[ { "completion_time": 0.04586029052734375, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": -0.000657602048608541, "left gripper-book distance": 0.5064932772049696, "right gripper-book distance": 0.5065885416881302 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9451874944120817e-08, "bimanual_gripper_vertical_difference": 4.035083378539639e-11, "task_success": 0.0 }, { "completion_time": 0.07510781288146973, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005674375990556424, "left gripper-book distance": 0.5041702744680456, "right gripper-book distance": 0.504256185127841 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.705042440156237e-06, "bimanual_gripper_vertical_difference": 4.996788538491614e-10, "task_success": 0.0 }, { "completion_time": 0.10379314422607422, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007380219397270515, "left gripper-book distance": 0.5031614771711981, "right gripper-book distance": 0.5032523696434039 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4663035735900757e-05, "bimanual_gripper_vertical_difference": 1.2695109408156213e-09, "task_success": 0.0 }, { "completion_time": 0.133375883102417, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006505387417128361, "left gripper-book distance": 0.5026707949997163, "right gripper-book distance": 0.5027645099950255 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.529386029266785e-05, "bimanual_gripper_vertical_difference": 1.6780717371212006e-09, "task_success": 0.0 }, { "completion_time": 0.1634383201599121, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005268709697482388, "left gripper-book distance": 0.5024222082836992, "right gripper-book distance": 0.5024914428156864 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.442293942609234e-05, "bimanual_gripper_vertical_difference": 2.5025938210632147e-09, "task_success": 0.0 }, { "completion_time": 0.19271397590637207, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005808829610109978, "left gripper-book distance": 0.5011519864177275, "right gripper-book distance": 0.5012094870887907 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0024832416323267484, "bimanual_gripper_vertical_difference": 1.6544920866667923e-05, "task_success": 0.0 }, { "completion_time": 0.22142744064331055, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006989515326791818, "left gripper-book distance": 0.4992209759175161, "right gripper-book distance": 0.4983323212003469 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.039354349286412474, "bimanual_gripper_vertical_difference": 0.00042742849880039735, "task_success": 0.0 }, { "completion_time": 0.2513244152069092, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006042795767430276, "left gripper-book distance": 0.4989247198000549, "right gripper-book distance": 0.49461710138091985 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.17701230419834138, "bimanual_gripper_vertical_difference": 0.0019871826194721443, "task_success": 0.0 }, { "completion_time": 0.2811615467071533, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005262332895652477, "left gripper-book distance": 0.5003966434337812, "right gripper-book distance": 0.4924744609192006 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35598141290437857, "bimanual_gripper_vertical_difference": 0.00495031652969935, "task_success": 0.0 }, { "completion_time": 0.31078147888183594, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005471885453843806, "left gripper-book distance": 0.5022201639239091, "right gripper-book distance": 0.4907265656340265 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5520425718426799, "bimanual_gripper_vertical_difference": 0.009375617793648816, "task_success": 0.0 }, { "completion_time": 0.34099888801574707, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004260956568110652, "left gripper-book distance": 0.5026224796170866, "right gripper-book distance": 0.4827862897937046 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7309069311377724, "bimanual_gripper_vertical_difference": 0.01563402547429141, "task_success": 0.0 }, { "completion_time": 0.3699610233306885, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005017399467521777, "left gripper-book distance": 0.5005445868899481, "right gripper-book distance": 0.463931301673826 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8824875956909305, "bimanual_gripper_vertical_difference": 0.024094201830425415, "task_success": 0.0 }, { "completion_time": 0.39855337142944336, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006576387411728613, "left gripper-book distance": 0.4963707262081885, "right gripper-book distance": 0.4353280922023851 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9942608130717272, "bimanual_gripper_vertical_difference": 0.03474721660114281, "task_success": 0.0 }, { "completion_time": 0.42714715003967285, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006553695827065109, "left gripper-book distance": 0.4916755267999208, "right gripper-book distance": 0.40995229407475037 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0212903271231517, "bimanual_gripper_vertical_difference": 0.046106380767921826, "task_success": 0.0 }, { "completion_time": 0.45673704147338867, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005696874000692409, "left gripper-book distance": 0.48687080136671423, "right gripper-book distance": 0.3911294268160813 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9936881933567168, "bimanual_gripper_vertical_difference": 0.056698104504504125, "task_success": 0.0 }, { "completion_time": 0.4852786064147949, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005408326959823739, "left gripper-book distance": 0.48173908934020104, "right gripper-book distance": 0.3770987069173995 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9640391007263845, "bimanual_gripper_vertical_difference": 0.06576864792366155, "task_success": 0.0 }, { "completion_time": 0.5140683650970459, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005064368611519265, "left gripper-book distance": 0.4769566019550246, "right gripper-book distance": 0.36195251566579295 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.929616161339679, "bimanual_gripper_vertical_difference": 0.07353221352777736, "task_success": 0.0 }, { "completion_time": 0.5430402755737305, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005632837302514959, "left gripper-book distance": 0.47370371936508743, "right gripper-book distance": 0.34536286338988803 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8918440779690945, "bimanual_gripper_vertical_difference": 0.08025329198765845, "task_success": 0.0 }, { "completion_time": 0.5729198455810547, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006393359269575294, "left gripper-book distance": 0.4727249292033849, "right gripper-book distance": 0.327957326097622 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8588473509439205, "bimanual_gripper_vertical_difference": 0.08614574111645706, "task_success": 0.0 }, { "completion_time": 0.6029179096221924, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007188927615988661, "left gripper-book distance": 0.47365688889239893, "right gripper-book distance": 0.31061199570261977 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.829013658533975, "bimanual_gripper_vertical_difference": 0.09139007290107026, "task_success": 0.0 }, { "completion_time": 0.6346025466918945, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006824478899477571, "left gripper-book distance": 0.47592962391003557, "right gripper-book distance": 0.293452777353577 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8024941045431655, "bimanual_gripper_vertical_difference": 0.09616398411646372, "task_success": 0.0 }, { "completion_time": 0.6637730598449707, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005426481893557877, "left gripper-book distance": 0.4787368991903882, "right gripper-book distance": 0.27654692125158703 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.779271391392136, "bimanual_gripper_vertical_difference": 0.10058531931031028, "task_success": 0.0 }, { "completion_time": 0.6934418678283691, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005697075028375798, "left gripper-book distance": 0.4818440355142231, "right gripper-book distance": 0.26082996972422123 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7581235806424059, "bimanual_gripper_vertical_difference": 0.10474109354864174, "task_success": 0.0 }, { "completion_time": 0.7233164310455322, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006010423932941711, "left gripper-book distance": 0.48530267301803676, "right gripper-book distance": 0.24690302194416802 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7312611004600482, "bimanual_gripper_vertical_difference": 0.10869165334946916, "task_success": 0.0 }, { "completion_time": 0.7527155876159668, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006473759429299619, "left gripper-book distance": 0.4897398664724959, "right gripper-book distance": 0.23598693545251062 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7186911221414439, "bimanual_gripper_vertical_difference": 0.11247328646458886, "task_success": 0.0 }, { "completion_time": 0.7817525863647461, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005612072356446784, "left gripper-book distance": 0.4941918542273147, "right gripper-book distance": 0.22915377798888356 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7100221944450426, "bimanual_gripper_vertical_difference": 0.1160160785153744, "task_success": 0.0 }, { "completion_time": 0.8145103454589844, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005296471480108478, "left gripper-book distance": 0.4967727398455962, "right gripper-book distance": 0.22557810119579969 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6901898716472521, "bimanual_gripper_vertical_difference": 0.1192330867549752, "task_success": 0.0 }, { "completion_time": 0.8445196151733398, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005286125105277151, "left gripper-book distance": 0.4974878222789982, "right gripper-book distance": 0.22307300046166842 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6859933167833658, "bimanual_gripper_vertical_difference": 0.12211739451374505, "task_success": 0.0 }, { "completion_time": 0.8741881847381592, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00044595630905419625, "left gripper-book distance": 0.4972254779760547, "right gripper-book distance": 0.21922504109043603 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6749840099185329, "bimanual_gripper_vertical_difference": 0.12473174706345104, "task_success": 0.0 }, { "completion_time": 0.9040656089782715, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005564527648693751, "left gripper-book distance": 0.49741950803651397, "right gripper-book distance": 0.21319318926643385 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6558166012704315, "bimanual_gripper_vertical_difference": 0.12718610245218978, "task_success": 0.0 }, { "completion_time": 0.9339025020599365, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007179572734080653, "left gripper-book distance": 0.4988510947818157, "right gripper-book distance": 0.21295735579008537 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6387429052066628, "bimanual_gripper_vertical_difference": 0.12946869214657514, "task_success": 0.0 }, { "completion_time": 0.9646992683410645, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000714928831902939, "left gripper-book distance": 0.5012287974196733, "right gripper-book distance": 0.21337726813948088 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6232745726939876, "bimanual_gripper_vertical_difference": 0.13162111037585814, "task_success": 0.0 }, { "completion_time": 0.9946885108947754, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004954045080115543, "left gripper-book distance": 0.503591693642956, "right gripper-book distance": 0.21441429281003727 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6127317400388488, "bimanual_gripper_vertical_difference": 0.13364310507155916, "task_success": 0.0 }, { "completion_time": 1.0254037380218506, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005739754973540512, "left gripper-book distance": 0.5053380829098542, "right gripper-book distance": 0.2155443088770763 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6072866248631936, "bimanual_gripper_vertical_difference": 0.13552350625513543, "task_success": 0.0 }, { "completion_time": 1.055332899093628, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005610560285207455, "left gripper-book distance": 0.5068967464613998, "right gripper-book distance": 0.21651758483483644 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6002860920555685, "bimanual_gripper_vertical_difference": 0.13727678479475783, "task_success": 0.0 }, { "completion_time": 1.085697889328003, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005946917523760309, "left gripper-book distance": 0.5085980187573655, "right gripper-book distance": 0.21686945822480486 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5898082784649835, "bimanual_gripper_vertical_difference": 0.13892559031221163, "task_success": 0.0 }, { "completion_time": 1.1170153617858887, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006015265241108292, "left gripper-book distance": 0.5103173349683907, "right gripper-book distance": 0.21696705652138087 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5754244206415271, "bimanual_gripper_vertical_difference": 0.14050867427752936, "task_success": 0.0 }, { "completion_time": 1.1476597785949707, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000532322864887691, "left gripper-book distance": 0.5117000806297903, "right gripper-book distance": 0.20317880450198678 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5735356915977368, "bimanual_gripper_vertical_difference": 0.14238160222828883, "task_success": 0.0 }, { "completion_time": 1.1781878471374512, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005703191419741405, "left gripper-book distance": 0.512168130114042, "right gripper-book distance": 0.1891747443800411 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5754190212778789, "bimanual_gripper_vertical_difference": 0.14457713285035617, "task_success": 0.0 }, { "completion_time": 1.2087678909301758, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006559820690099638, "left gripper-book distance": 0.5118615170033672, "right gripper-book distance": 0.1821653691032235 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5805189113233182, "bimanual_gripper_vertical_difference": 0.14693745573294337, "task_success": 0.0 }, { "completion_time": 1.2414321899414062, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000525400887083527, "left gripper-book distance": 0.5114300698691688, "right gripper-book distance": 0.17949599979458078 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.580198413676309, "bimanual_gripper_vertical_difference": 0.149348135977638, "task_success": 0.0 }, { "completion_time": 1.2705399990081787, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005782161982256229, "left gripper-book distance": 0.5108748360952928, "right gripper-book distance": 0.1784153563325247 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5686578181595452, "bimanual_gripper_vertical_difference": 0.15172471115543712, "task_success": 0.0 }, { "completion_time": 1.3012683391571045, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00044655326243314697, "left gripper-book distance": 0.5104248154118043, "right gripper-book distance": 0.17870921251207322 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5594349318569487, "bimanual_gripper_vertical_difference": 0.15398730838379368, "task_success": 0.0 }, { "completion_time": 1.3307764530181885, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005486035977937398, "left gripper-book distance": 0.5094178565473537, "right gripper-book distance": 0.17975239146911026 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5623545672934546, "bimanual_gripper_vertical_difference": 0.1560830319400538, "task_success": 0.0 }, { "completion_time": 1.3607068061828613, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005600846612044963, "left gripper-book distance": 0.5083050149930093, "right gripper-book distance": 0.1806692875373689 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5677746138647946, "bimanual_gripper_vertical_difference": 0.1580032955662522, "task_success": 0.0 }, { "completion_time": 1.3905127048492432, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005850912035080258, "left gripper-book distance": 0.5074643337718657, "right gripper-book distance": 0.18023587503997143 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5703289029516397, "bimanual_gripper_vertical_difference": 0.1597924991911146, "task_success": 0.0 }, { "completion_time": 1.419198751449585, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005914589804359993, "left gripper-book distance": 0.5070841810780398, "right gripper-book distance": 0.1781045012998732 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5702201661500751, "bimanual_gripper_vertical_difference": 0.1615132308511057, "task_success": 0.0 }, { "completion_time": 1.4489719867706299, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005217845313714164, "left gripper-book distance": 0.5070994350676254, "right gripper-book distance": 0.1742390391697949 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5700026396425915, "bimanual_gripper_vertical_difference": 0.16322396579778964, "task_success": 0.0 }, { "completion_time": 1.479186773300171, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005223561757256023, "left gripper-book distance": 0.5072240612398562, "right gripper-book distance": 0.1687766085506606 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5715541972222635, "bimanual_gripper_vertical_difference": 0.16496516472737688, "task_success": 0.0 }, { "completion_time": 1.5085690021514893, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005527973819422494, "left gripper-book distance": 0.5074894523229392, "right gripper-book distance": 0.16217779618274658 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5739792821557282, "bimanual_gripper_vertical_difference": 0.1667441386265445, "task_success": 0.0 }, { "completion_time": 1.5392377376556396, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006686429412166017, "left gripper-book distance": 0.5076650584025532, "right gripper-book distance": 0.15582810289373342 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.573882768208827, "bimanual_gripper_vertical_difference": 0.1685283965234659, "task_success": 0.0 }, { "completion_time": 1.569396734237671, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006484577446294049, "left gripper-book distance": 0.5076846233711164, "right gripper-book distance": 0.15148200774151932 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5709996315508519, "bimanual_gripper_vertical_difference": 0.17025665328855397, "task_success": 0.0 }, { "completion_time": 1.5995352268218994, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006307874637765387, "left gripper-book distance": 0.5076071218969375, "right gripper-book distance": 0.14962607674372047 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5702230850416115, "bimanual_gripper_vertical_difference": 0.17188383978942076, "task_success": 0.0 }, { "completion_time": 1.6296288967132568, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006389402277242606, "left gripper-book distance": 0.5077912555149998, "right gripper-book distance": 0.1499427824474144 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5724091534975196, "bimanual_gripper_vertical_difference": 0.17339329187982092, "task_success": 0.0 }, { "completion_time": 1.6587097644805908, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005459989195492065, "left gripper-book distance": 0.5085675899471148, "right gripper-book distance": 0.15196574443411467 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.574175234051675, "bimanual_gripper_vertical_difference": 0.17478468380861226, "task_success": 0.0 }, { "completion_time": 1.6880972385406494, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005566109792721763, "left gripper-book distance": 0.5097680111172159, "right gripper-book distance": 0.15495036371690826 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5736511019057787, "bimanual_gripper_vertical_difference": 0.17607162818417652, "task_success": 0.0 }, { "completion_time": 1.7178750038146973, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004434122288774489, "left gripper-book distance": 0.5115044855347454, "right gripper-book distance": 0.153764280084844 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5721699373817223, "bimanual_gripper_vertical_difference": 0.17735196767891356, "task_success": 0.0 }, { "completion_time": 1.7487263679504395, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006518046606809325, "left gripper-book distance": 0.5134507921922182, "right gripper-book distance": 0.1536684311107927 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5712880198217434, "bimanual_gripper_vertical_difference": 0.17862665652475831, "task_success": 0.0 }, { "completion_time": 1.7811167240142822, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006372319943228621, "left gripper-book distance": 0.5155817399586036, "right gripper-book distance": 0.15398143963914285 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5716228781146157, "bimanual_gripper_vertical_difference": 0.1799063880379587, "task_success": 0.0 }, { "completion_time": 1.8100073337554932, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005674550814802615, "left gripper-book distance": 0.5175379791555969, "right gripper-book distance": 0.15481846905972527 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5685220102959788, "bimanual_gripper_vertical_difference": 0.1811815071862729, "task_success": 0.0 }, { "completion_time": 1.8424029350280762, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005368550911130088, "left gripper-book distance": 0.5192042195282722, "right gripper-book distance": 0.15306066173017885 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.559991143144631, "bimanual_gripper_vertical_difference": 0.18247716188719962, "task_success": 0.0 }, { "completion_time": 1.8713276386260986, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000543928221319101, "left gripper-book distance": 0.5205031123085115, "right gripper-book distance": 0.14938658705787303 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5546582540916785, "bimanual_gripper_vertical_difference": 0.18381355453974996, "task_success": 0.0 }, { "completion_time": 1.9018568992614746, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005671361011798659, "left gripper-book distance": 0.5209819788926974, "right gripper-book distance": 0.14585008926885498 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5526445071291469, "bimanual_gripper_vertical_difference": 0.18517859629413513, "task_success": 0.0 }, { "completion_time": 1.9316797256469727, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006366059526144996, "left gripper-book distance": 0.5203831824468423, "right gripper-book distance": 0.14447200932492799 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5521047453712641, "bimanual_gripper_vertical_difference": 0.18650491001139996, "task_success": 0.0 }, { "completion_time": 1.9616942405700684, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005086975371713098, "left gripper-book distance": 0.518961351141757, "right gripper-book distance": 0.14314261570672254 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5505460174694529, "bimanual_gripper_vertical_difference": 0.1877802248865058, "task_success": 0.0 }, { "completion_time": 1.9915523529052734, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00042660587230203273, "left gripper-book distance": 0.5172240306812846, "right gripper-book distance": 0.14184498640195436 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5483194803229243, "bimanual_gripper_vertical_difference": 0.18899972553618363, "task_success": 0.0 }, { "completion_time": 2.022480010986328, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005908372978570275, "left gripper-book distance": 0.5153567066379101, "right gripper-book distance": 0.14051651282070712 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5448947315586862, "bimanual_gripper_vertical_difference": 0.19016355966174614, "task_success": 0.0 }, { "completion_time": 2.052672863006592, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000529885295285859, "left gripper-book distance": 0.5137912045587913, "right gripper-book distance": 0.13938206699219732 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5417250062297491, "bimanual_gripper_vertical_difference": 0.19127415115838886, "task_success": 0.0 }, { "completion_time": 2.0819308757781982, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006632871727197953, "left gripper-book distance": 0.5123793629607797, "right gripper-book distance": 0.1379741523553543 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.537957193351383, "bimanual_gripper_vertical_difference": 0.192335420699224, "task_success": 0.0 }, { "completion_time": 2.112372875213623, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007288769972895182, "left gripper-book distance": 0.5112286637501987, "right gripper-book distance": 0.13630687577109973 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5331071954948973, "bimanual_gripper_vertical_difference": 0.1933517099005264, "task_success": 0.0 }, { "completion_time": 2.1416544914245605, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004910608617836321, "left gripper-book distance": 0.5103735686163713, "right gripper-book distance": 0.13476797572922797 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5275030852801398, "bimanual_gripper_vertical_difference": 0.19432352996640584, "task_success": 0.0 }, { "completion_time": 2.1720619201660156, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005492332458777449, "left gripper-book distance": 0.5094049550958427, "right gripper-book distance": 0.13287571225021272 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5218148764872628, "bimanual_gripper_vertical_difference": 0.1952523133215647, "task_success": 0.0 }, { "completion_time": 2.2014222145080566, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00046371414808299427, "left gripper-book distance": 0.5086099493140503, "right gripper-book distance": 0.1308801830740109 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5166967541626828, "bimanual_gripper_vertical_difference": 0.19613856271007174, "task_success": 0.0 }, { "completion_time": 2.2311599254608154, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006075085851291462, "left gripper-book distance": 0.5078639039312647, "right gripper-book distance": 0.12817526385614475 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5121487155626454, "bimanual_gripper_vertical_difference": 0.19698484363265392, "task_success": 0.0 }, { "completion_time": 2.260901689529419, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005522315795331023, "left gripper-book distance": 0.5074276635720114, "right gripper-book distance": 0.12559263675487536 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5080106187702566, "bimanual_gripper_vertical_difference": 0.19779734871289117, "task_success": 0.0 }, { "completion_time": 2.2885143756866455, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.0006106376932272228, "left gripper-book distance": 0.5071271569939089, "right gripper-book distance": 0.12342046378344615 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5037155351449725, "bimanual_gripper_vertical_difference": 0.19858025182116995, "task_success": 0.0 }, { "completion_time": 2.3188631534576416, "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": 0.0008066891201210513, "left gripper-book distance": 0.5060935148277954, "right gripper-book distance": 0.12315609822151243 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5003874395983359, "bimanual_gripper_vertical_difference": 0.19933788690297263, "task_success": 0.0 }, { "completion_time": 2.3473358154296875, "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": 0.0007137780202248756, "left gripper-book distance": 0.5052403072712905, "right gripper-book distance": 0.12293238560282752 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4974345087336836, "bimanual_gripper_vertical_difference": 0.2000764103206607, "task_success": 0.0 }, { "completion_time": 2.379183053970337, "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": 0.0008106690033252706, "left gripper-book distance": 0.504457160352062, "right gripper-book distance": 0.12254171109127282 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4941087609452818, "bimanual_gripper_vertical_difference": 0.2007953501492918, "task_success": 0.0 }, { "completion_time": 2.4088916778564453, "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": 0.00077041491504104, "left gripper-book distance": 0.5036753803801118, "right gripper-book distance": 0.12237730832408879 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.49068285216280466, "bimanual_gripper_vertical_difference": 0.20149508309017672, "task_success": 0.0 }, { "completion_time": 2.441310167312622, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000790398028616246, "left gripper-book distance": 0.5030426584028862, "right gripper-book distance": 0.12204838346826238 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4873931099085015, "bimanual_gripper_vertical_difference": 0.20217587274016316, "task_success": 0.0 }, { "completion_time": 2.4720911979675293, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007628040247282808, "left gripper-book distance": 0.5024495572038311, "right gripper-book distance": 0.12168683312424383 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48416886047894214, "bimanual_gripper_vertical_difference": 0.20283912688863512, "task_success": 0.0 }, { "completion_time": 2.500591993331909, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007735791255973901, "left gripper-book distance": 0.5018342408420545, "right gripper-book distance": 0.12123127444411042 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48080226951690336, "bimanual_gripper_vertical_difference": 0.2034834895534301, "task_success": 0.0 }, { "completion_time": 2.5287625789642334, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007367547996238732, "left gripper-book distance": 0.501072941037266, "right gripper-book distance": 0.12095169522385002 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47730672997713164, "bimanual_gripper_vertical_difference": 0.20410738992521205, "task_success": 0.0 }, { "completion_time": 2.5567946434020996, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007259168465808541, "left gripper-book distance": 0.5001781430417302, "right gripper-book distance": 0.12062133068498296 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47463198621417396, "bimanual_gripper_vertical_difference": 0.2047102971386553, "task_success": 0.0 }, { "completion_time": 2.58579158782959, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007674734772437075, "left gripper-book distance": 0.49909800017282324, "right gripper-book distance": 0.12012446935124975 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4719868404525859, "bimanual_gripper_vertical_difference": 0.20529234402162738, "task_success": 0.0 }, { "completion_time": 2.6152288913726807, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0009775966228786626, "left gripper-book distance": 0.4976567258978219, "right gripper-book distance": 0.11945722951072198 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4695389933495878, "bimanual_gripper_vertical_difference": 0.2058518631516772, "task_success": 0.0 }, { "completion_time": 2.6443381309509277, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0012281652977009783, "left gripper-book distance": 0.4960388685262704, "right gripper-book distance": 0.11868046551379414 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.46725689190026787, "bimanual_gripper_vertical_difference": 0.20638812123275282, "task_success": 0.0 }, { "completion_time": 2.6737563610076904, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0014249459319369828, "left gripper-book distance": 0.4944544082953683, "right gripper-book distance": 0.1179194254396981 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4644956183970942, "bimanual_gripper_vertical_difference": 0.20690299948181096, "task_success": 0.0 }, { "completion_time": 2.7032015323638916, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0015858863838451587, "left gripper-book distance": 0.49285593251709386, "right gripper-book distance": 0.1171686738347147 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4613784385900229, "bimanual_gripper_vertical_difference": 0.20739582500324108, "task_success": 0.0 }, { "completion_time": 2.736532211303711, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0018012251199497342, "left gripper-book distance": 0.49121756644546016, "right gripper-book distance": 0.11636381915699212 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.457854714282887, "bimanual_gripper_vertical_difference": 0.20786524975557694, "task_success": 0.0 }, { "completion_time": 2.765742540359497, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0017298848869211625, "left gripper-book distance": 0.48970394807526746, "right gripper-book distance": 0.11593295961213684 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45315248758202636, "bimanual_gripper_vertical_difference": 0.2083131720268089, "task_success": 0.0 }, { "completion_time": 2.7953977584838867, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0015332300317404401, "left gripper-book distance": 0.48849139662869506, "right gripper-book distance": 0.11578894744383415 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4490489786027725, "bimanual_gripper_vertical_difference": 0.20874240028062688, "task_success": 0.0 }, { "completion_time": 2.826195478439331, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0012431223046658335, "left gripper-book distance": 0.4878477804756737, "right gripper-book distance": 0.11586462980897413 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.44630239358383444, "bimanual_gripper_vertical_difference": 0.20915716421544667, "task_success": 0.0 }, { "completion_time": 2.8561673164367676, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0008349454527373235, "left gripper-book distance": 0.487765973875, "right gripper-book distance": 0.11604095099274123 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4447402495838416, "bimanual_gripper_vertical_difference": 0.20956248971312483, "task_success": 0.0 }, { "completion_time": 2.8861594200134277, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0009033618056535353, "left gripper-book distance": 0.48786192462995076, "right gripper-book distance": 0.11588826281826951 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.44302467140265206, "bimanual_gripper_vertical_difference": 0.2099629378030472, "task_success": 0.0 }, { "completion_time": 2.9145143032073975, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0009630085890888207, "left gripper-book distance": 0.48816059251509125, "right gripper-book distance": 0.11578567812761467 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.44074145702259465, "bimanual_gripper_vertical_difference": 0.21036055972286483, "task_success": 0.0 }, { "completion_time": 2.9440345764160156, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0008191443749199223, "left gripper-book distance": 0.48864047040295927, "right gripper-book distance": 0.11544996158351986 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43817629022017435, "bimanual_gripper_vertical_difference": 0.21075654555187054, "task_success": 0.0 }, { "completion_time": 2.9724574089050293, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0008665667212667261, "left gripper-book distance": 0.48849702268852546, "right gripper-book distance": 0.11497629538704611 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4362491390498324, "bimanual_gripper_vertical_difference": 0.21115010611354965, "task_success": 0.0 }, { "completion_time": 3.0004570484161377, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0008107158288065408, "left gripper-book distance": 0.48801219379465605, "right gripper-book distance": 0.11490532827949866 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43456179600918965, "bimanual_gripper_vertical_difference": 0.21153867279582247, "task_success": 0.0 }, { "completion_time": 3.0330288410186768, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006680125899406475, "left gripper-book distance": 0.4872358424856388, "right gripper-book distance": 0.11521469928276622 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4332395527845926, "bimanual_gripper_vertical_difference": 0.21191862286975846, "task_success": 0.0 }, { "completion_time": 3.0638866424560547, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007832543874145559, "left gripper-book distance": 0.48628090985823064, "right gripper-book distance": 0.11558884789373591 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4323338395093063, "bimanual_gripper_vertical_difference": 0.21228778467357615, "task_success": 0.0 }, { "completion_time": 3.0915439128875732, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007437339042137836, "left gripper-book distance": 0.48519841614614834, "right gripper-book distance": 0.11663405639184166 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4326784267557625, "bimanual_gripper_vertical_difference": 0.21264268593719843, "task_success": 0.0 }, { "completion_time": 3.120783805847168, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007529571599997897, "left gripper-book distance": 0.4841906489951276, "right gripper-book distance": 0.11805161400617027 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.435278422468282, "bimanual_gripper_vertical_difference": 0.21298227401889935, "task_success": 0.0 }, { "completion_time": 3.149491548538208, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000765581495273504, "left gripper-book distance": 0.48343719907679655, "right gripper-book distance": 0.11903399400892686 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4373237865294594, "bimanual_gripper_vertical_difference": 0.21330709769685186, "task_success": 0.0 }, { "completion_time": 3.1775074005126953, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000863736447600183, "left gripper-book distance": 0.4828584678818802, "right gripper-book distance": 0.1205021285808397 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43869405260333716, "bimanual_gripper_vertical_difference": 0.21361701771073657, "task_success": 0.0 }, { "completion_time": 3.2062106132507324, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007709504745339046, "left gripper-book distance": 0.4827461368623784, "right gripper-book distance": 0.12166163696692987 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43872616492886585, "bimanual_gripper_vertical_difference": 0.21391651042999102, "task_success": 0.0 }, { "completion_time": 3.2352540493011475, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000703351192065993, "left gripper-book distance": 0.48284747403818085, "right gripper-book distance": 0.1224031360496103 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4385330122037028, "bimanual_gripper_vertical_difference": 0.21420537800668632, "task_success": 0.0 }, { "completion_time": 3.2646851539611816, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006782193529661917, "left gripper-book distance": 0.48272949858964037, "right gripper-book distance": 0.12328112973886561 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43970157698117424, "bimanual_gripper_vertical_difference": 0.21448268785712532, "task_success": 0.0 }, { "completion_time": 3.293450117111206, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006781878864218216, "left gripper-book distance": 0.4824145978751318, "right gripper-book distance": 0.12490361375520308 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.44390186232066986, "bimanual_gripper_vertical_difference": 0.2147469430491061, "task_success": 0.0 }, { "completion_time": 3.3217148780822754, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006965226644753963, "left gripper-book distance": 0.4822427666816954, "right gripper-book distance": 0.12874664370460265 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.44734886538933105, "bimanual_gripper_vertical_difference": 0.21498757135095875, "task_success": 0.0 }, { "completion_time": 3.351145029067993, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004865981297690336, "left gripper-book distance": 0.48243124086336975, "right gripper-book distance": 0.1371364757964657 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4508546655063165, "bimanual_gripper_vertical_difference": 0.21517866664016275, "task_success": 0.0 }, { "completion_time": 3.3787930011749268, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006878975073966176, "left gripper-book distance": 0.4827528115864365, "right gripper-book distance": 0.1490198878487642 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45393259016486187, "bimanual_gripper_vertical_difference": 0.215299166761739, "task_success": 0.0 }, { "completion_time": 3.4074387550354004, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000640465049877359, "left gripper-book distance": 0.4839896341725304, "right gripper-book distance": 0.1643421127645539 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45671179484387936, "bimanual_gripper_vertical_difference": 0.21534190157076846, "task_success": 0.0 }, { "completion_time": 3.435363292694092, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005102145904739563, "left gripper-book distance": 0.4863907987218628, "right gripper-book distance": 0.1829469815828159 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45869380289545364, "bimanual_gripper_vertical_difference": 0.21530282718075272, "task_success": 0.0 }, { "completion_time": 3.462937355041504, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005539582039336688, "left gripper-book distance": 0.4891156814353819, "right gripper-book distance": 0.1996514161400725 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.46216070148824273, "bimanual_gripper_vertical_difference": 0.2152046596241113, "task_success": 0.0 }, { "completion_time": 3.491621255874634, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000655757227062348, "left gripper-book distance": 0.4916154552773617, "right gripper-book distance": 0.21610912795564305 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47245067909797533, "bimanual_gripper_vertical_difference": 0.21504292537280542, "task_success": 0.0 }, { "completion_time": 3.521329879760742, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005053996965810326, "left gripper-book distance": 0.49359776931868243, "right gripper-book distance": 0.2340733281177406 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48764730091240643, "bimanual_gripper_vertical_difference": 0.21478083561452468, "task_success": 0.0 }, { "completion_time": 3.5508615970611572, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004631987088669076, "left gripper-book distance": 0.4946981440694767, "right gripper-book distance": 0.247102229270009 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5053287793487535, "bimanual_gripper_vertical_difference": 0.21445741734487375, "task_success": 0.0 }, { "completion_time": 3.580780506134033, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006476353356379416, "left gripper-book distance": 0.4946707468538832, "right gripper-book distance": 0.2507948535995894 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5252417383606385, "bimanual_gripper_vertical_difference": 0.21416137348883402, "task_success": 0.0 }, { "completion_time": 3.613102436065674, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005214654669504215, "left gripper-book distance": 0.4936209504405146, "right gripper-book distance": 0.24788726885414747 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5461324431412627, "bimanual_gripper_vertical_difference": 0.2139570863830141, "task_success": 0.0 }, { "completion_time": 3.6424174308776855, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004893997147287221, "left gripper-book distance": 0.49130612208717717, "right gripper-book distance": 0.24345513894479348 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5677182272606036, "bimanual_gripper_vertical_difference": 0.2138708292637718, "task_success": 0.0 }, { "completion_time": 3.6747939586639404, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006328429941363511, "left gripper-book distance": 0.4882715655882647, "right gripper-book distance": 0.24037117806005528 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.590483125487215, "bimanual_gripper_vertical_difference": 0.21390821101691412, "task_success": 0.0 }, { "completion_time": 3.7042481899261475, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004919331891345413, "left gripper-book distance": 0.48538828273009976, "right gripper-book distance": 0.23973488272817212 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6140073656245916, "bimanual_gripper_vertical_difference": 0.21408150502879303, "task_success": 0.0 }, { "completion_time": 3.733215808868408, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004966253535841902, "left gripper-book distance": 0.48287958064003267, "right gripper-book distance": 0.24157908874599654 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6370080791187568, "bimanual_gripper_vertical_difference": 0.21441431270405162, "task_success": 0.0 }, { "completion_time": 3.763117551803589, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006125687734779284, "left gripper-book distance": 0.4809925554893991, "right gripper-book distance": 0.2473563559268477 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.659570113150575, "bimanual_gripper_vertical_difference": 0.21491541319657584, "task_success": 0.0 }, { "completion_time": 3.792119264602661, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00045941515296687996, "left gripper-book distance": 0.47966872469506805, "right gripper-book distance": 0.2552410586741289 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6729218765688084, "bimanual_gripper_vertical_difference": 0.21546698088719687, "task_success": 0.0 }, { "completion_time": 3.8220319747924805, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004315996080137552, "left gripper-book distance": 0.4785059940682483, "right gripper-book distance": 0.2585522209818092 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6762726188304566, "bimanual_gripper_vertical_difference": 0.21595885549365687, "task_success": 0.0 }, { "completion_time": 3.850693702697754, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005810360502256362, "left gripper-book distance": 0.4772089171514377, "right gripper-book distance": 0.25711221083361835 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6798776568035393, "bimanual_gripper_vertical_difference": 0.21640415756454373, "task_success": 0.0 }, { "completion_time": 3.879988670349121, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005295507000819821, "left gripper-book distance": 0.47606114904868496, "right gripper-book distance": 0.2525936722416107 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6896769448748419, "bimanual_gripper_vertical_difference": 0.216839209858577, "task_success": 0.0 }, { "completion_time": 3.9090566635131836, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004813223955498769, "left gripper-book distance": 0.47508315648624333, "right gripper-book distance": 0.2473379773759271 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7028460860947829, "bimanual_gripper_vertical_difference": 0.21727734989214068, "task_success": 0.0 }, { "completion_time": 3.9376962184906006, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005287757787294511, "left gripper-book distance": 0.47408212064736954, "right gripper-book distance": 0.24278468490603627 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7177619176845981, "bimanual_gripper_vertical_difference": 0.217719528572364, "task_success": 0.0 }, { "completion_time": 3.9655163288116455, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006191302837779133, "left gripper-book distance": 0.473024706556056, "right gripper-book distance": 0.23824233286413035 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7338229158753162, "bimanual_gripper_vertical_difference": 0.21816463501426323, "task_success": 0.0 }, { "completion_time": 3.993467330932617, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005349792514139917, "left gripper-book distance": 0.472258604614099, "right gripper-book distance": 0.2355351585749516 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7436408899498109, "bimanual_gripper_vertical_difference": 0.2185956184754607, "task_success": 0.0 }, { "completion_time": 4.022522211074829, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00044946585542349204, "left gripper-book distance": 0.4718985514463961, "right gripper-book distance": 0.23657018593907472 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7505090011280565, "bimanual_gripper_vertical_difference": 0.218990901234591, "task_success": 0.0 }, { "completion_time": 4.051459789276123, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006877507788149995, "left gripper-book distance": 0.4719451502600501, "right gripper-book distance": 0.23989398647941718 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7574601011231055, "bimanual_gripper_vertical_difference": 0.2193442566064876, "task_success": 0.0 }, { "completion_time": 4.0800111293792725, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006138290878423547, "left gripper-book distance": 0.4727122449551969, "right gripper-book distance": 0.2436718077692006 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7631309262380948, "bimanual_gripper_vertical_difference": 0.21965899819945775, "task_success": 0.0 }, { "completion_time": 4.1094841957092285, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006584205918400698, "left gripper-book distance": 0.47361850932736976, "right gripper-book distance": 0.24761792326862644 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7674687709970607, "bimanual_gripper_vertical_difference": 0.21993487890831478, "task_success": 0.0 }, { "completion_time": 4.13770055770874, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00052282907834722, "left gripper-book distance": 0.4748452826514272, "right gripper-book distance": 0.2525468779197722 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7723073834129521, "bimanual_gripper_vertical_difference": 0.22016698873123475, "task_success": 0.0 }, { "completion_time": 4.166186571121216, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004687657630182418, "left gripper-book distance": 0.4760999615698319, "right gripper-book distance": 0.25728837351543093 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7765716178219377, "bimanual_gripper_vertical_difference": 0.22035525918400656, "task_success": 0.0 }, { "completion_time": 4.19762659072876, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006391219072909848, "left gripper-book distance": 0.47733944804204637, "right gripper-book distance": 0.26047362429412213 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7790677720423208, "bimanual_gripper_vertical_difference": 0.22050813356654964, "task_success": 0.0 }, { "completion_time": 4.225809812545776, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005130893176348295, "left gripper-book distance": 0.4790780394243348, "right gripper-book distance": 0.26229147681044734 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7798542288454254, "bimanual_gripper_vertical_difference": 0.22063797206151198, "task_success": 0.0 }, { "completion_time": 4.254363298416138, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005007527916851551, "left gripper-book distance": 0.47870080582050695, "right gripper-book distance": 0.26220000087710565 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.775485471276145, "bimanual_gripper_vertical_difference": 0.22075976226251748, "task_success": 0.0 }, { "completion_time": 4.282243728637695, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006225160522087547, "left gripper-book distance": 0.4774921081458661, "right gripper-book distance": 0.26193454568065816 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7701968025240498, "bimanual_gripper_vertical_difference": 0.22087673279040465, "task_success": 0.0 }, { "completion_time": 4.309511184692383, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00043904828575025423, "left gripper-book distance": 0.4768284943714164, "right gripper-book distance": 0.2618725841263379 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7649521470773558, "bimanual_gripper_vertical_difference": 0.22099010726939686, "task_success": 0.0 }, { "completion_time": 4.337163209915161, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00047644444728156543, "left gripper-book distance": 0.47627932870616474, "right gripper-book distance": 0.26170288275665976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7597592439166461, "bimanual_gripper_vertical_difference": 0.2211006717376581, "task_success": 0.0 }, { "completion_time": 4.364697694778442, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005954280214880425, "left gripper-book distance": 0.47584195226974124, "right gripper-book distance": 0.26160557320675 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.754623933868417, "bimanual_gripper_vertical_difference": 0.22120893647255427, "task_success": 0.0 }, { "completion_time": 4.391690731048584, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005620112871744798, "left gripper-book distance": 0.475545204660882, "right gripper-book distance": 0.26159452667940597 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7495265741656454, "bimanual_gripper_vertical_difference": 0.22131499085981735, "task_success": 0.0 }, { "completion_time": 4.419353246688843, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006596480414970962, "left gripper-book distance": 0.47469748746868257, "right gripper-book distance": 0.26057654492301086 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7509709958985805, "bimanual_gripper_vertical_difference": 0.22143401280389702, "task_success": 0.0 }, { "completion_time": 4.449245929718018, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005120958853318536, "left gripper-book distance": 0.4745587204778683, "right gripper-book distance": 0.2601401808290622 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7557017959388308, "bimanual_gripper_vertical_difference": 0.22157510065086938, "task_success": 0.0 }, { "completion_time": 4.478606462478638, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004290388159595704, "left gripper-book distance": 0.4742590498576675, "right gripper-book distance": 0.2604080639875441 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7601627700116835, "bimanual_gripper_vertical_difference": 0.22172098779699287, "task_success": 0.0 }, { "completion_time": 4.507809162139893, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005372928027692625, "left gripper-book distance": 0.4738837421501537, "right gripper-book distance": 0.2602846464149815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7667685711022781, "bimanual_gripper_vertical_difference": 0.22185926190583088, "task_success": 0.0 }, { "completion_time": 4.5369062423706055, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000658220590146863, "left gripper-book distance": 0.4736625428308059, "right gripper-book distance": 0.260035248603287 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7710228648230288, "bimanual_gripper_vertical_difference": 0.22198496396526102, "task_success": 0.0 }, { "completion_time": 4.566138744354248, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005769204089889346, "left gripper-book distance": 0.4734619774012604, "right gripper-book distance": 0.2606824346447336 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.773267872881769, "bimanual_gripper_vertical_difference": 0.22209110527373277, "task_success": 0.0 }, { "completion_time": 4.594571828842163, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005284973910544277, "left gripper-book distance": 0.47280465248370596, "right gripper-book distance": 0.2597773389652704 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7731086894736371, "bimanual_gripper_vertical_difference": 0.22217714385195847, "task_success": 0.0 }, { "completion_time": 4.626418590545654, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004824121717895702, "left gripper-book distance": 0.47172768351324984, "right gripper-book distance": 0.255099099655062 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.771901114297737, "bimanual_gripper_vertical_difference": 0.2222482767799559, "task_success": 0.0 }, { "completion_time": 4.655384063720703, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005294799290620489, "left gripper-book distance": 0.47051290112748845, "right gripper-book distance": 0.2487500741573726 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7705863537414682, "bimanual_gripper_vertical_difference": 0.2223078276176297, "task_success": 0.0 }, { "completion_time": 4.683030366897583, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006192302541412342, "left gripper-book distance": 0.46972444022428783, "right gripper-book distance": 0.24232894451398138 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7689196536633789, "bimanual_gripper_vertical_difference": 0.22236055630101562, "task_success": 0.0 }, { "completion_time": 4.710505962371826, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005622219696396202, "left gripper-book distance": 0.4697658489805267, "right gripper-book distance": 0.2362431117078478 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7669521755017695, "bimanual_gripper_vertical_difference": 0.22241292430440707, "task_success": 0.0 }, { "completion_time": 4.739941596984863, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00045276966641294436, "left gripper-book distance": 0.4702520326639662, "right gripper-book distance": 0.2317306902255261 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.764615327640684, "bimanual_gripper_vertical_difference": 0.22246610755058263, "task_success": 0.0 }, { "completion_time": 4.770876407623291, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006958652606730009, "left gripper-book distance": 0.4706167227277685, "right gripper-book distance": 0.22935551675055135 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7621998736363311, "bimanual_gripper_vertical_difference": 0.22251421926426787, "task_success": 0.0 }, { "completion_time": 4.800004243850708, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004809821453323204, "left gripper-book distance": 0.47145237317485, "right gripper-book distance": 0.22912668787300267 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7597784884869397, "bimanual_gripper_vertical_difference": 0.22255255113172132, "task_success": 0.0 }, { "completion_time": 4.828413248062134, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006881786442286542, "left gripper-book distance": 0.47217803926515917, "right gripper-book distance": 0.22861471919063492 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7570022407614405, "bimanual_gripper_vertical_difference": 0.22258582662478044, "task_success": 0.0 }, { "completion_time": 4.857586622238159, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006452250486442823, "left gripper-book distance": 0.47305686215684245, "right gripper-book distance": 0.22650187996643423 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7538923583887878, "bimanual_gripper_vertical_difference": 0.2226211582003272, "task_success": 0.0 }, { "completion_time": 4.886673450469971, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00045418545530251375, "left gripper-book distance": 0.47401721338180675, "right gripper-book distance": 0.22375786535559627 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7508724179060017, "bimanual_gripper_vertical_difference": 0.2226606984745371, "task_success": 0.0 }, { "completion_time": 4.914615154266357, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006054527255794362, "left gripper-book distance": 0.47489655621271243, "right gripper-book distance": 0.22058664473908726 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7478474030073579, "bimanual_gripper_vertical_difference": 0.22270071613409848, "task_success": 0.0 }, { "completion_time": 4.943784236907959, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006509125322161635, "left gripper-book distance": 0.47610618664937626, "right gripper-book distance": 0.2171667601037813 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7448343110831213, "bimanual_gripper_vertical_difference": 0.2227377013033406, "task_success": 0.0 }, { "completion_time": 4.97258448600769, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005007046898599654, "left gripper-book distance": 0.47794019920684416, "right gripper-book distance": 0.2138735645641046 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7418134546697769, "bimanual_gripper_vertical_difference": 0.22276995897944488, "task_success": 0.0 }, { "completion_time": 5.00102972984314, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006867399619211456, "left gripper-book distance": 0.4801406713686603, "right gripper-book distance": 0.21048149623946616 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7386381396311837, "bimanual_gripper_vertical_difference": 0.2227971466968009, "task_success": 0.0 }, { "completion_time": 5.030307054519653, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00045706381551180453, "left gripper-book distance": 0.48316459601994655, "right gripper-book distance": 0.20705340172878411 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7356745145874125, "bimanual_gripper_vertical_difference": 0.22282087287717353, "task_success": 0.0 }, { "completion_time": 5.058497905731201, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006161275022762425, "left gripper-book distance": 0.4861063480520125, "right gripper-book distance": 0.20225829200446613 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7331090489200633, "bimanual_gripper_vertical_difference": 0.22284418079272314, "task_success": 0.0 }, { "completion_time": 5.08764910697937, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005367124401816081, "left gripper-book distance": 0.48919272175301265, "right gripper-book distance": 0.1964829610222326 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7308829079202919, "bimanual_gripper_vertical_difference": 0.22286863796811868, "task_success": 0.0 }, { "completion_time": 5.116842269897461, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004509507172900662, "left gripper-book distance": 0.4922031393536953, "right gripper-book distance": 0.1906455356784416 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7287457435365746, "bimanual_gripper_vertical_difference": 0.22289341847214483, "task_success": 0.0 }, { "completion_time": 5.145740032196045, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006889563987091396, "left gripper-book distance": 0.4949559036909302, "right gripper-book distance": 0.18446844682575628 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7264142023191743, "bimanual_gripper_vertical_difference": 0.22292176023492483, "task_success": 0.0 }, { "completion_time": 5.174046993255615, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006201986243844493, "left gripper-book distance": 0.4977121417731178, "right gripper-book distance": 0.1782537657249156 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.723989394639956, "bimanual_gripper_vertical_difference": 0.22295647588538406, "task_success": 0.0 }, { "completion_time": 5.201545238494873, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004892434774753651, "left gripper-book distance": 0.5001896560529246, "right gripper-book distance": 0.17278882034068999 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7219177035913206, "bimanual_gripper_vertical_difference": 0.22299462196917663, "task_success": 0.0 }, { "completion_time": 5.230600357055664, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004941440774073325, "left gripper-book distance": 0.502235393145394, "right gripper-book distance": 0.16785761894352152 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7207983692028186, "bimanual_gripper_vertical_difference": 0.22303251110030378, "task_success": 0.0 }, { "completion_time": 5.258432865142822, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006088243387666337, "left gripper-book distance": 0.5042350387052756, "right gripper-book distance": 0.16307017643468802 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7205784448091926, "bimanual_gripper_vertical_difference": 0.22307237727442306, "task_success": 0.0 }, { "completion_time": 5.285978078842163, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005625302919302078, "left gripper-book distance": 0.5066472387195257, "right gripper-book distance": 0.15883781370892613 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7206933409427652, "bimanual_gripper_vertical_difference": 0.22312395024839424, "task_success": 0.0 }, { "completion_time": 5.31479549407959, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006661604599278448, "left gripper-book distance": 0.5093908354177511, "right gripper-book distance": 0.15538337407282707 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7210526028996779, "bimanual_gripper_vertical_difference": 0.22320067998708487, "task_success": 0.0 }, { "completion_time": 5.344583988189697, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004630159979467363, "left gripper-book distance": 0.5124614049672253, "right gripper-book distance": 0.15279887853098872 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.720669883271978, "bimanual_gripper_vertical_difference": 0.2233146673773927, "task_success": 0.0 }, { "completion_time": 5.37182879447937, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005076933077797774, "left gripper-book distance": 0.5150092288854762, "right gripper-book distance": 0.14877595099219154 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7188953278421918, "bimanual_gripper_vertical_difference": 0.22347165613982628, "task_success": 0.0 }, { "completion_time": 5.398855209350586, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000654661697601977, "left gripper-book distance": 0.5167455136196323, "right gripper-book distance": 0.14310240513430014 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7169412149313693, "bimanual_gripper_vertical_difference": 0.22366589679722512, "task_success": 0.0 }, { "completion_time": 5.426435470581055, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00043878094736049533, "left gripper-book distance": 0.5178421474376824, "right gripper-book distance": 0.13718583764547423 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7151464127175192, "bimanual_gripper_vertical_difference": 0.2238821812717481, "task_success": 0.0 }, { "completion_time": 5.4540159702301025, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006954528898052148, "left gripper-book distance": 0.517847339711384, "right gripper-book distance": 0.13217706723645603 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7144658193308703, "bimanual_gripper_vertical_difference": 0.22410064410660796, "task_success": 0.0 }, { "completion_time": 5.481578588485718, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004857926544017399, "left gripper-book distance": 0.5177159571827112, "right gripper-book distance": 0.1295519915227699 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7134092300607626, "bimanual_gripper_vertical_difference": 0.2243065508303055, "task_success": 0.0 }, { "completion_time": 5.508910417556763, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006929694028913191, "left gripper-book distance": 0.5173441556333436, "right gripper-book distance": 0.12873050069640343 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7115073251957772, "bimanual_gripper_vertical_difference": 0.22449970054210752, "task_success": 0.0 }, { "completion_time": 5.53852653503418, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005832807138413942, "left gripper-book distance": 0.517530860496563, "right gripper-book distance": 0.12927814041039562 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7081629444659705, "bimanual_gripper_vertical_difference": 0.22468708712063867, "task_success": 0.0 }, { "completion_time": 5.564923048019409, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00045630662146722845, "left gripper-book distance": 0.5180008688276889, "right gripper-book distance": 0.13054568522247842 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7051604722407419, "bimanual_gripper_vertical_difference": 0.22487306868468177, "task_success": 0.0 }, { "completion_time": 5.593020677566528, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004291433595564609, "left gripper-book distance": 0.5184777636858854, "right gripper-book distance": 0.13158323071245137 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.702508659781141, "bimanual_gripper_vertical_difference": 0.2250585341176801, "task_success": 0.0 }, { "completion_time": 5.621190547943115, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005771474043739788, "left gripper-book distance": 0.5186472642805338, "right gripper-book distance": 0.1317578732563514 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7004376108219317, "bimanual_gripper_vertical_difference": 0.22524443464272428, "task_success": 0.0 }, { "completion_time": 5.650304555892944, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00045615532758380706, "left gripper-book distance": 0.518938651128322, "right gripper-book distance": 0.13078564873042828 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6991490864869543, "bimanual_gripper_vertical_difference": 0.225430902742379, "task_success": 0.0 }, { "completion_time": 5.6797144412994385, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006934675871781426, "left gripper-book distance": 0.5191455805078334, "right gripper-book distance": 0.12813901444037312 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6988255852473104, "bimanual_gripper_vertical_difference": 0.22561901381504385, "task_success": 0.0 }, { "completion_time": 5.708910703659058, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006344918508666142, "left gripper-book distance": 0.5198854229681714, "right gripper-book distance": 0.12477562888837138 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6993589777003615, "bimanual_gripper_vertical_difference": 0.22581289616511585, "task_success": 0.0 }, { "completion_time": 5.736583709716797, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005156727273177841, "left gripper-book distance": 0.5211344234170274, "right gripper-book distance": 0.12130519548771382 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7000241210136154, "bimanual_gripper_vertical_difference": 0.22601800280059395, "task_success": 0.0 }, { "completion_time": 5.76495623588562, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006701721917928838, "left gripper-book distance": 0.5225204628836045, "right gripper-book distance": 0.11810543388387092 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6999378847142756, "bimanual_gripper_vertical_difference": 0.22623852024318, "task_success": 0.0 }, { "completion_time": 5.792719602584839, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00046444413477497726, "left gripper-book distance": 0.5243192977019807, "right gripper-book distance": 0.1156140230760863 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6989258324441227, "bimanual_gripper_vertical_difference": 0.2264769425013517, "task_success": 0.0 }, { "completion_time": 5.820496082305908, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00016195249561823388, "left gripper-book distance": 0.525893870492525, "right gripper-book distance": 0.1143111350982207 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.696639529435676, "bimanual_gripper_vertical_difference": 0.22672559086974545, "task_success": 0.0 }, { "completion_time": 5.84870457649231, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0008165729019452561, "left gripper-book distance": 0.5271668468687627, "right gripper-book distance": 0.11573429918918385 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6944966787231239, "bimanual_gripper_vertical_difference": 0.22694989874669966, "task_success": 0.0 }, { "completion_time": 5.8768298625946045, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0017926590163978018, "left gripper-book distance": 0.52520745811984, "right gripper-book distance": 0.11876117160200907 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.693723885550742, "bimanual_gripper_vertical_difference": 0.2271524980415814, "task_success": 0.0 } ]