[ { "completion_time": 0.044582366943359375, "slip_count": 0, "slip_count_per_object": { "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": 0.07308053970336914, "slip_count": 0, "slip_count_per_object": { "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": 0.10180926322937012, "slip_count": 0, "slip_count_per_object": { "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": 0.1308434009552002, "slip_count": 0, "slip_count_per_object": { "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": 0.15888094902038574, "slip_count": 0, "slip_count_per_object": { "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": 0.502354018783481, "right gripper-book distance": 0.5024235991779732 }, "success": 0.0, "bimanual_arm_velocity_difference": 3.960976044386395e-05, "bimanual_gripper_vertical_difference": 2.5138353176856755e-09, "task_success": 0.0 }, { "completion_time": 0.1879291534423828, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005808829610111088, "left gripper-book distance": 0.500203009184777, "right gripper-book distance": 0.4986700646841067 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1175019454120927, "bimanual_gripper_vertical_difference": 0.0005072797741810797, "task_success": 0.0 }, { "completion_time": 0.2174224853515625, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006989515326792928, "left gripper-book distance": 0.4972717304310617, "right gripper-book distance": 0.49263144334141207 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.27510777308350515, "bimanual_gripper_vertical_difference": 0.0020861054140483798, "task_success": 0.0 }, { "completion_time": 0.24619555473327637, "slip_count": 0, "slip_count_per_object": { "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": 0.49490066397254884, "right gripper-book distance": 0.4854838170192828 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4631087803874813, "bimanual_gripper_vertical_difference": 0.00507904385490332, "task_success": 0.0 }, { "completion_time": 0.2743659019470215, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005262332895653588, "left gripper-book distance": 0.49335559111326976, "right gripper-book distance": 0.47618416935730956 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6525759744601053, "bimanual_gripper_vertical_difference": 0.009701115810415193, "task_success": 0.0 }, { "completion_time": 0.30439066886901855, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005471885453844916, "left gripper-book distance": 0.4923487896481643, "right gripper-book distance": 0.46264675536942446 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8270774474397935, "bimanual_gripper_vertical_difference": 0.016135353326172486, "task_success": 0.0 }, { "completion_time": 0.33341526985168457, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00042609565681128725, "left gripper-book distance": 0.4916978032014039, "right gripper-book distance": 0.4414952607579161 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9740637110369019, "bimanual_gripper_vertical_difference": 0.024793483366025895, "task_success": 0.0 }, { "completion_time": 0.36191749572753906, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005017399467523997, "left gripper-book distance": 0.49100646585422647, "right gripper-book distance": 0.4157303684743924 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.052808613203905, "bimanual_gripper_vertical_difference": 0.03542350123284648, "task_success": 0.0 }, { "completion_time": 0.3910858631134033, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006576387411729723, "left gripper-book distance": 0.4899701110655522, "right gripper-book distance": 0.39415004272910287 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0744310294462518, "bimanual_gripper_vertical_difference": 0.04665455238798008, "task_success": 0.0 }, { "completion_time": 0.41909193992614746, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000655369582706733, "left gripper-book distance": 0.4888049902044964, "right gripper-book distance": 0.37669544453970155 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0984222224105404, "bimanual_gripper_vertical_difference": 0.05727903269227158, "task_success": 0.0 }, { "completion_time": 0.4472677707672119, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000569687400069463, "left gripper-book distance": 0.4875304291495356, "right gripper-book distance": 0.35665980495950333 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0957034121042923, "bimanual_gripper_vertical_difference": 0.0672190004994562, "task_success": 0.0 }, { "completion_time": 0.4762434959411621, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000540832695982596, "left gripper-book distance": 0.48620894352924215, "right gripper-book distance": 0.3362087820284857 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0704719010488821, "bimanual_gripper_vertical_difference": 0.07630882133934226, "task_success": 0.0 }, { "completion_time": 0.5044198036193848, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005064368611520376, "left gripper-book distance": 0.4849076989365589, "right gripper-book distance": 0.3168015542757089 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0347038301067295, "bimanual_gripper_vertical_difference": 0.08438737312158388, "task_success": 0.0 }, { "completion_time": 0.536658525466919, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000563283730251718, "left gripper-book distance": 0.48361152924572165, "right gripper-book distance": 0.298312332821458 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9957439930103686, "bimanual_gripper_vertical_difference": 0.09145822568984707, "task_success": 0.0 }, { "completion_time": 0.5661494731903076, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006393359269576404, "left gripper-book distance": 0.482789203696686, "right gripper-book distance": 0.28006556914229913 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9566622315261359, "bimanual_gripper_vertical_difference": 0.09767149989774121, "task_success": 0.0 }, { "completion_time": 0.5953783988952637, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007188927615989771, "left gripper-book distance": 0.4826280685704547, "right gripper-book distance": 0.262827781740587 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9216733748470013, "bimanual_gripper_vertical_difference": 0.10318237162991603, "task_success": 0.0 }, { "completion_time": 0.6278321743011475, "slip_count": 0, "slip_count_per_object": { "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": 0.48307322842385125, "right gripper-book distance": 0.2478175776055091 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8919964017496667, "bimanual_gripper_vertical_difference": 0.108068922076322, "task_success": 0.0 }, { "completion_time": 0.6577913761138916, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005426481893560098, "left gripper-book distance": 0.4840315584371083, "right gripper-book distance": 0.23577901380569788 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8668419980895513, "bimanual_gripper_vertical_difference": 0.11237025480577109, "task_success": 0.0 }, { "completion_time": 0.687279462814331, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005697075028376908, "left gripper-book distance": 0.4851648259131022, "right gripper-book distance": 0.22659629507700926 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8443803599846269, "bimanual_gripper_vertical_difference": 0.1161276711477354, "task_success": 0.0 }, { "completion_time": 0.7158372402191162, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006010423932943931, "left gripper-book distance": 0.4864496172445684, "right gripper-book distance": 0.2196811513107743 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8243765620616466, "bimanual_gripper_vertical_difference": 0.11938029725835743, "task_success": 0.0 }, { "completion_time": 0.7452292442321777, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006473759429300729, "left gripper-book distance": 0.48763842651108635, "right gripper-book distance": 0.21434781782102663 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8085170152992722, "bimanual_gripper_vertical_difference": 0.12216185100996198, "task_success": 0.0 }, { "completion_time": 0.774409294128418, "slip_count": 0, "slip_count_per_object": { "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": 0.48885311093654277, "right gripper-book distance": 0.20970074664139438 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7997698885365209, "bimanual_gripper_vertical_difference": 0.12452091392615566, "task_success": 0.0 }, { "completion_time": 0.8040111064910889, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005296471480109588, "left gripper-book distance": 0.48961067941356007, "right gripper-book distance": 0.20458321673257643 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7960186669122868, "bimanual_gripper_vertical_difference": 0.12652923546704115, "task_success": 0.0 }, { "completion_time": 0.8338773250579834, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005286125105279371, "left gripper-book distance": 0.49012842093528275, "right gripper-book distance": 0.1985526954331387 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7972764795831779, "bimanual_gripper_vertical_difference": 0.1282773289417998, "task_success": 0.0 }, { "completion_time": 0.8635036945343018, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004459563090544183, "left gripper-book distance": 0.49078950100683816, "right gripper-book distance": 0.19249947832190362 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.800057935623504, "bimanual_gripper_vertical_difference": 0.1298520967540803, "task_success": 0.0 }, { "completion_time": 0.8921051025390625, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005564527648695972, "left gripper-book distance": 0.4920723738525547, "right gripper-book distance": 0.18709487203216724 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8014573771463962, "bimanual_gripper_vertical_difference": 0.13133962324691914, "task_success": 0.0 }, { "completion_time": 0.9221031665802002, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007179572734081763, "left gripper-book distance": 0.4938746681875147, "right gripper-book distance": 0.18505374752926346 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7793996360624573, "bimanual_gripper_vertical_difference": 0.13275694172211505, "task_success": 0.0 }, { "completion_time": 0.9533476829528809, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000714928831903161, "left gripper-book distance": 0.49544511584586465, "right gripper-book distance": 0.18559076877857972 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7574140181741771, "bimanual_gripper_vertical_difference": 0.13409910837893194, "task_success": 0.0 }, { "completion_time": 0.98309326171875, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004954045080116654, "left gripper-book distance": 0.49618169732006684, "right gripper-book distance": 0.1863574810126043 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7370055723078301, "bimanual_gripper_vertical_difference": 0.13539638829788025, "task_success": 0.0 }, { "completion_time": 1.013075828552246, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005739754973542732, "left gripper-book distance": 0.4961754999974299, "right gripper-book distance": 0.1872894697719041 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.720927499778247, "bimanual_gripper_vertical_difference": 0.1366407811969634, "task_success": 0.0 }, { "completion_time": 1.0428900718688965, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005610560285208566, "left gripper-book distance": 0.4960518693297804, "right gripper-book distance": 0.18785904287983693 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7052894867696837, "bimanual_gripper_vertical_difference": 0.1378457216640212, "task_success": 0.0 }, { "completion_time": 1.0731925964355469, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005946917523761419, "left gripper-book distance": 0.4963516705615495, "right gripper-book distance": 0.18754179295551868 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6892629156495818, "bimanual_gripper_vertical_difference": 0.13904629005845381, "task_success": 0.0 }, { "completion_time": 1.1027309894561768, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006015265241109402, "left gripper-book distance": 0.4968616035361183, "right gripper-book distance": 0.18538564244298023 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6793747138902465, "bimanual_gripper_vertical_difference": 0.14032212777847544, "task_success": 0.0 }, { "completion_time": 1.1333115100860596, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000532322864887913, "left gripper-book distance": 0.4973303861815517, "right gripper-book distance": 0.18543529131904088 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6838397574569012, "bimanual_gripper_vertical_difference": 0.14175087548335416, "task_success": 0.0 }, { "completion_time": 1.1643321514129639, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005703191419743625, "left gripper-book distance": 0.49733762001598036, "right gripper-book distance": 0.1911514252793413 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.693799120033747, "bimanual_gripper_vertical_difference": 0.1432946293672096, "task_success": 0.0 }, { "completion_time": 1.1947503089904785, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006559820690100748, "left gripper-book distance": 0.49687852196303783, "right gripper-book distance": 0.20048686307685282 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6972659629308737, "bimanual_gripper_vertical_difference": 0.14486532674538222, "task_success": 0.0 }, { "completion_time": 1.2270448207855225, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000525400887083638, "left gripper-book distance": 0.4959735328642228, "right gripper-book distance": 0.2059122130628485 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6833144469908109, "bimanual_gripper_vertical_difference": 0.1464046930965087, "task_success": 0.0 }, { "completion_time": 1.256152868270874, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005782161982257339, "left gripper-book distance": 0.49454121263641027, "right gripper-book distance": 0.20503913326887666 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6672522406700241, "bimanual_gripper_vertical_difference": 0.14787608402702568, "task_success": 0.0 }, { "completion_time": 1.2846851348876953, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000446553262433258, "left gripper-book distance": 0.4937620250297669, "right gripper-book distance": 0.20353063154304915 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6519506743912113, "bimanual_gripper_vertical_difference": 0.1492851120395752, "task_success": 0.0 }, { "completion_time": 1.3151180744171143, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005486035977939618, "left gripper-book distance": 0.4931033564203207, "right gripper-book distance": 0.20243087556733438 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6372241970138859, "bimanual_gripper_vertical_difference": 0.15063380284129396, "task_success": 0.0 }, { "completion_time": 1.344735860824585, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005600846612046073, "left gripper-book distance": 0.49275565697314416, "right gripper-book distance": 0.20173320887936264 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6231102483883635, "bimanual_gripper_vertical_difference": 0.15192479135719544, "task_success": 0.0 }, { "completion_time": 1.3741769790649414, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005850912035081368, "left gripper-book distance": 0.4915917201410412, "right gripper-book distance": 0.1999141181343132 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6114651391425326, "bimanual_gripper_vertical_difference": 0.15319963470777803, "task_success": 0.0 }, { "completion_time": 1.4039814472198486, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005914589804361103, "left gripper-book distance": 0.490137368252081, "right gripper-book distance": 0.19731210373841074 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6124561934913486, "bimanual_gripper_vertical_difference": 0.15456355155172521, "task_success": 0.0 }, { "completion_time": 1.432647943496704, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005217845313716385, "left gripper-book distance": 0.4890676051996299, "right gripper-book distance": 0.19540946559880223 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6257793774740227, "bimanual_gripper_vertical_difference": 0.1560617082170678, "task_success": 0.0 }, { "completion_time": 1.462317705154419, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005223561757258244, "left gripper-book distance": 0.48775924045934693, "right gripper-book distance": 0.19363550298441762 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.64162966492375, "bimanual_gripper_vertical_difference": 0.1576568967333826, "task_success": 0.0 }, { "completion_time": 1.4954333305358887, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005527973819424714, "left gripper-book distance": 0.4858307489539654, "right gripper-book distance": 0.1896877483880215 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6575258844989834, "bimanual_gripper_vertical_difference": 0.15930308758328532, "task_success": 0.0 }, { "completion_time": 1.5244581699371338, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006686429412168238, "left gripper-book distance": 0.48338478525190476, "right gripper-book distance": 0.1832453650372956 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6635443957271093, "bimanual_gripper_vertical_difference": 0.16095120342101396, "task_success": 0.0 }, { "completion_time": 1.554394245147705, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006484577446295159, "left gripper-book distance": 0.48135572185594944, "right gripper-book distance": 0.17655917622856668 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6617369414292941, "bimanual_gripper_vertical_difference": 0.16253857697216298, "task_success": 0.0 }, { "completion_time": 1.5836982727050781, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006307874637767608, "left gripper-book distance": 0.48010097589705925, "right gripper-book distance": 0.1719876374111369 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6569293907856955, "bimanual_gripper_vertical_difference": 0.1640043030957311, "task_success": 0.0 }, { "completion_time": 1.6133594512939453, "slip_count": 0, "slip_count_per_object": { "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": 0.4798332912157973, "right gripper-book distance": 0.17034251193918493 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6484583590917212, "bimanual_gripper_vertical_difference": 0.16531861189757946, "task_success": 0.0 }, { "completion_time": 1.6421940326690674, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005459989195493176, "left gripper-book distance": 0.48051786912510724, "right gripper-book distance": 0.17082676494602766 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6369330455980748, "bimanual_gripper_vertical_difference": 0.16648101430885678, "task_success": 0.0 }, { "completion_time": 1.6717274188995361, "slip_count": 0, "slip_count_per_object": { "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": 0.48144944199737133, "right gripper-book distance": 0.1721659603195252 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6271700065705194, "bimanual_gripper_vertical_difference": 0.16750080191313968, "task_success": 0.0 }, { "completion_time": 1.7009267807006836, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00044341222887755993, "left gripper-book distance": 0.48238148102644407, "right gripper-book distance": 0.17378934367861065 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6170142607601112, "bimanual_gripper_vertical_difference": 0.16838748739562656, "task_success": 0.0 }, { "completion_time": 1.7308437824249268, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006518046606811545, "left gripper-book distance": 0.48297886317146477, "right gripper-book distance": 0.17477060093817845 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.61170626225893, "bimanual_gripper_vertical_difference": 0.169161098144664, "task_success": 0.0 }, { "completion_time": 1.7613716125488281, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006372313014405551, "left gripper-book distance": 0.4843274587633199, "right gripper-book distance": 0.17473917551286025 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6061343568727569, "bimanual_gripper_vertical_difference": 0.16987214159029665, "task_success": 0.0 }, { "completion_time": 1.7917823791503906, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005674542972565755, "left gripper-book distance": 0.4867457773558368, "right gripper-book distance": 0.1730039461015679 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.623924264270263, "bimanual_gripper_vertical_difference": 0.17061167465242735, "task_success": 0.0 }, { "completion_time": 1.8248372077941895, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005368517729134048, "left gripper-book distance": 0.48959318005185504, "right gripper-book distance": 0.1729559473628642 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6553217360058367, "bimanual_gripper_vertical_difference": 0.17140931822715502, "task_success": 0.0 }, { "completion_time": 1.8541932106018066, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000543924983310129, "left gripper-book distance": 0.49191260375572315, "right gripper-book distance": 0.17607116059426917 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6829297419296378, "bimanual_gripper_vertical_difference": 0.17222904261891728, "task_success": 0.0 }, { "completion_time": 1.8834068775177002, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005671332086508718, "left gripper-book distance": 0.4932819097173621, "right gripper-book distance": 0.18093803819521678 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7068460386624347, "bimanual_gripper_vertical_difference": 0.1730354351036945, "task_success": 0.0 }, { "completion_time": 1.9118945598602295, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006366025793015373, "left gripper-book distance": 0.4944886780332863, "right gripper-book distance": 0.18633055222075737 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7271597369210729, "bimanual_gripper_vertical_difference": 0.17380921537438257, "task_success": 0.0 }, { "completion_time": 1.9402613639831543, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005086957757494126, "left gripper-book distance": 0.49610837335547253, "right gripper-book distance": 0.19224473073047404 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7470587448104392, "bimanual_gripper_vertical_difference": 0.1745458821360831, "task_success": 0.0 }, { "completion_time": 1.9689877033233643, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004266064198731323, "left gripper-book distance": 0.4972893383179569, "right gripper-book distance": 0.1987438353584899 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7680094833054713, "bimanual_gripper_vertical_difference": 0.1752290157678207, "task_success": 0.0 }, { "completion_time": 1.9987142086029053, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005908411140691516, "left gripper-book distance": 0.4973269562480234, "right gripper-book distance": 0.20378615594315178 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7787127405187751, "bimanual_gripper_vertical_difference": 0.175840861061584, "task_success": 0.0 }, { "completion_time": 2.0281996726989746, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005298905682989963, "left gripper-book distance": 0.49715727137343313, "right gripper-book distance": 0.2055661391734861 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7845535823965488, "bimanual_gripper_vertical_difference": 0.17636961921167107, "task_success": 0.0 }, { "completion_time": 2.058518409729004, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006632939415753825, "left gripper-book distance": 0.49738809895062336, "right gripper-book distance": 0.2059462068119828 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7922621323319685, "bimanual_gripper_vertical_difference": 0.1768394005126027, "task_success": 0.0 }, { "completion_time": 2.087644100189209, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007288842548252017, "left gripper-book distance": 0.4979644106718365, "right gripper-book distance": 0.20458331881961866 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8044598224992554, "bimanual_gripper_vertical_difference": 0.17726438557465052, "task_success": 0.0 }, { "completion_time": 2.1168100833892822, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004910685233511236, "left gripper-book distance": 0.4984853882042821, "right gripper-book distance": 0.20197267174547862 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8198299610856352, "bimanual_gripper_vertical_difference": 0.17766694132853278, "task_success": 0.0 }, { "completion_time": 2.1464240550994873, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005492409053300396, "left gripper-book distance": 0.49834827008747357, "right gripper-book distance": 0.20001283623106936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8338547535320999, "bimanual_gripper_vertical_difference": 0.17805838173066751, "task_success": 0.0 }, { "completion_time": 2.175222635269165, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00046372177377707047, "left gripper-book distance": 0.49798495795689185, "right gripper-book distance": 0.19983809324606708 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8498237009950756, "bimanual_gripper_vertical_difference": 0.17843373834298468, "task_success": 0.0 }, { "completion_time": 2.204704523086548, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006075161963640108, "left gripper-book distance": 0.49749107885973926, "right gripper-book distance": 0.1989939940287701 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8631813637815836, "bimanual_gripper_vertical_difference": 0.17878779684722962, "task_success": 0.0 }, { "completion_time": 2.2344810962677, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005522391715959696, "left gripper-book distance": 0.49727340783066765, "right gripper-book distance": 0.19207425115282226 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.880688776429214, "bimanual_gripper_vertical_difference": 0.17920169059485525, "task_success": 0.0 }, { "completion_time": 2.2630715370178223, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005748470375644965, "left gripper-book distance": 0.4969817199221355, "right gripper-book distance": 0.17896370207679319 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9089972233312646, "bimanual_gripper_vertical_difference": 0.17976920708742067, "task_success": 0.0 }, { "completion_time": 2.292764902114868, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005798093269977489, "left gripper-book distance": 0.49631693883109934, "right gripper-book distance": 0.15969461174665014 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9492841256971009, "bimanual_gripper_vertical_difference": 0.1805507450104941, "task_success": 0.0 }, { "completion_time": 2.323453903198242, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006118265592551797, "left gripper-book distance": 0.4952877451176286, "right gripper-book distance": 0.1439801970865402 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9741341713036861, "bimanual_gripper_vertical_difference": 0.1814682205229887, "task_success": 0.0 }, { "completion_time": 2.3540172576904297, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006552222940852115, "left gripper-book distance": 0.4940175003634244, "right gripper-book distance": 0.14293435997507156 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9795898931720811, "bimanual_gripper_vertical_difference": 0.1823254639626368, "task_success": 0.0 }, { "completion_time": 2.3841331005096436, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006614101164303943, "left gripper-book distance": 0.4926050646670235, "right gripper-book distance": 0.14123544812034125 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9803828107919825, "bimanual_gripper_vertical_difference": 0.1831456579553789, "task_success": 0.0 }, { "completion_time": 2.4178879261016846, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005715476024151789, "left gripper-book distance": 0.4911246243875118, "right gripper-book distance": 0.13926325849868604 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9820790801942668, "bimanual_gripper_vertical_difference": 0.1839333208448863, "task_success": 0.0 }, { "completion_time": 2.451110601425171, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006406467624294754, "left gripper-book distance": 0.48971962235763045, "right gripper-book distance": 0.13681126001948032 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9860682191895228, "bimanual_gripper_vertical_difference": 0.1846960893322081, "task_success": 0.0 }, { "completion_time": 2.4810636043548584, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006419587327689547, "left gripper-book distance": 0.48872636881228404, "right gripper-book distance": 0.13361950150640384 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9874752707930162, "bimanual_gripper_vertical_difference": 0.18544344008950828, "task_success": 0.0 }, { "completion_time": 2.5104739665985107, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006547247668665657, "left gripper-book distance": 0.4882815515570289, "right gripper-book distance": 0.12972871815781395 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9879896466016407, "bimanual_gripper_vertical_difference": 0.1861774009916053, "task_success": 0.0 }, { "completion_time": 2.5394909381866455, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005637183558767633, "left gripper-book distance": 0.4884911947983497, "right gripper-book distance": 0.1258088365621687 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9905702350710097, "bimanual_gripper_vertical_difference": 0.18689829694219087, "task_success": 0.0 }, { "completion_time": 2.568495512008667, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005289070082072911, "left gripper-book distance": 0.48881108927816563, "right gripper-book distance": 0.12238517049807868 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9918854714326907, "bimanual_gripper_vertical_difference": 0.18760406648480302, "task_success": 0.0 }, { "completion_time": 2.5970847606658936, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0013265876897675666, "left gripper-book distance": 0.4887853137934996, "right gripper-book distance": 0.1219626441519579 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9919691637074372, "bimanual_gripper_vertical_difference": 0.18828746239563082, "task_success": 0.0 }, { "completion_time": 2.6261866092681885, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.000773587787471719, "left gripper-book distance": 0.4884442148367799, "right gripper-book distance": 0.12384069070593778 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9921670558817435, "bimanual_gripper_vertical_difference": 0.1889617278937222, "task_success": 0.0 }, { "completion_time": 2.6564133167266846, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.001364372175081674, "left gripper-book distance": 0.4873337400264724, "right gripper-book distance": 0.1259222120993554 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9904115989762532, "bimanual_gripper_vertical_difference": 0.18961680370959244, "task_success": 0.0 }, { "completion_time": 2.6843771934509277, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.000629487541742968, "left gripper-book distance": 0.488345055454737, "right gripper-book distance": 0.12737521463465426 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9865225363927063, "bimanual_gripper_vertical_difference": 0.19026203576853318, "task_success": 0.0 }, { "completion_time": 2.71547794342041, "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": 0.0008639315879674925, "left gripper-book distance": 0.48776493610314264, "right gripper-book distance": 0.12856960989867824 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9809944782179421, "bimanual_gripper_vertical_difference": 0.1908947092104823, "task_success": 0.0 }, { "completion_time": 2.7460477352142334, "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": 0.001201472290680794, "left gripper-book distance": 0.48736304195502517, "right gripper-book distance": 0.12924292155101358 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9735337831925897, "bimanual_gripper_vertical_difference": 0.19151663820632664, "task_success": 0.0 }, { "completion_time": 2.7757952213287354, "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": 0.0008789357612770665, "left gripper-book distance": 0.4876310288257928, "right gripper-book distance": 0.13001722890492162 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9650125824301621, "bimanual_gripper_vertical_difference": 0.19212933033533452, "task_success": 0.0 }, { "completion_time": 2.8057587146759033, "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": 0.0006395470506574963, "left gripper-book distance": 0.48783731135604597, "right gripper-book distance": 0.13066126975792583 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9560667321205191, "bimanual_gripper_vertical_difference": 0.1927303926115338, "task_success": 0.0 }, { "completion_time": 2.836920976638794, "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": 0.0006693194768530031, "left gripper-book distance": 0.48791640508563616, "right gripper-book distance": 0.1310831172864894 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9488763477205502, "bimanual_gripper_vertical_difference": 0.19331827262483753, "task_success": 0.0 }, { "completion_time": 2.866722583770752, "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": 0.000659277733320307, "left gripper-book distance": 0.488084903005811, "right gripper-book distance": 0.13193723899718743 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9449439165276194, "bimanual_gripper_vertical_difference": 0.1938936111083268, "task_success": 0.0 }, { "completion_time": 2.8957996368408203, "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": 0.0006164658013020352, "left gripper-book distance": 0.4883905360310685, "right gripper-book distance": 0.1337248689679623 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9438621065743146, "bimanual_gripper_vertical_difference": 0.19445648558187, "task_success": 0.0 }, { "completion_time": 2.9240827560424805, "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": 0.0005938329299748357, "left gripper-book distance": 0.4886933188390208, "right gripper-book distance": 0.13610923305374303 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9443825999107626, "bimanual_gripper_vertical_difference": 0.19500677418666323, "task_success": 0.0 }, { "completion_time": 2.9537556171417236, "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": 0.0006559622496735695, "left gripper-book distance": 0.48899606045636984, "right gripper-book distance": 0.1385702928562199 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9417317559602713, "bimanual_gripper_vertical_difference": 0.1955452862266911, "task_success": 0.0 }, { "completion_time": 2.9821460247039795, "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": 0.000581334415439061, "left gripper-book distance": 0.48919044992412736, "right gripper-book distance": 0.14112757578270932 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9365527467161432, "bimanual_gripper_vertical_difference": 0.19606928975404986, "task_success": 0.0 }, { "completion_time": 3.0126194953918457, "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": 0.0005580870124345383, "left gripper-book distance": 0.48917705590320604, "right gripper-book distance": 0.14367985021815835 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9297686608573971, "bimanual_gripper_vertical_difference": 0.19657664091867544, "task_success": 0.0 }, { "completion_time": 3.0404880046844482, "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": 0.0006410275749992866, "left gripper-book distance": 0.48905651783996024, "right gripper-book distance": 0.14646970150387548 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.922170028175018, "bimanual_gripper_vertical_difference": 0.19706360666334166, "task_success": 0.0 }, { "completion_time": 3.070227861404419, "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": 0.00048068068773687855, "left gripper-book distance": 0.4890930050710057, "right gripper-book distance": 0.1509517858943114 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9156216880965301, "bimanual_gripper_vertical_difference": 0.1975197567455958, "task_success": 0.0 }, { "completion_time": 3.0993220806121826, "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": 0.0005323699909283164, "left gripper-book distance": 0.4890761746085492, "right gripper-book distance": 0.1572539646236243 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9120706696955531, "bimanual_gripper_vertical_difference": 0.19793432131184827, "task_success": 0.0 }, { "completion_time": 3.1271584033966064, "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": 0.0004368097660679693, "left gripper-book distance": 0.48933002974044093, "right gripper-book distance": 0.16586614870674155 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9109128639956753, "bimanual_gripper_vertical_difference": 0.198299502266337, "task_success": 0.0 }, { "completion_time": 3.1553831100463867, "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": 0.0003279581455702951, "left gripper-book distance": 0.48979438444937323, "right gripper-book distance": 0.17594953100218436 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9131615890377265, "bimanual_gripper_vertical_difference": 0.19861555147345133, "task_success": 0.0 }, { "completion_time": 3.184325695037842, "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": 0.00029417654569852125, "left gripper-book distance": 0.4904745197080449, "right gripper-book distance": 0.18602513063470213 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9222262612820783, "bimanual_gripper_vertical_difference": 0.19889610179293699, "task_success": 0.0 }, { "completion_time": 3.2128303050994873, "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": 0.0003328802000412967, "left gripper-book distance": 0.4913019235199238, "right gripper-book distance": 0.19487216258271728 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9336442112925971, "bimanual_gripper_vertical_difference": 0.19914103111223297, "task_success": 0.0 }, { "completion_time": 3.2420570850372314, "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": 0.00044750742556232126, "left gripper-book distance": 0.49223739170892183, "right gripper-book distance": 0.19732638967897545 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9448239714032335, "bimanual_gripper_vertical_difference": 0.19940164640217836, "task_success": 0.0 }, { "completion_time": 3.2715280055999756, "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": 0.0006468695871256758, "left gripper-book distance": 0.49327863525255516, "right gripper-book distance": 0.19178737511913627 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9562844521281876, "bimanual_gripper_vertical_difference": 0.19975851394415803, "task_success": 0.0 }, { "completion_time": 3.3006591796875, "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": 0.00043421802493348594, "left gripper-book distance": 0.49466291164990117, "right gripper-book distance": 0.1838249084392655 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9685466580342714, "bimanual_gripper_vertical_difference": 0.20024926823559627, "task_success": 0.0 }, { "completion_time": 3.330512523651123, "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": 0.0004652065709654929, "left gripper-book distance": 0.4955218396475794, "right gripper-book distance": 0.17691374412499256 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9818094128127826, "bimanual_gripper_vertical_difference": 0.20088296318081536, "task_success": 0.0 }, { "completion_time": 3.3588039875030518, "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": 0.0005623743658740299, "left gripper-book distance": 0.4959488937795143, "right gripper-book distance": 0.17403504865567476 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9953015279732892, "bimanual_gripper_vertical_difference": 0.20162930388503045, "task_success": 0.0 }, { "completion_time": 3.390702486038208, "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": 0.0005059294702868256, "left gripper-book distance": 0.4962216233638897, "right gripper-book distance": 0.17461987311035115 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0078788792122344, "bimanual_gripper_vertical_difference": 0.20237198974977016, "task_success": 0.0 }, { "completion_time": 3.418964147567749, "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": 0.0004516481321845678, "left gripper-book distance": 0.49611758425914565, "right gripper-book distance": 0.17570792986646538 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0228403548805576, "bimanual_gripper_vertical_difference": 0.2030702786569149, "task_success": 0.0 }, { "completion_time": 3.447213888168335, "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": 0.0002891498395797276, "left gripper-book distance": 0.4957149735937511, "right gripper-book distance": 0.17845124450063565 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0382190291950877, "bimanual_gripper_vertical_difference": 0.20370419961316927, "task_success": 0.0 }, { "completion_time": 3.4752724170684814, "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": 0.00023302538209091228, "left gripper-book distance": 0.49507578055860685, "right gripper-book distance": 0.18159893914895833 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.047723890450205, "bimanual_gripper_vertical_difference": 0.20428436812587758, "task_success": 0.0 }, { "completion_time": 3.5039100646972656, "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": 0.00024641347123155466, "left gripper-book distance": 0.4947050173273043, "right gripper-book distance": 0.18348512497662176 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0570335935127348, "bimanual_gripper_vertical_difference": 0.20484323053961473, "task_success": 0.0 }, { "completion_time": 3.5316739082336426, "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": 0.00031224362028592356, "left gripper-book distance": 0.4945891417007857, "right gripper-book distance": 0.18320702104730963 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.071385256118474, "bimanual_gripper_vertical_difference": 0.20541638764942727, "task_success": 0.0 }, { "completion_time": 3.559126138687134, "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": 0.0005060153395392009, "left gripper-book distance": 0.49441120633150265, "right gripper-book distance": 0.18165950712093748 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0858214562156077, "bimanual_gripper_vertical_difference": 0.2060088318431574, "task_success": 0.0 }, { "completion_time": 3.5906550884246826, "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": 0.0003972265473363157, "left gripper-book distance": 0.49425501752186723, "right gripper-book distance": 0.17967761217368391 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1007030658213317, "bimanual_gripper_vertical_difference": 0.2066113788453545, "task_success": 0.0 }, { "completion_time": 3.623485803604126, "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": 0.000417761070053313, "left gripper-book distance": 0.49383663044261944, "right gripper-book distance": 0.1771240105213987 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1144036587073083, "bimanual_gripper_vertical_difference": 0.20721873095935817, "task_success": 0.0 }, { "completion_time": 3.6563258171081543, "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": 0.0005163476501970354, "left gripper-book distance": 0.49318708838673303, "right gripper-book distance": 0.17459820671801393 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1301101333474963, "bimanual_gripper_vertical_difference": 0.20782472845643177, "task_success": 0.0 }, { "completion_time": 3.685914993286133, "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": 0.00029725920877143874, "left gripper-book distance": 0.49293846240955574, "right gripper-book distance": 0.17176356546193142 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1458553789825694, "bimanual_gripper_vertical_difference": 0.20842760486676218, "task_success": 0.0 }, { "completion_time": 3.7161643505096436, "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": 0.00013781226696252258, "left gripper-book distance": 0.49292212768398985, "right gripper-book distance": 0.16846403727527878 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1598119075595434, "bimanual_gripper_vertical_difference": 0.20902623522165514, "task_success": 0.0 }, { "completion_time": 3.7453501224517822, "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": 3.686465907248859e-05, "left gripper-book distance": 0.4931433098809937, "right gripper-book distance": 0.16484017729801298 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1721878535540475, "bimanual_gripper_vertical_difference": 0.20962006647928, "task_success": 0.0 }, { "completion_time": 3.7743566036224365, "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": -4.5850120834800556e-05, "left gripper-book distance": 0.49339632901325453, "right gripper-book distance": 0.16126424413416768 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1830606525796126, "bimanual_gripper_vertical_difference": 0.21021198407074843, "task_success": 0.0 }, { "completion_time": 3.802799940109253, "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": -0.00011853245811699331, "left gripper-book distance": 0.4937084989048359, "right gripper-book distance": 0.15787084768164386 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1857714300769817, "bimanual_gripper_vertical_difference": 0.21080655782845367, "task_success": 0.0 }, { "completion_time": 3.8312039375305176, "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": -0.00021063893696859903, "left gripper-book distance": 0.49413866305812004, "right gripper-book distance": 0.1545742763944338 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1829316154571958, "bimanual_gripper_vertical_difference": 0.21141131674915664, "task_success": 0.0 }, { "completion_time": 3.860046625137329, "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": -0.00024020366822241623, "left gripper-book distance": 0.49440169605806356, "right gripper-book distance": 0.15136068388268878 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1791053560355356, "bimanual_gripper_vertical_difference": 0.2120351165767643, "task_success": 0.0 }, { "completion_time": 3.8888912200927734, "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": -0.00026996847507587685, "left gripper-book distance": 0.49443781890772254, "right gripper-book distance": 0.14866891923145223 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1759944461935412, "bimanual_gripper_vertical_difference": 0.2126872934826007, "task_success": 0.0 }, { "completion_time": 3.918229579925537, "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": -0.0003406849603029283, "left gripper-book distance": 0.49422737703170705, "right gripper-book distance": 0.1471766284251418 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1719317170064574, "bimanual_gripper_vertical_difference": 0.21336543894100893, "task_success": 0.0 }, { "completion_time": 3.947784900665283, "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": -0.00045775845814222116, "left gripper-book distance": 0.49381035077669905, "right gripper-book distance": 0.14615023405788174 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1659689575531116, "bimanual_gripper_vertical_difference": 0.21405548682283423, "task_success": 0.0 }, { "completion_time": 3.976604700088501, "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": -0.0006782053640022045, "left gripper-book distance": 0.4933581172296563, "right gripper-book distance": 0.14544730010673962 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1585221638996261, "bimanual_gripper_vertical_difference": 0.21473989151358747, "task_success": 0.0 }, { "completion_time": 4.006120204925537, "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": -0.000987209451077442, "left gripper-book distance": 0.49228643189854643, "right gripper-book distance": 0.14497190787482733 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1502626998791354, "bimanual_gripper_vertical_difference": 0.2154117714436788, "task_success": 0.0 }, { "completion_time": 4.035859823226929, "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": -0.0012791510438809883, "left gripper-book distance": 0.4913759674969381, "right gripper-book distance": 0.14469751319202992 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1418971984840323, "bimanual_gripper_vertical_difference": 0.216070888751047, "task_success": 0.0 }, { "completion_time": 4.063608407974243, "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": -0.0015197209318057459, "left gripper-book distance": 0.4907842556032534, "right gripper-book distance": 0.1446154802341625 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.13358319449731, "bimanual_gripper_vertical_difference": 0.21671772685737983, "task_success": 0.0 }, { "completion_time": 4.092015027999878, "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": -0.001233302808211434, "left gripper-book distance": 0.49007165889146664, "right gripper-book distance": 0.1445273455325698 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1253720801279887, "bimanual_gripper_vertical_difference": 0.21735056054881727, "task_success": 0.0 }, { "completion_time": 4.120600938796997, "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": -0.001182688207238658, "left gripper-book distance": 0.4896863334313389, "right gripper-book distance": 0.14449899302177907 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1173208560504475, "bimanual_gripper_vertical_difference": 0.2179723032898943, "task_success": 0.0 }, { "completion_time": 4.151013612747192, "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": -0.0011778309065101356, "left gripper-book distance": 0.4894561679164715, "right gripper-book distance": 0.14452193685397793 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1093782524185027, "bimanual_gripper_vertical_difference": 0.21858344770363813, "task_success": 0.0 }, { "completion_time": 4.181199312210083, "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": -0.0010503874948764036, "left gripper-book distance": 0.4892041282943126, "right gripper-book distance": 0.144473049897193 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1015340494766417, "bimanual_gripper_vertical_difference": 0.21918515500405533, "task_success": 0.0 }, { "completion_time": 4.209462881088257, "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": -0.0009084722128194223, "left gripper-book distance": 0.48899975839357523, "right gripper-book distance": 0.14444735420254368 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0938468134049635, "bimanual_gripper_vertical_difference": 0.2197775968806825, "task_success": 0.0 }, { "completion_time": 4.238883018493652, "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": -0.0009553711653873531, "left gripper-book distance": 0.4889624928959767, "right gripper-book distance": 0.14444680655627326 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0862418959264029, "bimanual_gripper_vertical_difference": 0.22036188922883504, "task_success": 0.0 }, { "completion_time": 4.2681355476379395, "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": -0.001109011772462254, "left gripper-book distance": 0.4885347498952626, "right gripper-book distance": 0.14448331479491233 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0788112646378214, "bimanual_gripper_vertical_difference": 0.22093471818125787, "task_success": 0.0 }, { "completion_time": 4.296402215957642, "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": -0.0010776382184156663, "left gripper-book distance": 0.48534432299988794, "right gripper-book distance": 0.1443648859478972 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0720084987554794, "bimanual_gripper_vertical_difference": 0.22148064513332374, "task_success": 0.0 }, { "completion_time": 4.325619459152222, "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": -0.0010913589027911064, "left gripper-book distance": 0.48131958253433743, "right gripper-book distance": 0.1441247165262195 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0648069007713374, "bimanual_gripper_vertical_difference": 0.22199474616323325, "task_success": 0.0 }, { "completion_time": 4.356724739074707, "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": -0.0013793076415364869, "left gripper-book distance": 0.4778187954370529, "right gripper-book distance": 0.14253030188058866 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0596429595061299, "bimanual_gripper_vertical_difference": 0.22248508450134938, "task_success": 0.0 }, { "completion_time": 4.3854265213012695, "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": -0.002221530605483024, "left gripper-book distance": 0.4758268723672437, "right gripper-book distance": 0.14099659198861855 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0558804473446406, "bimanual_gripper_vertical_difference": 0.22295624656559535, "task_success": 0.0 }, { "completion_time": 4.4134087562561035, "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": -0.0035097776562982297, "left gripper-book distance": 0.47520879846652386, "right gripper-book distance": 0.14061026794008008 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0519410086422887, "bimanual_gripper_vertical_difference": 0.22340983241307735, "task_success": 0.0 }, { "completion_time": 4.441327810287476, "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": -0.005487614271400321, "left gripper-book distance": 0.4761755051109225, "right gripper-book distance": 0.14209851032474263 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0474159008060262, "bimanual_gripper_vertical_difference": 0.22384381938851305, "task_success": 0.0 }, { "completion_time": 4.470365047454834, "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": -0.008426571933658589, "left gripper-book distance": 0.4788512003808281, "right gripper-book distance": 0.14526452060513262 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0428453862972964, "bimanual_gripper_vertical_difference": 0.2242563755503567, "task_success": 0.0 }, { "completion_time": 4.498025178909302, "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": -0.01283787300886241, "left gripper-book distance": 0.4836039256650662, "right gripper-book distance": 0.14954824766747907 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0376003703728702, "bimanual_gripper_vertical_difference": 0.2246504864896506, "task_success": 0.0 }, { "completion_time": 4.527492523193359, "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": -0.019528360286691027, "left gripper-book distance": 0.4906776561779581, "right gripper-book distance": 0.1550430292228306 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0317989564316192, "bimanual_gripper_vertical_difference": 0.22503182160527715, "task_success": 0.0 }, { "completion_time": 4.556508779525757, "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": -0.02125726840441622, "left gripper-book distance": 0.4937894773750256, "right gripper-book distance": 0.15619276779870778 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0263232154245177, "bimanual_gripper_vertical_difference": 0.22540918992840023, "task_success": 0.0 }, { "completion_time": 4.584365606307983, "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": -0.02221845321514415, "left gripper-book distance": 0.4960742779042682, "right gripper-book distance": 0.15594210063831215 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0215697291344379, "bimanual_gripper_vertical_difference": 0.225786138084735, "task_success": 0.0 }, { "completion_time": 4.614272117614746, "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": -0.021103235376991103, "left gripper-book distance": 0.49643059492632025, "right gripper-book distance": 0.1536865547425012 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.017677899110096, "bimanual_gripper_vertical_difference": 0.22616712199116812, "task_success": 0.0 }, { "completion_time": 4.642651319503784, "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": -0.019378098585240533, "left gripper-book distance": 0.49618357533568574, "right gripper-book distance": 0.15041101521509276 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0140207462275401, "bimanual_gripper_vertical_difference": 0.2265541547122656, "task_success": 0.0 }, { "completion_time": 4.672502040863037, "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": -0.017701259780940615, "left gripper-book distance": 0.4957099420935694, "right gripper-book distance": 0.14756055387828537 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0106630595467603, "bimanual_gripper_vertical_difference": 0.22694367200683485, "task_success": 0.0 }, { "completion_time": 4.702221393585205, "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": -0.016647463466312407, "left gripper-book distance": 0.4955914969450641, "right gripper-book distance": 0.1453900814574476 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.006220589437949, "bimanual_gripper_vertical_difference": 0.22733470991324528, "task_success": 0.0 }, { "completion_time": 4.730927467346191, "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": -0.01584625841640741, "left gripper-book distance": 0.4954702077621375, "right gripper-book distance": 0.14345700331912575 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0008149980267667, "bimanual_gripper_vertical_difference": 0.22772891573392315, "task_success": 0.0 }, { "completion_time": 4.763022184371948, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.015635271008647367, "left gripper-book distance": 0.4955930475574903, "right gripper-book distance": 0.14237958890308922 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9958078327493489, "bimanual_gripper_vertical_difference": 0.22812232802151278, "task_success": 0.0 }, { "completion_time": 4.791047096252441, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.015598857071040584, "left gripper-book distance": 0.495718887515749, "right gripper-book distance": 0.14085498877222452 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9910500735046226, "bimanual_gripper_vertical_difference": 0.22851588486868685, "task_success": 0.0 }, { "completion_time": 4.820465087890625, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.015477392061951645, "left gripper-book distance": 0.49549712094460985, "right gripper-book distance": 0.13877192128556498 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9863920142432254, "bimanual_gripper_vertical_difference": 0.22891000736391529, "task_success": 0.0 }, { "completion_time": 4.849681854248047, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.01609440040082233, "left gripper-book distance": 0.4957554942676141, "right gripper-book distance": 0.13647339142047327 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.981120773751247, "bimanual_gripper_vertical_difference": 0.22930430188113846, "task_success": 0.0 }, { "completion_time": 4.8789708614349365, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.01599776845928813, "left gripper-book distance": 0.49563377170958406, "right gripper-book distance": 0.13383763280037023 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9757917497987317, "bimanual_gripper_vertical_difference": 0.22969666718171047, "task_success": 0.0 }, { "completion_time": 4.9073662757873535, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.01631350114438057, "left gripper-book distance": 0.4961046708878563, "right gripper-book distance": 0.1316518380563 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9702458857587836, "bimanual_gripper_vertical_difference": 0.23008577533428956, "task_success": 0.0 }, { "completion_time": 4.936237573623657, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.01609914471836138, "left gripper-book distance": 0.49633894087525376, "right gripper-book distance": 0.12926493233340453 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9648517427567307, "bimanual_gripper_vertical_difference": 0.23047154404162173, "task_success": 0.0 }, { "completion_time": 4.964100122451782, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.015047484215232831, "left gripper-book distance": 0.49623849536090575, "right gripper-book distance": 0.1266653454475917 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9597705447458532, "bimanual_gripper_vertical_difference": 0.23085428743520903, "task_success": 0.0 }, { "completion_time": 4.993819236755371, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.013971004413115606, "left gripper-book distance": 0.49623163870408743, "right gripper-book distance": 0.12397828235746501 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9545507699352317, "bimanual_gripper_vertical_difference": 0.23123616417858017, "task_success": 0.0 }, { "completion_time": 5.022419691085815, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.012719478219424207, "left gripper-book distance": 0.4960582175352099, "right gripper-book distance": 0.1221214105363252 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9513426003024874, "bimanual_gripper_vertical_difference": 0.23161528006249346, "task_success": 0.0 }, { "completion_time": 5.052424430847168, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.010509990820258941, "left gripper-book distance": 0.4950995251983693, "right gripper-book distance": 0.11966127290366324 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9506889685370816, "bimanual_gripper_vertical_difference": 0.2319906714471481, "task_success": 0.0 }, { "completion_time": 5.08086633682251, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.007876637135980413, "left gripper-book distance": 0.4936768300115931, "right gripper-book distance": 0.11617541630168553 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9511446584561972, "bimanual_gripper_vertical_difference": 0.23236420768573574, "task_success": 0.0 }, { "completion_time": 5.110905408859253, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.004696702469911496, "left gripper-book distance": 0.49167748688956736, "right gripper-book distance": 0.11277634754544662 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9528828033920533, "bimanual_gripper_vertical_difference": 0.23273390489875131, "task_success": 0.0 }, { "completion_time": 5.140420436859131, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.00243844284137984, "left gripper-book distance": 0.49055283170255903, "right gripper-book distance": 0.1109613588724338 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9550739023271727, "bimanual_gripper_vertical_difference": 0.23309462307509943, "task_success": 0.0 }, { "completion_time": 5.170557737350464, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0006492379124423131, "left gripper-book distance": 0.48971028751699763, "right gripper-book distance": 0.10919341995085068 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9568921092317744, "bimanual_gripper_vertical_difference": 0.23344812590197064, "task_success": 0.0 }, { "completion_time": 5.199995994567871, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0001038185044551776, "left gripper-book distance": 0.4891129216454256, "right gripper-book distance": 0.10858909942180682 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9570528852031308, "bimanual_gripper_vertical_difference": 0.23379413256678455, "task_success": 0.0 }, { "completion_time": 5.230525493621826, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0001763186390508764, "left gripper-book distance": 0.488300607282192, "right gripper-book distance": 0.10858887206733321 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9546192631185192, "bimanual_gripper_vertical_difference": 0.23413094025314046, "task_success": 0.0 }, { "completion_time": 5.261031866073608, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00048377646113728634, "left gripper-book distance": 0.4875847894778577, "right gripper-book distance": 0.1085372890281911 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9506289444838226, "bimanual_gripper_vertical_difference": 0.23445811407850134, "task_success": 0.0 }, { "completion_time": 5.290852785110474, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004356201244674063, "left gripper-book distance": 0.48701156048535627, "right gripper-book distance": 0.10881233246163473 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9464995360741689, "bimanual_gripper_vertical_difference": 0.23478179154429812, "task_success": 0.0 }, { "completion_time": 5.324283838272095, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006271530329717834, "left gripper-book distance": 0.4867097677478834, "right gripper-book distance": 0.1090294662027131 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9430766668747825, "bimanual_gripper_vertical_difference": 0.23510530723997478, "task_success": 0.0 }, { "completion_time": 5.355624198913574, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.002645459674998185, "left gripper-book distance": 0.48868237548328947, "right gripper-book distance": 0.11208491148294555 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9431418704436351, "bimanual_gripper_vertical_difference": 0.23544016387238217, "task_success": 0.0 }, { "completion_time": 5.384886026382446, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0008730308420742405, "left gripper-book distance": 0.4866072168018635, "right gripper-book distance": 0.11218999314811715 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9426100868784087, "bimanual_gripper_vertical_difference": 0.23576911230991754, "task_success": 0.0 }, { "completion_time": 5.4143712520599365, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0009095079395077255, "left gripper-book distance": 0.48711988113999816, "right gripper-book distance": 0.11221948269046185 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9399443719933096, "bimanual_gripper_vertical_difference": 0.23610450060947552, "task_success": 0.0 }, { "completion_time": 5.442999362945557, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000507556991047764, "left gripper-book distance": 0.4882314912504416, "right gripper-book distance": 0.11226534971341372 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9390669005566589, "bimanual_gripper_vertical_difference": 0.23644749906938325, "task_success": 0.0 }, { "completion_time": 5.4725258350372314, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.0002950585290754093, "left gripper-book distance": 0.48955607823776237, "right gripper-book distance": 0.11199377532743852 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9449820334788671, "bimanual_gripper_vertical_difference": 0.236801110236656, "task_success": 0.0 }, { "completion_time": 5.50234580039978, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.002576711189656855, "left gripper-book distance": 0.48842989291860844, "right gripper-book distance": 0.1129784206165753 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.952242016606293, "bimanual_gripper_vertical_difference": 0.237146798262059, "task_success": 0.0 }, { "completion_time": 5.531884670257568, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.008332254709293552, "left gripper-book distance": 0.4883904697807562, "right gripper-book distance": 0.11594335753804552 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9605087606866978, "bimanual_gripper_vertical_difference": 0.2374823733161251, "task_success": 0.0 }, { "completion_time": 5.561366558074951, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.018305934420221215, "left gripper-book distance": 0.49099474105813573, "right gripper-book distance": 0.11877574698211278 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9711946863570017, "bimanual_gripper_vertical_difference": 0.2378063721906827, "task_success": 0.0 }, { "completion_time": 5.5908203125, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.03073166818633155, "left gripper-book distance": 0.49879282413915205, "right gripper-book distance": 0.12126878453602083 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9846875022395458, "bimanual_gripper_vertical_difference": 0.23811524035813011, "task_success": 0.0 }, { "completion_time": 5.6200034618377686, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.04358184381061281, "left gripper-book distance": 0.5102003328687791, "right gripper-book distance": 0.12711667106697527 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.000348114276412, "bimanual_gripper_vertical_difference": 0.2384008977060973, "task_success": 0.0 }, { "completion_time": 5.649969577789307, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.06836034074879804, "left gripper-book distance": 0.5236076975537904, "right gripper-book distance": 0.1259943686593858 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.018104444946387, "bimanual_gripper_vertical_difference": 0.23863993273095463, "task_success": 1.0 } ]