[ { "completion_time": 0.04504537582397461, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": -0.0005255053599606541, "left gripper-book distance": 0.6008369885619453, "right gripper-book distance": 0.4380952035139151 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.07446551322937012, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006287583816957376, "left gripper-book distance": 0.5989216489498216, "right gripper-book distance": 0.43548214121400697 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0185634592638215e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.10422515869140625, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004732250515382397, "left gripper-book distance": 0.5983090957146672, "right gripper-book distance": 0.43461729492368123 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.865484758501276e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.1343369483947754, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005496664747491886, "left gripper-book distance": 0.5972833852154856, "right gripper-book distance": 0.43271847861768586 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.052384011954370154, "bimanual_gripper_vertical_difference": 7.323696345812314e-05, "task_success": 0.0 }, { "completion_time": 0.1647953987121582, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004329854414776291, "left gripper-book distance": 0.5963678835315303, "right gripper-book distance": 0.4284787839148335 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2431397907391566, "bimanual_gripper_vertical_difference": 0.0005660904091668861, "task_success": 0.0 }, { "completion_time": 0.19499516487121582, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005742381848312661, "left gripper-book distance": 0.5958315595723334, "right gripper-book distance": 0.42533923754382164 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.46628289084005536, "bimanual_gripper_vertical_difference": 0.0012656203660660337, "task_success": 0.0 }, { "completion_time": 0.22452211380004883, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005473387391691231, "left gripper-book distance": 0.5950696589969385, "right gripper-book distance": 0.4277359144640316 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.713128332242477, "bimanual_gripper_vertical_difference": 0.0015844790674542125, "task_success": 0.0 }, { "completion_time": 0.25611042976379395, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006265813849328783, "left gripper-book distance": 0.5942368975458059, "right gripper-book distance": 0.4340211354460824 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9735162882643142, "bimanual_gripper_vertical_difference": 0.001506908092528264, "task_success": 0.0 }, { "completion_time": 0.28743457794189453, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005748475618435611, "left gripper-book distance": 0.5937121169847066, "right gripper-book distance": 0.437112256492427 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2020006505410303, "bimanual_gripper_vertical_difference": 0.001621959357132817, "task_success": 0.0 }, { "completion_time": 0.3175694942474365, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005823609977874122, "left gripper-book distance": 0.5933803477418212, "right gripper-book distance": 0.42585755749888615 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3946627864343506, "bimanual_gripper_vertical_difference": 0.002368794977035793, "task_success": 0.0 }, { "completion_time": 0.346085786819458, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005516863288528295, "left gripper-book distance": 0.5932581284059321, "right gripper-book distance": 0.3998451373305668 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5938011737105726, "bimanual_gripper_vertical_difference": 0.005300492439868258, "task_success": 0.0 }, { "completion_time": 0.3747882843017578, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006424432244599432, "left gripper-book distance": 0.593273199391019, "right gripper-book distance": 0.35917781076831334 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.795629248828804, "bimanual_gripper_vertical_difference": 0.010974782366417524, "task_success": 0.0 }, { "completion_time": 0.4036900997161865, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004493538753546078, "left gripper-book distance": 0.5936660127419809, "right gripper-book distance": 0.3065405162675981 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9897515037502964, "bimanual_gripper_vertical_difference": 0.019698173657547488, "task_success": 0.0 }, { "completion_time": 0.4327394962310791, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005902299438735881, "left gripper-book distance": 0.5939974656017265, "right gripper-book distance": 0.24893712209725943 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.1637689902874344, "bimanual_gripper_vertical_difference": 0.031400294507455864, "task_success": 0.0 }, { "completion_time": 0.46232151985168457, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006349489347188264, "left gripper-book distance": 0.5941685647843422, "right gripper-book distance": 0.2066483180198852 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.290733367973678, "bimanual_gripper_vertical_difference": 0.04443218103154975, "task_success": 0.0 }, { "completion_time": 0.4911763668060303, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005118279038236473, "left gripper-book distance": 0.59454971262417, "right gripper-book distance": 0.17837248087188928 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.4021000706768576, "bimanual_gripper_vertical_difference": 0.05731383312423956, "task_success": 0.0 }, { "completion_time": 0.5212769508361816, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005949785383850825, "left gripper-book distance": 0.5949359313489071, "right gripper-book distance": 0.1601077215986611 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.5066556996309375, "bimanual_gripper_vertical_difference": 0.06920629246632505, "task_success": 0.0 }, { "completion_time": 0.5497035980224609, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005230601198004114, "left gripper-book distance": 0.5953801408160372, "right gripper-book distance": 0.15403607900116248 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.578414885354175, "bimanual_gripper_vertical_difference": 0.07963698587532066, "task_success": 0.0 }, { "completion_time": 0.578528642654419, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004767918478496558, "left gripper-book distance": 0.5957991930324177, "right gripper-book distance": 0.16186432129151335 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.6351601466380536, "bimanual_gripper_vertical_difference": 0.08832534499844714, "task_success": 0.0 }, { "completion_time": 0.6072695255279541, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006952513517934911, "left gripper-book distance": 0.5958663602301135, "right gripper-book distance": 0.1797491154222551 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.661591651985664, "bimanual_gripper_vertical_difference": 0.09523320569904013, "task_success": 0.0 }, { "completion_time": 0.637601375579834, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005362985705721357, "left gripper-book distance": 0.5960647889760903, "right gripper-book distance": 0.20208354061014866 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.661274871867382, "bimanual_gripper_vertical_difference": 0.10053556431073034, "task_success": 0.0 }, { "completion_time": 0.6654939651489258, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000524844606081154, "left gripper-book distance": 0.5962305529475798, "right gripper-book distance": 0.22427243797641416 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.66371474738446, "bimanual_gripper_vertical_difference": 0.10452531613334944, "task_success": 0.0 }, { "completion_time": 0.6941959857940674, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005392239651742514, "left gripper-book distance": 0.5965462190524541, "right gripper-book distance": 0.24079037780130366 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.6354845429687015, "bimanual_gripper_vertical_difference": 0.10763186912901927, "task_success": 0.0 }, { "completion_time": 0.7225828170776367, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006241699936073708, "left gripper-book distance": 0.5966626564342451, "right gripper-book distance": 0.2347606244287623 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.641220170440545, "bimanual_gripper_vertical_difference": 0.1108477427360554, "task_success": 0.0 }, { "completion_time": 0.7548809051513672, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005585056291096402, "left gripper-book distance": 0.59686487512373, "right gripper-book distance": 0.2363719940927127 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.6347699390166106, "bimanual_gripper_vertical_difference": 0.11387135042807216, "task_success": 0.0 }, { "completion_time": 0.7845087051391602, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005708760798931456, "left gripper-book distance": 0.5970212325872386, "right gripper-book distance": 0.21841842115427673 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.6393691247771702, "bimanual_gripper_vertical_difference": 0.11739219206329042, "task_success": 0.0 }, { "completion_time": 0.8132407665252686, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006677371696557355, "left gripper-book distance": 0.5971067999428642, "right gripper-book distance": 0.185240526545006 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.6691379592901314, "bimanual_gripper_vertical_difference": 0.12178190013794421, "task_success": 0.0 }, { "completion_time": 0.8426573276519775, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00046513306653783726, "left gripper-book distance": 0.5960186470652791, "right gripper-book distance": 0.1511304173540414 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.7039841700287615, "bimanual_gripper_vertical_difference": 0.12685717907228647, "task_success": 0.0 }, { "completion_time": 0.8712151050567627, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005681110446529303, "left gripper-book distance": 0.594815543972854, "right gripper-book distance": 0.13596895100791717 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.7349473947149705, "bimanual_gripper_vertical_difference": 0.13196545304527255, "task_success": 0.0 }, { "completion_time": 0.8997030258178711, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00032053409395682575, "left gripper-book distance": 0.5939238802508126, "right gripper-book distance": 0.13370800340772665 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.716408736170706, "bimanual_gripper_vertical_difference": 0.13676696296745164, "task_success": 0.0 }, { "completion_time": 0.9285261631011963, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005139087344360194, "left gripper-book distance": 0.5933265398942632, "right gripper-book distance": 0.13468140288964198 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.6719928701805364, "bimanual_gripper_vertical_difference": 0.14122074738834414, "task_success": 0.0 }, { "completion_time": 0.9572184085845947, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005812924163602906, "left gripper-book distance": 0.5929387890476414, "right gripper-book distance": 0.13925946865320643 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.63261468129285, "bimanual_gripper_vertical_difference": 0.1452909536619284, "task_success": 0.0 }, { "completion_time": 0.9867560863494873, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005884375891302973, "left gripper-book distance": 0.5927541724247638, "right gripper-book distance": 0.14739922750396497 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.614188806308901, "bimanual_gripper_vertical_difference": 0.14893516266189266, "task_success": 0.0 }, { "completion_time": 1.0163946151733398, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004500403854812429, "left gripper-book distance": 0.5916762287320375, "right gripper-book distance": 0.15557381879875232 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.5902140315119864, "bimanual_gripper_vertical_difference": 0.15218379375820526, "task_success": 0.0 }, { "completion_time": 1.045271635055542, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005092302963927153, "left gripper-book distance": 0.5913773386055995, "right gripper-book distance": 0.16066469900791414 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.5757802765859132, "bimanual_gripper_vertical_difference": 0.15522207208719938, "task_success": 0.0 }, { "completion_time": 1.0745282173156738, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005692073927763275, "left gripper-book distance": 0.5915198072851616, "right gripper-book distance": 0.16960441227344777 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.552335353039938, "bimanual_gripper_vertical_difference": 0.15800126744548942, "task_success": 0.0 }, { "completion_time": 1.1045501232147217, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006929466425674713, "left gripper-book distance": 0.5917216618453387, "right gripper-book distance": 0.1782570501814994 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.517814883162727, "bimanual_gripper_vertical_difference": 0.16054195691266143, "task_success": 0.0 }, { "completion_time": 1.1351902484893799, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005629235899613505, "left gripper-book distance": 0.5918977111851127, "right gripper-book distance": 0.18123965863179403 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.509805044654302, "bimanual_gripper_vertical_difference": 0.1630286153025308, "task_success": 0.0 }, { "completion_time": 1.1645557880401611, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006312985609658872, "left gripper-book distance": 0.5917137407209649, "right gripper-book distance": 0.1883356558429608 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.487343356251056, "bimanual_gripper_vertical_difference": 0.16537907593437515, "task_success": 0.0 }, { "completion_time": 1.1949219703674316, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00020046954863373045, "left gripper-book distance": 0.5918324286077844, "right gripper-book distance": 0.19277696217482887 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.456385779545663, "bimanual_gripper_vertical_difference": 0.167635297628667, "task_success": 0.0 }, { "completion_time": 1.2269816398620605, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005266312127627515, "left gripper-book distance": 0.5914877896861643, "right gripper-book distance": 0.19481727990744352 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.4146584342157773, "bimanual_gripper_vertical_difference": 0.1698293644160924, "task_success": 0.0 }, { "completion_time": 1.2569668292999268, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000514226464534917, "left gripper-book distance": 0.591508352378753, "right gripper-book distance": 0.19086068214251375 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.3800814474361456, "bimanual_gripper_vertical_difference": 0.17206675644893252, "task_success": 0.0 }, { "completion_time": 1.2854695320129395, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005105478853900669, "left gripper-book distance": 0.5915557435272906, "right gripper-book distance": 0.17793190316055507 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.359222846553711, "bimanual_gripper_vertical_difference": 0.1744472454738586, "task_success": 0.0 }, { "completion_time": 1.3137142658233643, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00047171029150927524, "left gripper-book distance": 0.5914765119113388, "right gripper-book distance": 0.16156810403734248 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.33739481925914, "bimanual_gripper_vertical_difference": 0.17696117175844403, "task_success": 0.0 }, { "completion_time": 1.3420615196228027, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005815531252243433, "left gripper-book distance": 0.591213393640939, "right gripper-book distance": 0.14954612025260583 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.3166880110980568, "bimanual_gripper_vertical_difference": 0.17946669562587722, "task_success": 0.0 }, { "completion_time": 1.3722567558288574, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005013982463566435, "left gripper-book distance": 0.5909678226268237, "right gripper-book distance": 0.14262997997447516 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.301480511895775, "bimanual_gripper_vertical_difference": 0.1818737271198974, "task_success": 0.0 }, { "completion_time": 1.4017646312713623, "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": 0.0007739138842518534, "left gripper-book distance": 0.5908676049269226, "right gripper-book distance": 0.13923009924676033 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.288473484827663, "bimanual_gripper_vertical_difference": 0.18415672194248267, "task_success": 0.0 }, { "completion_time": 1.429717779159546, "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": 0.0006453349291836163, "left gripper-book distance": 0.5916855240984212, "right gripper-book distance": 0.13740285894184628 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.268287205182238, "bimanual_gripper_vertical_difference": 0.18632898027424394, "task_success": 0.0 }, { "completion_time": 1.458482027053833, "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": 0.000891324459000975, "left gripper-book distance": 0.5923620524101688, "right gripper-book distance": 0.13596445561859097 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.2408627709594304, "bimanual_gripper_vertical_difference": 0.18840515087517268, "task_success": 0.0 }, { "completion_time": 1.4866373538970947, "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": 0.0007220104224352486, "left gripper-book distance": 0.5933039651182554, "right gripper-book distance": 0.13502565012167844 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.2071956740643945, "bimanual_gripper_vertical_difference": 0.19040122975176815, "task_success": 0.0 }, { "completion_time": 1.5144238471984863, "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": 0.0007705978314821449, "left gripper-book distance": 0.5940138594183001, "right gripper-book distance": 0.13497534647216414 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.171334081797422, "bimanual_gripper_vertical_difference": 0.19232006905142504, "task_success": 0.0 }, { "completion_time": 1.5429584980010986, "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": 0.0006971468736072239, "left gripper-book distance": 0.5943033051497445, "right gripper-book distance": 0.13490776704217844 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.137342534496208, "bimanual_gripper_vertical_difference": 0.19417149638721726, "task_success": 0.0 }, { "completion_time": 1.5718743801116943, "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": 0.000750157576764332, "left gripper-book distance": 0.59404983369095, "right gripper-book distance": 0.1347283819259487 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.104339358643131, "bimanual_gripper_vertical_difference": 0.19596200520203977, "task_success": 0.0 }, { "completion_time": 1.5997440814971924, "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": 0.000638527121300414, "left gripper-book distance": 0.5940050036252479, "right gripper-book distance": 0.1350943629995748 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0709497983928125, "bimanual_gripper_vertical_difference": 0.19768761423427114, "task_success": 0.0 }, { "completion_time": 1.6292626857757568, "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": 0.0008058386539846474, "left gripper-book distance": 0.5933910015455202, "right gripper-book distance": 0.13513193017544034 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0354076055427455, "bimanual_gripper_vertical_difference": 0.1993514971952105, "task_success": 0.0 }, { "completion_time": 1.6582310199737549, "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": 0.000792801888440553, "left gripper-book distance": 0.5931624272179594, "right gripper-book distance": 0.13619040915840105 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.004205956101297, "bimanual_gripper_vertical_difference": 0.20094820026381413, "task_success": 0.0 }, { "completion_time": 1.6888995170593262, "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": 0.00013990900665927786, "left gripper-book distance": 0.5927690538561771, "right gripper-book distance": 0.1372959399534359 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.977359611552128, "bimanual_gripper_vertical_difference": 0.20250574292459064, "task_success": 0.0 }, { "completion_time": 1.7172880172729492, "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": 0.0007312309376003023, "left gripper-book distance": 0.5922956247051838, "right gripper-book distance": 0.13718676065940527 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9493510533653995, "bimanual_gripper_vertical_difference": 0.2040124101067952, "task_success": 0.0 }, { "completion_time": 1.7467577457427979, "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": 0.000633350243047559, "left gripper-book distance": 0.5921994775284445, "right gripper-book distance": 0.1374548551069309 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9220233306763146, "bimanual_gripper_vertical_difference": 0.20546548876874723, "task_success": 0.0 }, { "completion_time": 1.7748866081237793, "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": 0.00035590719945577387, "left gripper-book distance": 0.5913057844039523, "right gripper-book distance": 0.1374770248311873 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9010591525709655, "bimanual_gripper_vertical_difference": 0.2068691709657018, "task_success": 0.0 }, { "completion_time": 1.8050727844238281, "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": 0.0005503905446797575, "left gripper-book distance": 0.5904706505001629, "right gripper-book distance": 0.1371014850088627 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8816221092077112, "bimanual_gripper_vertical_difference": 0.2082255104729882, "task_success": 0.0 }, { "completion_time": 1.8329851627349854, "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": 0.0006548207936083461, "left gripper-book distance": 0.5898869339629671, "right gripper-book distance": 0.1371092070763057 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.861849821379145, "bimanual_gripper_vertical_difference": 0.20952855786662672, "task_success": 0.0 }, { "completion_time": 1.863158941268921, "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": 0.0007292210310642089, "left gripper-book distance": 0.58942107062039, "right gripper-book distance": 0.13664660988940952 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.839576130977532, "bimanual_gripper_vertical_difference": 0.21078658047300763, "task_success": 0.0 }, { "completion_time": 1.8922011852264404, "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": 0.000603619355256102, "left gripper-book distance": 0.5892034011383128, "right gripper-book distance": 0.13646804428416 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8146364547286302, "bimanual_gripper_vertical_difference": 0.21200797563225793, "task_success": 0.0 }, { "completion_time": 1.9206554889678955, "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": 0.0003817213023216137, "left gripper-book distance": 0.5891743167282298, "right gripper-book distance": 0.1365710178330571 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7892612838931279, "bimanual_gripper_vertical_difference": 0.21319786972935126, "task_success": 0.0 }, { "completion_time": 1.9484515190124512, "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": 0.0006877850721280776, "left gripper-book distance": 0.5889366118812573, "right gripper-book distance": 0.1372659518352787 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7744543565835387, "bimanual_gripper_vertical_difference": 0.21436077351342014, "task_success": 0.0 }, { "completion_time": 1.9775605201721191, "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": 0.0006730978128258736, "left gripper-book distance": 0.5889274244866531, "right gripper-book distance": 0.1425633888220785 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7811167043149194, "bimanual_gripper_vertical_difference": 0.21548702858195062, "task_success": 0.0 }, { "completion_time": 2.006127119064331, "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": 0.0006852295677142184, "left gripper-book distance": 0.5889964956408701, "right gripper-book distance": 0.15145117361016042 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8016113477170415, "bimanual_gripper_vertical_difference": 0.2165646284736366, "task_success": 0.0 }, { "completion_time": 2.036241292953491, "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": 0.0006704183346797343, "left gripper-book distance": 0.5891900002509174, "right gripper-book distance": 0.1728472949382954 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.82837341020821, "bimanual_gripper_vertical_difference": 0.21745212075990764, "task_success": 0.0 }, { "completion_time": 2.0650272369384766, "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": 0.0006581691534561784, "left gripper-book distance": 0.5892744622294002, "right gripper-book distance": 0.21410787299744383 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8522771930418092, "bimanual_gripper_vertical_difference": 0.21791498620795968, "task_success": 0.0 }, { "completion_time": 2.0948662757873535, "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": 0.0006866291228606602, "left gripper-book distance": 0.5892613208846833, "right gripper-book distance": 0.22415475043549435 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8525949851807406, "bimanual_gripper_vertical_difference": 0.2181736109897784, "task_success": 0.0 }, { "completion_time": 2.1241872310638428, "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": 0.0006792636381269812, "left gripper-book distance": 0.5889962441739687, "right gripper-book distance": 0.23840255246028666 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8618246440187005, "bimanual_gripper_vertical_difference": 0.21820820106054659, "task_success": 0.0 }, { "completion_time": 2.1544854640960693, "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": 0.0005848098724885453, "left gripper-book distance": 0.5885582500106226, "right gripper-book distance": 0.2627867166844336 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.878114496439808, "bimanual_gripper_vertical_difference": 0.21791760666774662, "task_success": 0.0 }, { "completion_time": 2.1834988594055176, "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": 0.0005258804453206478, "left gripper-book distance": 0.5880126891954104, "right gripper-book distance": 0.2898064744416626 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8965980585776063, "bimanual_gripper_vertical_difference": 0.2171943915801488, "task_success": 0.0 }, { "completion_time": 2.212677240371704, "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": 0.0004934558917218945, "left gripper-book distance": 0.587445102925041, "right gripper-book distance": 0.288340966991059 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9025894296014592, "bimanual_gripper_vertical_difference": 0.21647118861813827, "task_success": 0.0 }, { "completion_time": 2.2419023513793945, "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": 0.0004608380113286792, "left gripper-book distance": 0.5869650425871102, "right gripper-book distance": 0.29217313255874916 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9166409776243043, "bimanual_gripper_vertical_difference": 0.21559917160608377, "task_success": 0.0 }, { "completion_time": 2.270914077758789, "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": 0.0005783268722727719, "left gripper-book distance": 0.5855905334905098, "right gripper-book distance": 0.29835034251121123 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9247712235428158, "bimanual_gripper_vertical_difference": 0.21456234042184222, "task_success": 0.0 }, { "completion_time": 2.2985613346099854, "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": 0.0006170833308252188, "left gripper-book distance": 0.5845197919563967, "right gripper-book distance": 0.2838275932087436 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9244715761781515, "bimanual_gripper_vertical_difference": 0.21372165251700098, "task_success": 0.0 }, { "completion_time": 2.3270981311798096, "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": 0.0005918662506503303, "left gripper-book distance": 0.5838552613422875, "right gripper-book distance": 0.24492828519399812 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9274390160293309, "bimanual_gripper_vertical_difference": 0.21348552628745382, "task_success": 0.0 }, { "completion_time": 2.355626344680786, "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": 0.000562636485552992, "left gripper-book distance": 0.5834336622588359, "right gripper-book distance": 0.21088776791725158 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9295844092359986, "bimanual_gripper_vertical_difference": 0.2138479941263523, "task_success": 0.0 }, { "completion_time": 2.3856778144836426, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006119062971069456, "left gripper-book distance": 0.5823663981911652, "right gripper-book distance": 0.1906882148039085 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9314335532907307, "bimanual_gripper_vertical_difference": 0.21470631041969077, "task_success": 0.0 }, { "completion_time": 2.4137532711029053, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006169941522233824, "left gripper-book distance": 0.5813765756947452, "right gripper-book distance": 0.1851755937826483 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9254330213808395, "bimanual_gripper_vertical_difference": 0.21576363015741065, "task_success": 0.0 }, { "completion_time": 2.443549633026123, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005975390720311946, "left gripper-book distance": 0.5806505695085988, "right gripper-book distance": 0.18789831497681492 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9291221673636993, "bimanual_gripper_vertical_difference": 0.21667718317279722, "task_success": 0.0 }, { "completion_time": 2.472111701965332, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005913732887762313, "left gripper-book distance": 0.5798236769404644, "right gripper-book distance": 0.20260354147367962 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9405267957213848, "bimanual_gripper_vertical_difference": 0.21715341628845797, "task_success": 0.0 }, { "completion_time": 2.500324249267578, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006317238187576457, "left gripper-book distance": 0.5791222316469208, "right gripper-book distance": 0.22917455746159607 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9542090897857667, "bimanual_gripper_vertical_difference": 0.2171277117505324, "task_success": 0.0 }, { "completion_time": 2.527956962585449, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006356002201556299, "left gripper-book distance": 0.5786985980664504, "right gripper-book distance": 0.24595710940022392 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.966338227343191, "bimanual_gripper_vertical_difference": 0.2168680786514888, "task_success": 0.0 }, { "completion_time": 2.555267810821533, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006196465316885558, "left gripper-book distance": 0.5783555093309556, "right gripper-book distance": 0.2457266289754715 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9799507801231166, "bimanual_gripper_vertical_difference": 0.216658818364719, "task_success": 0.0 }, { "completion_time": 2.5826690196990967, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006139709951962224, "left gripper-book distance": 0.5781438783645134, "right gripper-book distance": 0.23519865714348742 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9955316745125378, "bimanual_gripper_vertical_difference": 0.21667533008330608, "task_success": 0.0 }, { "completion_time": 2.6126646995544434, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00059681698523395, "left gripper-book distance": 0.5779840248920416, "right gripper-book distance": 0.22499602821868747 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0106798036521716, "bimanual_gripper_vertical_difference": 0.21693072360626778, "task_success": 0.0 }, { "completion_time": 2.639641761779785, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005914830641097213, "left gripper-book distance": 0.5779520682002935, "right gripper-book distance": 0.21971907194066645 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.024049187489109, "bimanual_gripper_vertical_difference": 0.21730302631155923, "task_success": 0.0 }, { "completion_time": 2.6668128967285156, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005697306095171495, "left gripper-book distance": 0.5779745306674282, "right gripper-book distance": 0.21432621168087912 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0373292005343973, "bimanual_gripper_vertical_difference": 0.21778422565921401, "task_success": 0.0 }, { "completion_time": 2.695173978805542, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005637558030061607, "left gripper-book distance": 0.5779866967371846, "right gripper-book distance": 0.20877006568177034 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.043803580232594, "bimanual_gripper_vertical_difference": 0.21836342128914907, "task_success": 0.0 }, { "completion_time": 2.7230982780456543, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005358168926056228, "left gripper-book distance": 0.5779549117079216, "right gripper-book distance": 0.2028821661043518 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.042086189225797, "bimanual_gripper_vertical_difference": 0.2190199907301005, "task_success": 0.0 }, { "completion_time": 2.7508087158203125, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005287954955686125, "left gripper-book distance": 0.5779625816311028, "right gripper-book distance": 0.1974524042239458 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0335274993362344, "bimanual_gripper_vertical_difference": 0.2197277149140408, "task_success": 0.0 }, { "completion_time": 2.7795217037200928, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004935647120369868, "left gripper-book distance": 0.5781527943933998, "right gripper-book distance": 0.1929837399162168 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0216312079566006, "bimanual_gripper_vertical_difference": 0.22046969048348686, "task_success": 0.0 }, { "completion_time": 2.8084158897399902, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005483972039763696, "left gripper-book distance": 0.5783804198070446, "right gripper-book distance": 0.18919813185138817 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0072574174583546, "bimanual_gripper_vertical_difference": 0.22122696405651054, "task_success": 0.0 }, { "completion_time": 2.8374826908111572, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006279741063880406, "left gripper-book distance": 0.5785109415135363, "right gripper-book distance": 0.18537745039655867 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9905623451286307, "bimanual_gripper_vertical_difference": 0.22198463307902594, "task_success": 0.0 }, { "completion_time": 2.8665058612823486, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006517509697864243, "left gripper-book distance": 0.5785669337033321, "right gripper-book distance": 0.18102944474051988 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.976595655996525, "bimanual_gripper_vertical_difference": 0.22273744780155502, "task_success": 0.0 }, { "completion_time": 2.8961660861968994, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006662275985143129, "left gripper-book distance": 0.5785805930645385, "right gripper-book distance": 0.17592532249013287 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9626863602369666, "bimanual_gripper_vertical_difference": 0.22348840355430694, "task_success": 0.0 }, { "completion_time": 2.9251463413238525, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005856085546722678, "left gripper-book distance": 0.5787606545560257, "right gripper-book distance": 0.16956969864731444 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9502864638611346, "bimanual_gripper_vertical_difference": 0.2242446779254442, "task_success": 0.0 }, { "completion_time": 2.9555585384368896, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005331633634408917, "left gripper-book distance": 0.5789786745188509, "right gripper-book distance": 0.162059355892897 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9391968330182419, "bimanual_gripper_vertical_difference": 0.22501515394877564, "task_success": 0.0 }, { "completion_time": 2.983407735824585, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004941616767709656, "left gripper-book distance": 0.5792185354982085, "right gripper-book distance": 0.1535214572457456 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9294349352766669, "bimanual_gripper_vertical_difference": 0.22580776127437224, "task_success": 0.0 }, { "completion_time": 3.012890577316284, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004373312690059139, "left gripper-book distance": 0.5795354653595017, "right gripper-book distance": 0.14502396979348933 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.919532166136796, "bimanual_gripper_vertical_difference": 0.2266249228422811, "task_success": 0.0 }, { "completion_time": 3.04156231880188, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00045363558710120877, "left gripper-book distance": 0.5797911766233763, "right gripper-book distance": 0.1376633160843973 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9085421740074733, "bimanual_gripper_vertical_difference": 0.22746223685301087, "task_success": 0.0 }, { "completion_time": 3.070927858352661, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004725440166347683, "left gripper-book distance": 0.5799265553911713, "right gripper-book distance": 0.1317000659229403 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8964459170350196, "bimanual_gripper_vertical_difference": 0.22831469787371206, "task_success": 0.0 }, { "completion_time": 3.0994505882263184, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005081256486444419, "left gripper-book distance": 0.5801040903280889, "right gripper-book distance": 0.12670965363195347 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.88388220741256, "bimanual_gripper_vertical_difference": 0.22918488609998128, "task_success": 0.0 }, { "completion_time": 3.1300976276397705, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005155833223295936, "left gripper-book distance": 0.5798454676583576, "right gripper-book distance": 0.12305467203309187 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.870298485006037, "bimanual_gripper_vertical_difference": 0.23008458152270103, "task_success": 0.0 }, { "completion_time": 3.158735752105713, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00022353113526896173, "left gripper-book distance": 0.5799123753751424, "right gripper-book distance": 0.11937935410029289 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.85648592036211, "bimanual_gripper_vertical_difference": 0.2310122021335769, "task_success": 0.0 }, { "completion_time": 3.1874918937683105, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.001076228306437943, "left gripper-book distance": 0.5806651785049001, "right gripper-book distance": 0.11890854232748553 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8414689972442748, "bimanual_gripper_vertical_difference": 0.23193465376842212, "task_success": 0.0 }, { "completion_time": 3.21571683883667, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0008799225643906228, "left gripper-book distance": 0.580442639404291, "right gripper-book distance": 0.1184272425866281 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8266561497047025, "bimanual_gripper_vertical_difference": 0.23283889999564145, "task_success": 0.0 }, { "completion_time": 3.245514392852783, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0007790928026324417, "left gripper-book distance": 0.5802616365152574, "right gripper-book distance": 0.11814965431355882 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8120110027156733, "bimanual_gripper_vertical_difference": 0.2337246119697907, "task_success": 0.0 }, { "completion_time": 3.274434804916382, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0006615532137635993, "left gripper-book distance": 0.5800710544396478, "right gripper-book distance": 0.11789113165642992 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7977826994325519, "bimanual_gripper_vertical_difference": 0.23459234156856515, "task_success": 0.0 }, { "completion_time": 3.304589033126831, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0005499343933825784, "left gripper-book distance": 0.579818563835698, "right gripper-book distance": 0.11760383506361617 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7837892659593333, "bimanual_gripper_vertical_difference": 0.23544272937407817, "task_success": 0.0 }, { "completion_time": 3.3330230712890625, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.00039528439459735054, "left gripper-book distance": 0.5794954117248983, "right gripper-book distance": 0.1173591420349484 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.769991975254736, "bimanual_gripper_vertical_difference": 0.2362757438170789, "task_success": 0.0 }, { "completion_time": 3.362172842025757, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.00025234081929548235, "left gripper-book distance": 0.5791825288277853, "right gripper-book distance": 0.11713830433258286 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7563419637869064, "bimanual_gripper_vertical_difference": 0.23709311035088754, "task_success": 0.0 }, { "completion_time": 3.390943765640259, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -2.695835055932516e-05, "left gripper-book distance": 0.5782103905098614, "right gripper-book distance": 0.1209673538222312 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7451216767682323, "bimanual_gripper_vertical_difference": 0.23785561727143997, "task_success": 0.0 }, { "completion_time": 3.4209728240966797, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0011465932916978616, "left gripper-book distance": 0.577004300766158, "right gripper-book distance": 0.1230190444834702 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7342407394809582, "bimanual_gripper_vertical_difference": 0.23858152676881664, "task_success": 0.0 }, { "completion_time": 3.4510130882263184, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.002641757497058639, "left gripper-book distance": 0.576741582214588, "right gripper-book distance": 0.12204671021324281 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7226260050309306, "bimanual_gripper_vertical_difference": 0.2392903237627203, "task_success": 0.0 }, { "completion_time": 3.480088472366333, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0037315438214320373, "left gripper-book distance": 0.576589222921793, "right gripper-book distance": 0.12202580465564761 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7114213174664434, "bimanual_gripper_vertical_difference": 0.2399895649660972, "task_success": 0.0 }, { "completion_time": 3.509443998336792, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.005263995567720392, "left gripper-book distance": 0.5757746270687499, "right gripper-book distance": 0.12227148935726814 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7012738801024343, "bimanual_gripper_vertical_difference": 0.24067468006513526, "task_success": 0.0 }, { "completion_time": 3.5417838096618652, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.008783074482872522, "left gripper-book distance": 0.5736591956215081, "right gripper-book distance": 0.12244084942198882 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.692404523164111, "bimanual_gripper_vertical_difference": 0.2413292638744309, "task_success": 0.0 }, { "completion_time": 3.5752739906311035, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.01662416099840247, "left gripper-book distance": 0.5697969866362655, "right gripper-book distance": 0.12226885745314332 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.687367517738058, "bimanual_gripper_vertical_difference": 0.24191750075648996, "task_success": 0.0 }, { "completion_time": 3.6060400009155273, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.03262534536523276, "left gripper-book distance": 0.5620818455318285, "right gripper-book distance": 0.12233979626290029 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.689720477829484, "bimanual_gripper_vertical_difference": 0.24238415692449627, "task_success": 0.0 }, { "completion_time": 3.637765407562256, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.05960830920273685, "left gripper-book distance": 0.548332239353648, "right gripper-book distance": 0.12301897688423682 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.698085128193294, "bimanual_gripper_vertical_difference": 0.2426514876173128, "task_success": 1.0 } ]