.16142617548673133, "task_success": 0.0 }, { "completion_time": 1.540558099746704, "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": 0.0005656951855842474, "left gripper-book distance": 0.5936695958176557, "right gripper-book distance": 0.14758252010854944 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.558602812316862, "bimanual_gripper_vertical_difference": 0.1640440198881774, "task_success": 0.0 }, { "completion_time": 1.5715010166168213, "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": 0.0005701439433439814, "left gripper-book distance": 0.5934098610608126, "right gripper-book distance": 0.14424273366209717 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.546830881174741, "bimanual_gripper_vertical_difference": 0.16656970264344123, "task_success": 0.0 }, { "completion_time": 1.6014773845672607, "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": 0.0004951798049626088, "left gripper-book distance": 0.5933096024479054, "right gripper-book distance": 0.13960803912523842 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.533279123854399, "bimanual_gripper_vertical_difference": 0.1690087620308588, "task_success": 0.0 }, { "completion_time": 1.6319711208343506, "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": 0.0007016979664000722, "left gripper-book distance": 0.593082380552137, "right gripper-book distance": 0.13530169885523965 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.517145894884024, "bimanual_gripper_vertical_difference": 0.17136209443283298, "task_success": 0.0 }, { "completion_time": 1.6617016792297363, "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": 0.0001834056253861016, "left gripper-book distance": 0.5934402870243324, "right gripper-book distance": 0.13373909512188453 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.49442833927062, "bimanual_gripper_vertical_difference": 0.1736363240579086, "task_success": 0.0 }, { "completion_time": 1.6909337043762207, "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": 0.0005866103265433908, "left gripper-book distance": 0.593209665247921, "right gripper-book distance": 0.13291298287293984 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4690734271151369, "bimanual_gripper_vertical_difference": 0.17583550980285337, "task_success": 0.0 }, { "completion_time": 1.7219548225402832, "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": 0.0005382377066870392, "left gripper-book distance": 0.5933542967411273, "right gripper-book distance": 0.1319351759253272 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4464212065849689, "bimanual_gripper_vertical_difference": 0.177960489629907, "task_success": 0.0 }, { "completion_time": 1.7529566287994385, "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": 0.0006652096383747974, "left gripper-book distance": 0.5933594623190978, "right gripper-book distance": 0.12987403011370183 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.429203081598111, "bimanual_gripper_vertical_difference": 0.18001158088553093, "task_success": 0.0 }, { "completion_time": 1.783416509628296, "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": 0.0006776621333438593, "left gripper-book distance": 0.5933003562469474, "right gripper-book distance": 0.12616728637101635 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4147557262334063, "bimanual_gripper_vertical_difference": 0.1819911747467366, "task_success": 0.0 }, { "completion_time": 1.8155817985534668, "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": 0.0004944913997585454, "left gripper-book distance": 0.5933643895932317, "right gripper-book distance": 0.12175180509749449 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4023265835489656, "bimanual_gripper_vertical_difference": 0.18389943371971004, "task_success": 0.0 }, { "completion_time": 1.84684157371521, "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": 0.0010425305412153918, "left gripper-book distance": 0.5928330763659247, "right gripper-book distance": 0.11866171018178574 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.389480196918396, "bimanual_gripper_vertical_difference": 0.1857346500694878, "task_success": 0.0 }, { "completion_time": 1.8769207000732422, "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": 0.00051229832258326, "left gripper-book distance": 0.5935088002243488, "right gripper-book distance": 0.11905973017455086 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3754060478060597, "bimanual_gripper_vertical_difference": 0.1875139973795827, "task_success": 0.0 }, { "completion_time": 1.9065260887145996, "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": 0.00062359635050524, "left gripper-book distance": 0.5937230611494734, "right gripper-book distance": 0.11880126555093058 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3619439847382735, "bimanual_gripper_vertical_difference": 0.18923684549644756, "task_success": 0.0 }, { "completion_time": 1.9367272853851318, "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": 0.0005232614121062351, "left gripper-book distance": 0.5948078237693433, "right gripper-book distance": 0.11846729066419566 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3489466221025608, "bimanual_gripper_vertical_difference": 0.1909019804380972, "task_success": 0.0 }, { "completion_time": 1.9644510746002197, "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": 0.000658717176016177, "left gripper-book distance": 0.5964814147043161, "right gripper-book distance": 0.11753684476404719 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3340459664203952, "bimanual_gripper_vertical_difference": 0.1925194690102079, "task_success": 0.0 }, { "completion_time": 1.9939286708831787, "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": 0.0008256862923244901, "left gripper-book distance": 0.5959199620408552, "right gripper-book distance": 0.1178440597311089 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3196089968633145, "bimanual_gripper_vertical_difference": 0.19408456046748443, "task_success": 0.0 }, { "completion_time": 2.0245800018310547, "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": 0.0008445011196998031, "left gripper-book distance": 0.5957951904359332, "right gripper-book distance": 0.11811008993083891 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3046913243216005, "bimanual_gripper_vertical_difference": 0.19560504989487768, "task_success": 0.0 }, { "completion_time": 2.05562424659729, "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": 0.0007391548080697419, "left gripper-book distance": 0.5955085387682544, "right gripper-book distance": 0.11817518985055249 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2888040317569336, "bimanual_gripper_vertical_difference": 0.19708002899974114, "task_success": 0.0 }, { "completion_time": 2.0867934226989746, "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": 0.0006857357867177116, "left gripper-book distance": 0.5951350057187443, "right gripper-book distance": 0.11824565735485043 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2721672372810588, "bimanual_gripper_vertical_difference": 0.1985135577154869, "task_success": 0.0 }, { "completion_time": 2.1177778244018555, "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": 0.0007277543513903861, "left gripper-book distance": 0.5950299904886452, "right gripper-book distance": 0.11817991806916427 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.255293192420108, "bimanual_gripper_vertical_difference": 0.1999059021319739, "task_success": 0.0 }, { "completion_time": 2.1484992504119873, "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": 0.0007247444498865718, "left gripper-book distance": 0.5950911006286815, "right gripper-book distance": 0.11809738672997268 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2384167555011076, "bimanual_gripper_vertical_difference": 0.20125968742733047, "task_success": 0.0 }, { "completion_time": 2.1784565448760986, "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": 0.0007336920393181678, "left gripper-book distance": 0.59507272022053, "right gripper-book distance": 0.11801903119837259 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2219641691974978, "bimanual_gripper_vertical_difference": 0.20257630277483407, "task_success": 0.0 }, { "completion_time": 2.2114832401275635, "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": 0.0007678243436642918, "left gripper-book distance": 0.5950580569403668, "right gripper-book distance": 0.11794352819059295 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2064799920555636, "bimanual_gripper_vertical_difference": 0.20385683490754042, "task_success": 0.0 }, { "completion_time": 2.2416505813598633, "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": 0.0008206241792729774, "left gripper-book distance": 0.5950943417984157, "right gripper-book distance": 0.11869299572173488 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1988381958192407, "bimanual_gripper_vertical_difference": 0.2050998924838029, "task_success": 0.0 }, { "completion_time": 2.270705461502075, "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": 0.0008168249083722046, "left gripper-book distance": 0.5951650518334843, "right gripper-book distance": 0.121571535908367 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.195659167468061, "bimanual_gripper_vertical_difference": 0.20629428339715689, "task_success": 0.0 }, { "completion_time": 2.299471616744995, "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": 0.0008126272509633159, "left gripper-book distance": 0.5952284207286358, "right gripper-book distance": 0.12894200450135498 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1916020192084547, "bimanual_gripper_vertical_difference": 0.20738027967756023, "task_success": 0.0 }, { "completion_time": 2.3275632858276367, "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": 0.0008084265450444272, "left gripper-book distance": 0.5952798773623975, "right gripper-book distance": 0.1382448393797659 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1866787001930499, "bimanual_gripper_vertical_difference": 0.20831977665672363, "task_success": 0.0 }, { "completion_time": 2.356710433959961, "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": 0.0008042254477338417, "left gripper-book distance": 0.5951740859301919, "right gripper-book distance": 0.1465907907384602 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1794499958467757, "bimanual_gripper_vertical_difference": 0.20912160548798442, "task_success": 0.0 }, { "completion_time": 2.3847076892852783, "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": 0.0008000239769456741, "left gripper-book distance": 0.5949246301301298, "right gripper-book distance": 0.14994898126371128 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1675213004720044, "bimanual_gripper_vertical_difference": 0.20985758017746575, "task_success": 0.0 }, { "completion_time": 2.4148521423339844, "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": 0.0007958221328563386, "left gripper-book distance": 0.5947635205621483, "right gripper-book distance": 0.1475943212240799 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1553337785592654, "bimanual_gripper_vertical_difference": 0.21059699466522988, "task_success": 0.0 }, { "completion_time": 2.443296432495117, "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": 0.0007916199155222348, "left gripper-book distance": 0.5949385288641758, "right gripper-book distance": 0.14227923321600408 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.144738103026683, "bimanual_gripper_vertical_difference": 0.21136995991705332, "task_success": 0.0 }, { "completion_time": 2.4717061519622803, "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": 0.0007874173249996508, "left gripper-book distance": 0.5952132359377887, "right gripper-book distance": 0.1367828385900114 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1346475563271097, "bimanual_gripper_vertical_difference": 0.2121806636217493, "task_success": 0.0 }, { "completion_time": 2.500419855117798, "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": 0.0007832143613446529, "left gripper-book distance": 0.5953587913601898, "right gripper-book distance": 0.1313518345207207 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1252413444041012, "bimanual_gripper_vertical_difference": 0.21303238931578192, "task_success": 0.0 }, { "completion_time": 2.5286865234375, "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": 0.0006888053216056456, "left gripper-book distance": 0.5953719541162955, "right gripper-book distance": 0.1272404922583417 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1155394719311895, "bimanual_gripper_vertical_difference": 0.21391406665500823, "task_success": 0.0 }, { "completion_time": 2.5575971603393555, "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": 0.0006946618458334441, "left gripper-book distance": 0.595325196614408, "right gripper-book distance": 0.12620686549802634 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1061643290518264, "bimanual_gripper_vertical_difference": 0.21478783121383216, "task_success": 0.0 }, { "completion_time": 2.5876710414886475, "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": 0.0006778655002811496, "left gripper-book distance": 0.5953289333537641, "right gripper-book distance": 0.12504386020317257 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0974511644061289, "bimanual_gripper_vertical_difference": 0.21565307747429738, "task_success": 0.0 }, { "completion_time": 2.6172990798950195, "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": 0.0006975539029646649, "left gripper-book distance": 0.5952809866385251, "right gripper-book distance": 0.12426619462119896 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0891407075400084, "bimanual_gripper_vertical_difference": 0.21650357997474698, "task_success": 0.0 }, { "completion_time": 2.64705753326416, "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": 0.0007432004728924468, "left gripper-book distance": 0.5950715115332625, "right gripper-book distance": 0.12378305044807769 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0808188714895541, "bimanual_gripper_vertical_difference": 0.21733510338807924, "task_success": 0.0 }, { "completion_time": 2.6766161918640137, "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": 0.0007007203546611773, "left gripper-book distance": 0.5948837729829339, "right gripper-book distance": 0.12356103960453914 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0717759124287123, "bimanual_gripper_vertical_difference": 0.21814711313181345, "task_success": 0.0 }, { "completion_time": 2.7070443630218506, "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": 0.0007223917890915033, "left gripper-book distance": 0.5946633349829037, "right gripper-book distance": 0.12333451162487608 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0619122991926235, "bimanual_gripper_vertical_difference": 0.21894151159055625, "task_success": 0.0 }, { "completion_time": 2.736952781677246, "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": 0.0007117058643820728, "left gripper-book distance": 0.5945606839157489, "right gripper-book distance": 0.12322270795948795 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0515306000272113, "bimanual_gripper_vertical_difference": 0.21971914451080102, "task_success": 0.0 }, { "completion_time": 2.7674179077148438, "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": 0.0006845733475929761, "left gripper-book distance": 0.5945158133301373, "right gripper-book distance": 0.123168569327896 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.041032361477942, "bimanual_gripper_vertical_difference": 0.2204799586850145, "task_success": 0.0 }, { "completion_time": 2.796748638153076, "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": 0.0007004101356736792, "left gripper-book distance": 0.5944796951284296, "right gripper-book distance": 0.12313042645541583 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0306478138515012, "bimanual_gripper_vertical_difference": 0.22122392243337097, "task_success": 0.0 }, { "completion_time": 2.8263397216796875, "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": 0.0007546016106397824, "left gripper-book distance": 0.594519396962208, "right gripper-book distance": 0.12297482819908047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0202352121678169, "bimanual_gripper_vertical_difference": 0.22195191509202156, "task_success": 0.0 }, { "completion_time": 2.856031894683838, "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": 0.0006410297391303832, "left gripper-book distance": 0.5948167712298478, "right gripper-book distance": 0.12321430767456314 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0116001357710358, "bimanual_gripper_vertical_difference": 0.22266423932701804, "task_success": 0.0 }, { "completion_time": 2.8852968215942383, "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": 0.0007128222944391416, "left gripper-book distance": 0.5947860286053246, "right gripper-book distance": 0.12611397316258927 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0092742506644705, "bimanual_gripper_vertical_difference": 0.2233471790497275, "task_success": 0.0 }, { "completion_time": 2.915503978729248, "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": 0.0007142297955967658, "left gripper-book distance": 0.5947626387927055, "right gripper-book distance": 0.13397631169111007 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0111678614657835, "bimanual_gripper_vertical_difference": 0.22395508719488896, "task_success": 0.0 }, { "completion_time": 2.9451658725738525, "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": 0.0007146376869463511, "left gripper-book distance": 0.5946151058241808, "right gripper-book distance": 0.14410934124050562 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.015019980203157, "bimanual_gripper_vertical_difference": 0.22445593185219698, "task_success": 0.0 }, { "completion_time": 2.9740707874298096, "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": 0.0007150387842860262, "left gripper-book distance": 0.5942840830984337, "right gripper-book distance": 0.15335913763759654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0206767688079836, "bimanual_gripper_vertical_difference": 0.22484643226768902, "task_success": 0.0 }, { "completion_time": 3.006537914276123, "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": 0.0007154396756897663, "left gripper-book distance": 0.5937690900412514, "right gripper-book distance": 0.15892885338907345 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0302684775238367, "bimanual_gripper_vertical_difference": 0.22515097959504612, "task_success": 0.0 }, { "completion_time": 3.0360522270202637, "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": 0.000716459768442923, "left gripper-book distance": 0.5930656983927032, "right gripper-book distance": 0.16082177047004853 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.04478012549583, "bimanual_gripper_vertical_difference": 0.22540155507387116, "task_success": 0.0 }, { "completion_time": 3.0657477378845215, "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": 0.0007168615621195862, "left gripper-book distance": 0.5922414633769533, "right gripper-book distance": 0.16066764075233508 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0639136816108463, "bimanual_gripper_vertical_difference": 0.2256262869948148, "task_success": 0.0 }, { "completion_time": 3.0938727855682373, "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": 0.0007172628357819955, "left gripper-book distance": 0.5914106156008265, "right gripper-book distance": 0.16065784458196838 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0829048897296791, "bimanual_gripper_vertical_difference": 0.225840102451435, "task_success": 0.0 }, { "completion_time": 3.123748779296875, "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": 0.0007176639451624833, "left gripper-book distance": 0.5906818349234254, "right gripper-book distance": 0.16245248962880837 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0888636248788814, "bimanual_gripper_vertical_difference": 0.22603447561315027, "task_success": 0.0 }, { "completion_time": 3.156095504760742, "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": 0.0005264190020692894, "left gripper-book distance": 0.5894869857330919, "right gripper-book distance": 0.16173153707329757 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0789545089438082, "bimanual_gripper_vertical_difference": 0.22621879394529482, "task_success": 0.0 }, { "completion_time": 3.1848301887512207, "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": 0.0005404684349377131, "left gripper-book distance": 0.5884663455388064, "right gripper-book distance": 0.16053915199417668 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0691147797929734, "bimanual_gripper_vertical_difference": 0.2263968749260936, "task_success": 0.0 }, { "completion_time": 3.2137792110443115, "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": 0.0005404366932295623, "left gripper-book distance": 0.5877827328481555, "right gripper-book distance": 0.15978689554581096 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.059412742192535, "bimanual_gripper_vertical_difference": 0.22656989334297586, "task_success": 0.0 }, { "completion_time": 3.2440097332000732, "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": 0.0005228545496460679, "left gripper-book distance": 0.5873757344572774, "right gripper-book distance": 0.1593030658941508 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.049815556531442, "bimanual_gripper_vertical_difference": 0.22673863715697032, "task_success": 0.0 }, { "completion_time": 3.2733726501464844, "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": 0.0004770449811827282, "left gripper-book distance": 0.5860352974159281, "right gripper-book distance": 0.15708420371510337 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.045847766685823, "bimanual_gripper_vertical_difference": 0.22690832362754887, "task_success": 0.0 }, { "completion_time": 3.3031349182128906, "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": 0.000491160175465688, "left gripper-book distance": 0.584829464166392, "right gripper-book distance": 0.15370075401739577 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0503233608798044, "bimanual_gripper_vertical_difference": 0.22709698442012746, "task_success": 0.0 }, { "completion_time": 3.3319315910339355, "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": 0.0005127581246974211, "left gripper-book distance": 0.5840396087865825, "right gripper-book distance": 0.15099801530608875 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0602778935691444, "bimanual_gripper_vertical_difference": 0.22731545373832102, "task_success": 0.0 }, { "completion_time": 3.361994981765747, "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": 0.0005266786849288385, "left gripper-book distance": 0.5835084784507816, "right gripper-book distance": 0.14948039640236108 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0720147831655031, "bimanual_gripper_vertical_difference": 0.2275649275851449, "task_success": 0.0 }, { "completion_time": 3.391021966934204, "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": 0.0005404733647275117, "left gripper-book distance": 0.5833514292159077, "right gripper-book distance": 0.14860222699189474 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0843455157975148, "bimanual_gripper_vertical_difference": 0.22784560479454213, "task_success": 0.0 }, { "completion_time": 3.4199061393737793, "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": 0.000540466861680966, "left gripper-book distance": 0.5831599711475128, "right gripper-book distance": 0.14872310152916932 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0961494908646463, "bimanual_gripper_vertical_difference": 0.22815175667608678, "task_success": 0.0 }, { "completion_time": 3.4492528438568115, "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": 0.0005245651440269894, "left gripper-book distance": 0.5830589229463734, "right gripper-book distance": 0.1495942033628477 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1050098689959174, "bimanual_gripper_vertical_difference": 0.2284755100320357, "task_success": 0.0 }, { "completion_time": 3.479524850845337, "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": 0.0004770520268935208, "left gripper-book distance": 0.583196255255015, "right gripper-book distance": 0.14994585576317082 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.109774520801408, "bimanual_gripper_vertical_difference": 0.22881795768727922, "task_success": 0.0 }, { "completion_time": 3.5090436935424805, "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": 0.000491188408615395, "left gripper-book distance": 0.5833780647221445, "right gripper-book distance": 0.14850737178197404 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.11507911189078, "bimanual_gripper_vertical_difference": 0.22918972701891668, "task_success": 0.0 }, { "completion_time": 3.5395448207855225, "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": 0.0005125922079822764, "left gripper-book distance": 0.5836143820577622, "right gripper-book distance": 0.14547674678548506 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1218474512565706, "bimanual_gripper_vertical_difference": 0.2295966225767829, "task_success": 0.0 }, { "completion_time": 3.5696396827697754, "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": 0.000526643965997664, "left gripper-book distance": 0.5838270956827155, "right gripper-book distance": 0.14170559125181226 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1280544698350259, "bimanual_gripper_vertical_difference": 0.2300373819206887, "task_success": 0.0 }, { "completion_time": 3.601771116256714, "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": 0.0005405009400883953, "left gripper-book distance": 0.5841279435803015, "right gripper-book distance": 0.13813475511127388 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.131741996282752, "bimanual_gripper_vertical_difference": 0.23050140624775628, "task_success": 0.0 }, { "completion_time": 3.632207155227661, "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": 0.000540496090963849, "left gripper-book distance": 0.5844202144790033, "right gripper-book distance": 0.13559804358044075 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1341017207062867, "bimanual_gripper_vertical_difference": 0.23097420121631207, "task_success": 0.0 }, { "completion_time": 3.663224458694458, "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": 0.0005245917659548738, "left gripper-book distance": 0.584781863047064, "right gripper-book distance": 0.13394731658970332 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1364493203521635, "bimanual_gripper_vertical_difference": 0.2314462504751414, "task_success": 0.0 }, { "completion_time": 3.693480968475342, "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": 0.0004770810838274908, "left gripper-book distance": 0.5851887977512138, "right gripper-book distance": 0.13242022156142674 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1380266897211242, "bimanual_gripper_vertical_difference": 0.23191867150293452, "task_success": 0.0 }, { "completion_time": 3.7232534885406494, "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": 0.0006006552934835208, "left gripper-book distance": 0.5854048465095478, "right gripper-book distance": 0.1304912395671459 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1385030453700322, "bimanual_gripper_vertical_difference": 0.23239970184801123, "task_success": 0.0 }, { "completion_time": 3.7526626586914062, "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": 0.0007500274701626175, "left gripper-book distance": 0.5854532381108428, "right gripper-book distance": 0.12828756188127688 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1385077831792425, "bimanual_gripper_vertical_difference": 0.23289303152664112, "task_success": 0.0 }, { "completion_time": 3.782628059387207, "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": 0.0007980574910469995, "left gripper-book distance": 0.5855342277623519, "right gripper-book distance": 0.12568677741104722 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1373493944822766, "bimanual_gripper_vertical_difference": 0.23340008087227604, "task_success": 0.0 }, { "completion_time": 3.811781167984009, "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": 0.000792492994062699, "left gripper-book distance": 0.5856177079589555, "right gripper-book distance": 0.1232356269631448 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1357281506828836, "bimanual_gripper_vertical_difference": 0.23392420806507427, "task_success": 0.0 }, { "completion_time": 3.841355323791504, "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": 0.0007865649713739709, "left gripper-book distance": 0.5856429212081574, "right gripper-book distance": 0.12061938839909182 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1337093261721702, "bimanual_gripper_vertical_difference": 0.23446699693884676, "task_success": 0.0 }, { "completion_time": 3.869359254837036, "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": 0.0007806338927482948, "left gripper-book distance": 0.585604403449676, "right gripper-book distance": 0.11772764853430881 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1307400048383467, "bimanual_gripper_vertical_difference": 0.23502695285086972, "task_success": 0.0 }, { "completion_time": 3.8980062007904053, "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": 0.0007747021847060998, "left gripper-book distance": 0.585607331165279, "right gripper-book distance": 0.11474287197899172 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.127692606654701, "bimanual_gripper_vertical_difference": 0.23560174452653793, "task_success": 0.0 }, { "completion_time": 3.9255831241607666, "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": 0.0005148948102423612, "left gripper-book distance": 0.5858049461156887, "right gripper-book distance": 0.11312462697283206 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.123882990448917, "bimanual_gripper_vertical_difference": 0.23618144736103616, "task_success": 0.0 }, { "completion_time": 3.954096555709839, "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": -3.185983914788526e-05, "left gripper-book distance": 0.5861458717057897, "right gripper-book distance": 0.11240128482750218 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1197549383019771, "bimanual_gripper_vertical_difference": 0.23676231171401996, "task_success": 0.0 }, { "completion_time": 3.9835495948791504, "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": 0.00029121999461823034, "left gripper-book distance": 0.5857853838340765, "right gripper-book distance": 0.11153059987968461 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.114727234951328, "bimanual_gripper_vertical_difference": 0.23733981007478602, "task_success": 0.0 }, { "completion_time": 4.0117621421813965, "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": -3.41980434805933e-05, "left gripper-book distance": 0.5859964513880657, "right gripper-book distance": 0.11080574960101863 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1092795178802173, "bimanual_gripper_vertical_difference": 0.2379133014626275, "task_success": 0.0 }, { "completion_time": 4.040585517883301, "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": 0.00046072545965325507, "left gripper-book distance": 0.5855596673667325, "right gripper-book distance": 0.10987690541433144 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1034819276089127, "bimanual_gripper_vertical_difference": 0.23848103208573038, "task_success": 0.0 }, { "completion_time": 4.069737195968628, "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": 0.00018546449610101767, "left gripper-book distance": 0.585473926950014, "right gripper-book distance": 0.1094937906337363 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0972131729414394, "bimanual_gripper_vertical_difference": 0.23904234845568054, "task_success": 0.0 }, { "completion_time": 4.100672960281372, "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": -0.0018084205010233667, "left gripper-book distance": 0.5864030144845608, "right gripper-book distance": 0.10885456778310826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0913884436534214, "bimanual_gripper_vertical_difference": 0.23960861008479648, "task_success": 0.0 }, { "completion_time": 4.130120754241943, "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": 0.0015148652331846701, "left gripper-book distance": 0.5847006008500435, "right gripper-book distance": 0.10889635550035007 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.090945001635299, "bimanual_gripper_vertical_difference": 0.24012128218938827, "task_success": 0.0 }, { "completion_time": 4.160844802856445, "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": 0.00617506874775553, "left gripper-book distance": 0.5799408691235907, "right gripper-book distance": 0.11047853288042539 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0860337957699806, "bimanual_gripper_vertical_difference": 0.24058231601705005, "task_success": 0.0 }, { "completion_time": 4.195107936859131, "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": 0.007522818623728056, "left gripper-book distance": 0.5779149740265075, "right gripper-book distance": 0.11099683287652538 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0824791307660675, "bimanual_gripper_vertical_difference": 0.2410216639869226, "task_success": 0.0 }, { "completion_time": 4.224766254425049, "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": 0.00816510612016208, "left gripper-book distance": 0.5768630555066157, "right gripper-book distance": 0.11130158470419727 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0785250043513472, "bimanual_gripper_vertical_difference": 0.24144414967191796, "task_success": 0.0 }, { "completion_time": 4.257319211959839, "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": 0.01070324535056899, "left gripper-book distance": 0.5742527560840498, "right gripper-book distance": 0.11197504302087383 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.073703265218269, "bimanual_gripper_vertical_difference": 0.2418443176215419, "task_success": 0.0 }, { "completion_time": 4.287933349609375, "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": 0.011827874081972722, "left gripper-book distance": 0.5737336902674691, "right gripper-book distance": 0.11209294061664012 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.069042514121774, "bimanual_gripper_vertical_difference": 0.24222882623756037, "task_success": 0.0 }, { "completion_time": 4.318513631820679, "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": 0.012949624824391437, "left gripper-book distance": 0.5740786986307216, "right gripper-book distance": 0.11240914151728325 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.066672262503748, "bimanual_gripper_vertical_difference": 0.24260130739750374, "task_success": 0.0 }, { "completion_time": 4.348548650741577, "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": 0.015544800203017184, "left gripper-book distance": 0.5728169404152095, "right gripper-book distance": 0.11435134929883216 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0647992838598026, "bimanual_gripper_vertical_difference": 0.24294769867676033, "task_success": 0.0 }, { "completion_time": 4.377066373825073, "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": 0.02118817935120665, "left gripper-book distance": 0.5678199308626363, "right gripper-book distance": 0.11835488204437782 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0630600896848126, "bimanual_gripper_vertical_difference": 0.24324524527410213, "task_success": 0.0 }, { "completion_time": 4.408288240432739, "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": 0.025128490331249198, "left gripper-book distance": 0.5656836987043715, "right gripper-book distance": 0.1205659230407225 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0613215420962725, "bimanual_gripper_vertical_difference": 0.24349913044624172, "task_success": 0.0 }, { "completion_time": 4.438990831375122, "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": 0.02800607206314687, "left gripper-book distance": 0.5655060318151448, "right gripper-book distance": 0.12120992006937707 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0598145901085834, "bimanual_gripper_vertical_difference": 0.24372048229704757, "task_success": 0.0 }, { "completion_time": 4.4684836864471436, "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": 0.030351178146289293, "left gripper-book distance": 0.5641631360554678, "right gripper-book distance": 0.12295722793240724 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0576258536546457, "bimanual_gripper_vertical_difference": 0.24391767794629554, "task_success": 0.0 }, { "completion_time": 4.498868227005005, "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": 0.035506311251858214, "left gripper-book distance": 0.5596296994407319, "right gripper-book distance": 0.12607027853015565 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.055013879688725, "bimanual_gripper_vertical_difference": 0.24406904202952825, "task_success": 0.0 }, { "completion_time": 4.530352830886841, "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": 0.03863844885056955, "left gripper-book distance": 0.5583335820279837, "right gripper-book distance": 0.1275491770286241 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0520471524219706, "bimanual_gripper_vertical_difference": 0.24418422003828777, "task_success": 0.0 }, { "completion_time": 4.562215805053711, "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": 0.042099296118991436, "left gripper-book distance": 0.5565973723248883, "right gripper-book distance": 0.12929095971437626 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0491631775400656, "bimanual_gripper_vertical_difference": 0.24426389770645165, "task_success": 0.0 }, { "completion_time": 4.592095851898193, "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": 0.04566836187526213, "left gripper-book distance": 0.5548570423217819, "right gripper-book distance": 0.13139637133047374 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0468379008012003, "bimanual_gripper_vertical_difference": 0.24430295184611273, "task_success": 0.0 }, { "completion_time": 4.623209476470947, "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": 0.0503703512362903, "left gripper-book distance": 0.553660622159854, "right gripper-book distance": 0.13327809524909692 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0457268050572357, "bimanual_gripper_vertical_difference": 0.24429507852049578, "task_success": 0.0 }, { "completion_time": 4.655129671096802, "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": 0.05664441250013985, "left gripper-book distance": 0.5523311119581753, "right gripper-book distance": 0.1352634209231576 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.0463014096416923, "bimanual_gripper_vertical_difference": 0.24423146377583593, "task_success": 1.0 } ]