[ { "completion_time": 0.045653581619262695, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": -0.000657602048608652, "left gripper-book distance": 0.5064932772049695, "right gripper-book distance": 0.5065885412886463 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.5390214425380364e-07, "bimanual_gripper_vertical_difference": 1.8972268200911913e-10, "task_success": 0.0 }, { "completion_time": 0.0746924877166748, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005674375990555314, "left gripper-book distance": 0.5041702710179395, "right gripper-book distance": 0.5042561962222992 }, "success": 0.0, "bimanual_arm_velocity_difference": 9.793589162351846e-06, "bimanual_gripper_vertical_difference": 8.262177608742149e-10, "task_success": 0.0 }, { "completion_time": 0.10412144660949707, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007380219397272736, "left gripper-book distance": 0.5028744762903674, "right gripper-book distance": 0.5029164786779267 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.007615813580758776, "bimanual_gripper_vertical_difference": 5.12403451145745e-05, "task_success": 0.0 }, { "completion_time": 0.1333909034729004, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006505387417131692, "left gripper-book distance": 0.5022871995134202, "right gripper-book distance": 0.5017250118275828 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.30551365813454456, "bimanual_gripper_vertical_difference": 0.0009383225376620175, "task_success": 0.0 }, { "completion_time": 0.16232538223266602, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005268709697483498, "left gripper-book distance": 0.5028446521677732, "right gripper-book distance": 0.5008502573590284 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6472489370156247, "bimanual_gripper_vertical_difference": 0.003046513389712224, "task_success": 0.0 }, { "completion_time": 0.1921370029449463, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005808829610112198, "left gripper-book distance": 0.5040341508822302, "right gripper-book distance": 0.4955564021559375 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9544211503752934, "bimanual_gripper_vertical_difference": 0.007319038833096925, "task_success": 0.0 }, { "completion_time": 0.22174406051635742, "slip_count": 0, "slip_count_per_object": { "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": 0.5058179853529743, "right gripper-book distance": 0.48436877838264625 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2119897735275924, "bimanual_gripper_vertical_difference": 0.014076319216473168, "task_success": 0.0 }, { "completion_time": 0.25101304054260254, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006042795767433606, "left gripper-book distance": 0.5079181179522738, "right gripper-book distance": 0.4638446093742841 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.432195861075443, "bimanual_gripper_vertical_difference": 0.023679344652483197, "task_success": 0.0 }, { "completion_time": 0.28287339210510254, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005262332895655808, "left gripper-book distance": 0.5094062144034003, "right gripper-book distance": 0.4325838749826101 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6369844973422794, "bimanual_gripper_vertical_difference": 0.036257273672320345, "task_success": 0.0 }, { "completion_time": 0.3116438388824463, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005471885453847136, "left gripper-book distance": 0.5095123880784626, "right gripper-book distance": 0.39259374477922526 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.833876372303666, "bimanual_gripper_vertical_difference": 0.05161045166627931, "task_success": 0.0 }, { "completion_time": 0.34080982208251953, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004260956568115093, "left gripper-book distance": 0.5083323011746205, "right gripper-book distance": 0.34834992991915115 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9214904836149245, "bimanual_gripper_vertical_difference": 0.0693876890705955, "task_success": 0.0 }, { "completion_time": 0.37091827392578125, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005017399467526218, "left gripper-book distance": 0.5063188496313268, "right gripper-book distance": 0.31163725088292127 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.901657199668933, "bimanual_gripper_vertical_difference": 0.088139605874711, "task_success": 0.0 }, { "completion_time": 0.40047526359558105, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000657638861301435, "left gripper-book distance": 0.5039195757064449, "right gripper-book distance": 0.28639203771653476 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8226713010858764, "bimanual_gripper_vertical_difference": 0.10593334985055428, "task_success": 0.0 }, { "completion_time": 0.43160462379455566, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000655369023400354, "left gripper-book distance": 0.5017766554959274, "right gripper-book distance": 0.27879674454719855 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7802293691733093, "bimanual_gripper_vertical_difference": 0.12090195368253746, "task_success": 0.0 }, { "completion_time": 0.461195707321167, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005696852202365932, "left gripper-book distance": 0.4997466931195529, "right gripper-book distance": 0.2629709855064908 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7327113785455142, "bimanual_gripper_vertical_difference": 0.1333049118356183, "task_success": 0.0 }, { "completion_time": 0.49216651916503906, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005408306121964523, "left gripper-book distance": 0.4974981028293995, "right gripper-book distance": 0.24323477982808192 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7003661314123246, "bimanual_gripper_vertical_difference": 0.1431378951971287, "task_success": 0.0 }, { "completion_time": 0.5220975875854492, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005064348011041275, "left gripper-book distance": 0.49538692963303904, "right gripper-book distance": 0.2304677376061092 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6846353132768679, "bimanual_gripper_vertical_difference": 0.1505955176372094, "task_success": 0.0 }, { "completion_time": 0.5514707565307617, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005632816880621894, "left gripper-book distance": 0.4936929504581426, "right gripper-book distance": 0.22601971307658245 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.680499249770964, "bimanual_gripper_vertical_difference": 0.15597293930630887, "task_success": 0.0 }, { "completion_time": 0.5813274383544922, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006393339087998884, "left gripper-book distance": 0.4926646251402115, "right gripper-book distance": 0.23303141280249176 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6829653893998273, "bimanual_gripper_vertical_difference": 0.15937897300841017, "task_success": 0.0 }, { "completion_time": 0.6121618747711182, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007188907662776245, "left gripper-book distance": 0.49213518271909, "right gripper-book distance": 0.2526170399533302 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6942285520362255, "bimanual_gripper_vertical_difference": 0.16087667241521758, "task_success": 0.0 }, { "completion_time": 0.6453368663787842, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006824459123520032, "left gripper-book distance": 0.4908105214216976, "right gripper-book distance": 0.28369035622526595 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7043455477960099, "bimanual_gripper_vertical_difference": 0.1603761822917955, "task_success": 0.0 }, { "completion_time": 0.6756701469421387, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00054264568529927, "left gripper-book distance": 0.48954319737401164, "right gripper-book distance": 0.29331851633669465 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6749353357610766, "bimanual_gripper_vertical_difference": 0.1593315563916763, "task_success": 0.0 }, { "completion_time": 0.7061305046081543, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005697049097213025, "left gripper-book distance": 0.48859431871733566, "right gripper-book distance": 0.28637440080458443 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6163380551223467, "bimanual_gripper_vertical_difference": 0.15865522215838182, "task_success": 0.0 }, { "completion_time": 0.7355649471282959, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006010398164687514, "left gripper-book distance": 0.4880137294129597, "right gripper-book distance": 0.2713482664057158 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5889349896783054, "bimanual_gripper_vertical_difference": 0.1587184124635366, "task_success": 0.0 }, { "completion_time": 0.764876127243042, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006473733846689145, "left gripper-book distance": 0.48727303854945225, "right gripper-book distance": 0.2484895947858678 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5790791664860573, "bimanual_gripper_vertical_difference": 0.15982770607083, "task_success": 0.0 }, { "completion_time": 0.795947790145874, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000561204685358474, "left gripper-book distance": 0.48643191696457144, "right gripper-book distance": 0.22030134953633893 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.580538512017475, "bimanual_gripper_vertical_difference": 0.16222715244948765, "task_success": 0.0 }, { "completion_time": 0.8260684013366699, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005296446215313777, "left gripper-book distance": 0.4860988583121481, "right gripper-book distance": 0.19864140961420929 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5681471884758744, "bimanual_gripper_vertical_difference": 0.16569627952499225, "task_success": 0.0 }, { "completion_time": 0.8565561771392822, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005286100231629565, "left gripper-book distance": 0.48545284947558665, "right gripper-book distance": 0.19132893213047264 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.52135164977207, "bimanual_gripper_vertical_difference": 0.16941649086074692, "task_success": 0.0 }, { "completion_time": 0.8861799240112305, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00044595387996893, "left gripper-book distance": 0.4839376896091692, "right gripper-book distance": 0.19620582396232814 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4927724875452841, "bimanual_gripper_vertical_difference": 0.1725500645259381, "task_success": 0.0 }, { "completion_time": 0.9159061908721924, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005564503889861072, "left gripper-book distance": 0.48193508736997676, "right gripper-book distance": 0.20956149324103823 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4790288218062273, "bimanual_gripper_vertical_difference": 0.17469482663879426, "task_success": 0.0 }, { "completion_time": 0.9456052780151367, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007179549372747784, "left gripper-book distance": 0.4800598340772705, "right gripper-book distance": 0.21533767570697437 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4356969158031745, "bimanual_gripper_vertical_difference": 0.17635769247364605, "task_success": 0.0 }, { "completion_time": 0.9756801128387451, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007149265095265367, "left gripper-book distance": 0.4790062243684274, "right gripper-book distance": 0.21810996451527956 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.395515865500854, "bimanual_gripper_vertical_difference": 0.17775738028665186, "task_success": 0.0 }, { "completion_time": 1.004889965057373, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004954022235289512, "left gripper-book distance": 0.4786976925081456, "right gripper-book distance": 0.22245987363305791 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3661052403847895, "bimanual_gripper_vertical_difference": 0.1789108101912801, "task_success": 0.0 }, { "completion_time": 1.0347819328308105, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005739732291059063, "left gripper-book distance": 0.4783439901116895, "right gripper-book distance": 0.22761656803190095 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3396279341910067, "bimanual_gripper_vertical_difference": 0.1798167796245753, "task_success": 0.0 }, { "completion_time": 1.0641083717346191, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005610537851398201, "left gripper-book distance": 0.4780973287438152, "right gripper-book distance": 0.2312306158529923 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3069564100629933, "bimanual_gripper_vertical_difference": 0.1805332341100288, "task_success": 0.0 }, { "completion_time": 1.0928399562835693, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005946895366173433, "left gripper-book distance": 0.4780862403546144, "right gripper-book distance": 0.23012696870999177 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.284339551588944, "bimanual_gripper_vertical_difference": 0.18116956644342988, "task_success": 0.0 }, { "completion_time": 1.122582197189331, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006015243155136352, "left gripper-book distance": 0.478345386361738, "right gripper-book distance": 0.22452811782201978 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2712061111630855, "bimanual_gripper_vertical_difference": 0.18181716826465052, "task_success": 0.0 }, { "completion_time": 1.1524326801300049, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005323206725461604, "left gripper-book distance": 0.4787639050100312, "right gripper-book distance": 0.21623306628727157 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2594311318535039, "bimanual_gripper_vertical_difference": 0.18250854583588394, "task_success": 0.0 }, { "completion_time": 1.1821839809417725, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005703169797411922, "left gripper-book distance": 0.4788656026099226, "right gripper-book distance": 0.207129252563855 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2449774666358717, "bimanual_gripper_vertical_difference": 0.1832363157126191, "task_success": 0.0 }, { "completion_time": 1.2115545272827148, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00065597992191746, "left gripper-book distance": 0.4786969437097336, "right gripper-book distance": 0.19779638240163952 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2287559602286513, "bimanual_gripper_vertical_difference": 0.1840022500392595, "task_success": 0.0 }, { "completion_time": 1.246488094329834, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005253987522185755, "left gripper-book distance": 0.4788453734664797, "right gripper-book distance": 0.18854978326980654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.211756650157237, "bimanual_gripper_vertical_difference": 0.1848235523740448, "task_success": 0.0 }, { "completion_time": 1.2763783931732178, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005782140812538028, "left gripper-book distance": 0.4790404076313704, "right gripper-book distance": 0.1795587973374564 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.194704349828862, "bimanual_gripper_vertical_difference": 0.1857153617855635, "task_success": 0.0 }, { "completion_time": 1.3062469959259033, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004465511799625066, "left gripper-book distance": 0.4794910504674935, "right gripper-book distance": 0.17160792723256468 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1791864255489635, "bimanual_gripper_vertical_difference": 0.18668386521116706, "task_success": 0.0 }, { "completion_time": 1.3354771137237549, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005486015523207266, "left gripper-book distance": 0.4797409114887293, "right gripper-book distance": 0.16450114110465044 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.165830834970631, "bimanual_gripper_vertical_difference": 0.18773077563079885, "task_success": 0.0 }, { "completion_time": 1.3653490543365479, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005600826284388738, "left gripper-book distance": 0.48020850754687017, "right gripper-book distance": 0.15828584833297565 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1509481610004282, "bimanual_gripper_vertical_difference": 0.18884982802007555, "task_success": 0.0 }, { "completion_time": 1.3951771259307861, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005850891951691972, "left gripper-book distance": 0.48069227731139585, "right gripper-book distance": 0.15313602405128995 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1351549750964012, "bimanual_gripper_vertical_difference": 0.1900238985142304, "task_success": 0.0 }, { "completion_time": 1.424980878829956, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005914569795374414, "left gripper-book distance": 0.48107241363554537, "right gripper-book distance": 0.1496610423285407 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1217492253532144, "bimanual_gripper_vertical_difference": 0.19123206753545377, "task_success": 0.0 }, { "completion_time": 1.4557757377624512, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000521782546952787, "left gripper-book distance": 0.48138063009301296, "right gripper-book distance": 0.14823627585086285 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.112899522451776, "bimanual_gripper_vertical_difference": 0.19243317178797428, "task_success": 0.0 }, { "completion_time": 1.486886739730835, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005223542137443582, "left gripper-book distance": 0.4816274784370538, "right gripper-book distance": 0.14628932929715627 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1022476502581702, "bimanual_gripper_vertical_difference": 0.19364418756928575, "task_success": 0.0 }, { "completion_time": 1.5166115760803223, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.0005396922473651644, "left gripper-book distance": 0.48197027675147136, "right gripper-book distance": 0.14511224760699096 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0883319033143506, "bimanual_gripper_vertical_difference": 0.19484130371788372, "task_success": 0.0 }, { "completion_time": 1.5467147827148438, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.0008867439518268627, "left gripper-book distance": 0.48250687176199714, "right gripper-book distance": 0.1443258387065963 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0699348278060843, "bimanual_gripper_vertical_difference": 0.19600533372466425, "task_success": 0.0 }, { "completion_time": 1.577960729598999, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": -0.0003516934801429672, "left gripper-book distance": 0.484144812944293, "right gripper-book distance": 0.1448378724311638 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.060702547478963, "bimanual_gripper_vertical_difference": 0.19715241912408685, "task_success": 0.0 }, { "completion_time": 1.607799768447876, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.0005029292192149093, "left gripper-book distance": 0.4837129036009223, "right gripper-book distance": 0.14371441069650265 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0481959916691979, "bimanual_gripper_vertical_difference": 0.1982893555500587, "task_success": 0.0 }, { "completion_time": 1.6396636962890625, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.0007500002130619299, "left gripper-book distance": 0.48388080794124494, "right gripper-book distance": 0.14213729353790006 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0325419973502785, "bimanual_gripper_vertical_difference": 0.1994174015062468, "task_success": 0.0 }, { "completion_time": 1.6696362495422363, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.0006676071759198487, "left gripper-book distance": 0.48397194239182906, "right gripper-book distance": 0.14018586702991004 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0215971873898648, "bimanual_gripper_vertical_difference": 0.20054351772024728, "task_success": 0.0 }, { "completion_time": 1.699800968170166, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.0006638019125169148, "left gripper-book distance": 0.4839938594842011, "right gripper-book distance": 0.13830745137949427 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0116095130285585, "bimanual_gripper_vertical_difference": 0.20166454500501177, "task_success": 0.0 }, { "completion_time": 1.7287614345550537, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.0007350714851748208, "left gripper-book distance": 0.4838853746863275, "right gripper-book distance": 0.13674250446714875 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0017731569861892, "bimanual_gripper_vertical_difference": 0.20277234895977742, "task_success": 0.0 }, { "completion_time": 1.7576377391815186, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false }, "target_distance": { "book lift distance": 0.0007548083116345472, "left gripper-book distance": 0.48361562475316133, "right gripper-book distance": 0.13575300208960997 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9928427510659239, "bimanual_gripper_vertical_difference": 0.20385382144002118, "task_success": 0.0 }, { "completion_time": 1.7886645793914795, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0008198523712799055, "left gripper-book distance": 0.482969360037001, "right gripper-book distance": 0.1352218950506473 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9827671066662704, "bimanual_gripper_vertical_difference": 0.20490162232635678, "task_success": 0.0 }, { "completion_time": 1.8194775581359863, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00093332745256125, "left gripper-book distance": 0.4817715835378241, "right gripper-book distance": 0.13483812392745204 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9718253415740257, "bimanual_gripper_vertical_difference": 0.20591689613906622, "task_success": 0.0 }, { "completion_time": 1.8532557487487793, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0008018039332686744, "left gripper-book distance": 0.48130680993419545, "right gripper-book distance": 0.1348333429639493 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9625402023662465, "bimanual_gripper_vertical_difference": 0.2068952547177756, "task_success": 0.0 }, { "completion_time": 1.8836965560913086, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0011367309585126328, "left gripper-book distance": 0.480011175740721, "right gripper-book distance": 0.13527652323980735 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9526926621080882, "bimanual_gripper_vertical_difference": 0.207833396397037, "task_success": 0.0 }, { "completion_time": 1.9112558364868164, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006252852319728053, "left gripper-book distance": 0.4803218702163618, "right gripper-book distance": 0.1356568586870317 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.945547182463512, "bimanual_gripper_vertical_difference": 0.2087441248236384, "task_success": 0.0 }, { "completion_time": 1.9395840167999268, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0010402378391136669, "left gripper-book distance": 0.47996289057655295, "right gripper-book distance": 0.1362965154693064 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9363589892940928, "bimanual_gripper_vertical_difference": 0.209615727597415, "task_success": 0.0 }, { "completion_time": 1.9690086841583252, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000814908227323996, "left gripper-book distance": 0.4793433599470903, "right gripper-book distance": 0.13741212109106288 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9251327088690993, "bimanual_gripper_vertical_difference": 0.21045279400017783, "task_success": 0.0 }, { "completion_time": 1.999751329421997, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007632315281785873, "left gripper-book distance": 0.4788222923918561, "right gripper-book distance": 0.13782702392332916 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9116544775801779, "bimanual_gripper_vertical_difference": 0.21125594387445415, "task_success": 0.0 }, { "completion_time": 2.030001163482666, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007064796014234487, "left gripper-book distance": 0.47836059604788056, "right gripper-book distance": 0.13786049158510208 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8987857328531402, "bimanual_gripper_vertical_difference": 0.2120279555655398, "task_success": 0.0 }, { "completion_time": 2.0588064193725586, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007030926779930669, "left gripper-book distance": 0.4778173638230624, "right gripper-book distance": 0.13770362807551406 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8865931527043086, "bimanual_gripper_vertical_difference": 0.21277193390204363, "task_success": 0.0 }, { "completion_time": 2.08860182762146, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006775844684216992, "left gripper-book distance": 0.47724131978122686, "right gripper-book distance": 0.1378127364463263 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8742097231806746, "bimanual_gripper_vertical_difference": 0.2134864318297243, "task_success": 0.0 }, { "completion_time": 2.117697238922119, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00070755596499672, "left gripper-book distance": 0.47666304122864755, "right gripper-book distance": 0.13812047428261387 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8635588409431912, "bimanual_gripper_vertical_difference": 0.21416998756659197, "task_success": 0.0 }, { "completion_time": 2.1459648609161377, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006771599929669136, "left gripper-book distance": 0.4761824714969112, "right gripper-book distance": 0.1388873868761123 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.855466424694371, "bimanual_gripper_vertical_difference": 0.21482422384284255, "task_success": 0.0 }, { "completion_time": 2.1741647720336914, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00047904480108229563, "left gripper-book distance": 0.4759585622598767, "right gripper-book distance": 0.14304326110322407 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8506908508278125, "bimanual_gripper_vertical_difference": 0.2154362164394061, "task_success": 0.0 }, { "completion_time": 2.206813335418701, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000498662767728697, "left gripper-book distance": 0.4758790636138982, "right gripper-book distance": 0.1517623873890759 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8479907748459999, "bimanual_gripper_vertical_difference": 0.21597091727008166, "task_success": 0.0 }, { "completion_time": 2.2362964153289795, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006487432087548539, "left gripper-book distance": 0.475985491228734, "right gripper-book distance": 0.1622926160661748 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8419384426101558, "bimanual_gripper_vertical_difference": 0.21640663801660112, "task_success": 0.0 }, { "completion_time": 2.2665798664093018, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005385074828087033, "left gripper-book distance": 0.47631653811495944, "right gripper-book distance": 0.1732648276176174 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.835745680392737, "bimanual_gripper_vertical_difference": 0.21673684772943594, "task_success": 0.0 }, { "completion_time": 2.296703815460205, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00045682697248861093, "left gripper-book distance": 0.47663659093076566, "right gripper-book distance": 0.17796879990948333 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8325624360988177, "bimanual_gripper_vertical_difference": 0.21701064491419084, "task_success": 0.0 }, { "completion_time": 2.3265843391418457, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004558673654311285, "left gripper-book distance": 0.4772992966218035, "right gripper-book distance": 0.1803255907892696 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8384888838979718, "bimanual_gripper_vertical_difference": 0.21725581089616033, "task_success": 0.0 }, { "completion_time": 2.355832815170288, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006365251655229276, "left gripper-book distance": 0.47797963502154633, "right gripper-book distance": 0.18192943623040933 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8471648770888465, "bimanual_gripper_vertical_difference": 0.21747495858024513, "task_success": 0.0 }, { "completion_time": 2.3861441612243652, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00047472997703212894, "left gripper-book distance": 0.47850235589551676, "right gripper-book distance": 0.18167503557143305 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8569322531920073, "bimanual_gripper_vertical_difference": 0.21768501177716187, "task_success": 0.0 }, { "completion_time": 2.415818214416504, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006369226637786829, "left gripper-book distance": 0.47837493050164576, "right gripper-book distance": 0.17978490642747427 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8684736325878637, "bimanual_gripper_vertical_difference": 0.2178899428075723, "task_success": 0.0 }, { "completion_time": 2.4479527473449707, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00047478046504645377, "left gripper-book distance": 0.4782107026011631, "right gripper-book distance": 0.1773469750541029 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8800419409417599, "bimanual_gripper_vertical_difference": 0.21808804058810377, "task_success": 0.0 }, { "completion_time": 2.4777798652648926, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006369008259217157, "left gripper-book distance": 0.4772685118665242, "right gripper-book distance": 0.17371156942464927 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8913475726992984, "bimanual_gripper_vertical_difference": 0.21828095360150002, "task_success": 0.0 }, { "completion_time": 2.508511543273926, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004623890627784011, "left gripper-book distance": 0.4760063834197827, "right gripper-book distance": 0.17025370819656443 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8997186555973719, "bimanual_gripper_vertical_difference": 0.21846765558155337, "task_success": 0.0 }, { "completion_time": 2.5377612113952637, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000586256415811448, "left gripper-book distance": 0.47399427651014175, "right gripper-book distance": 0.16662140572530093 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9043018463651209, "bimanual_gripper_vertical_difference": 0.21864949821981758, "task_success": 0.0 }, { "completion_time": 2.5678060054779053, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006516594447133484, "left gripper-book distance": 0.47157833535045657, "right gripper-book distance": 0.16380852938082666 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.906044775808587, "bimanual_gripper_vertical_difference": 0.2188229147889685, "task_success": 0.0 }, { "completion_time": 2.597377300262451, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006029208641332717, "left gripper-book distance": 0.46891439611937424, "right gripper-book distance": 0.1620838974007094 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9079821111300614, "bimanual_gripper_vertical_difference": 0.2189838063949886, "task_success": 0.0 }, { "completion_time": 2.6274185180664062, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005239714391809258, "left gripper-book distance": 0.4663667040050894, "right gripper-book distance": 0.1611947508664482 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9126863384730963, "bimanual_gripper_vertical_difference": 0.21912949443397126, "task_success": 0.0 }, { "completion_time": 2.656728982925415, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00064279149337787, "left gripper-book distance": 0.4635570503856728, "right gripper-book distance": 0.16095937169330976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9174196548318023, "bimanual_gripper_vertical_difference": 0.21925887039476863, "task_success": 0.0 }, { "completion_time": 2.686492443084717, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000480415453720906, "left gripper-book distance": 0.4607817546107975, "right gripper-book distance": 0.16251851092766054 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9214862134776434, "bimanual_gripper_vertical_difference": 0.21936907919051482, "task_success": 0.0 }, { "completion_time": 2.71584415435791, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005922658931635238, "left gripper-book distance": 0.4577423133112407, "right gripper-book distance": 0.16585992715974324 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9253685676300573, "bimanual_gripper_vertical_difference": 0.21946166329553343, "task_success": 0.0 }, { "completion_time": 2.7455244064331055, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005337712505721903, "left gripper-book distance": 0.45475641281370915, "right gripper-book distance": 0.17053978078589085 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9290193168748768, "bimanual_gripper_vertical_difference": 0.21954225122203658, "task_success": 0.0 }, { "completion_time": 2.775743007659912, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00044210144675460583, "left gripper-book distance": 0.4524397370325132, "right gripper-book distance": 0.17585846714541925 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9375336870541073, "bimanual_gripper_vertical_difference": 0.2196163440196309, "task_success": 0.0 }, { "completion_time": 2.8049800395965576, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006482435453730728, "left gripper-book distance": 0.4506929877200283, "right gripper-book distance": 0.18120542185622926 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9507743165500402, "bimanual_gripper_vertical_difference": 0.21968612836136187, "task_success": 0.0 }, { "completion_time": 2.8338136672973633, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005255004033097865, "left gripper-book distance": 0.4500538392831366, "right gripper-book distance": 0.18608941807776827 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9668741498614488, "bimanual_gripper_vertical_difference": 0.21975277983670485, "task_success": 0.0 }, { "completion_time": 2.8634843826293945, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006427675455520365, "left gripper-book distance": 0.44992210454844184, "right gripper-book distance": 0.19031379070967486 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9848334367168707, "bimanual_gripper_vertical_difference": 0.219820162135206, "task_success": 0.0 }, { "completion_time": 2.892279624938965, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005893097649490864, "left gripper-book distance": 0.4503258510879306, "right gripper-book distance": 0.19416109744846902 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0028682129366817, "bimanual_gripper_vertical_difference": 0.2198845827319188, "task_success": 0.0 }, { "completion_time": 2.9203696250915527, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004749528461560626, "left gripper-book distance": 0.4508484513679153, "right gripper-book distance": 0.19712050218084162 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0171128518246422, "bimanual_gripper_vertical_difference": 0.21994461517970906, "task_success": 0.0 }, { "completion_time": 2.95043683052063, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005986145682922439, "left gripper-book distance": 0.45111971876686846, "right gripper-book distance": 0.19876612953912695 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0310331505389645, "bimanual_gripper_vertical_difference": 0.22000703742074623, "task_success": 0.0 }, { "completion_time": 2.979985237121582, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004581955091259582, "left gripper-book distance": 0.45169617429316167, "right gripper-book distance": 0.19968863904591747 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0451022191845842, "bimanual_gripper_vertical_difference": 0.22007893600625295, "task_success": 0.0 }, { "completion_time": 3.0084266662597656, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005959606111584081, "left gripper-book distance": 0.4521052214044324, "right gripper-book distance": 0.20000032057236386 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0576864065097287, "bimanual_gripper_vertical_difference": 0.22016455802109255, "task_success": 0.0 }, { "completion_time": 3.039881706237793, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005577500668290103, "left gripper-book distance": 0.4525337232252058, "right gripper-book distance": 0.20077872544702646 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0660051551212046, "bimanual_gripper_vertical_difference": 0.22027176141369498, "task_success": 0.0 }, { "completion_time": 3.068519353866577, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006130723764965484, "left gripper-book distance": 0.45291584671888113, "right gripper-book distance": 0.20123313170104734 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0683433051876088, "bimanual_gripper_vertical_difference": 0.22040313864028277, "task_success": 0.0 }, { "completion_time": 3.0980257987976074, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006056541956783734, "left gripper-book distance": 0.45234832150605403, "right gripper-book distance": 0.20074042283409266 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0607891259562203, "bimanual_gripper_vertical_difference": 0.22054313331693995, "task_success": 0.0 }, { "completion_time": 3.127279281616211, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00048176951306999616, "left gripper-book distance": 0.4511120569107321, "right gripper-book distance": 0.2001658192661082 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0506013747173062, "bimanual_gripper_vertical_difference": 0.2206782267668399, "task_success": 0.0 }, { "completion_time": 3.1585593223571777, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006198925182115955, "left gripper-book distance": 0.4499832878920108, "right gripper-book distance": 0.1996126735627942 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0406039966923726, "bimanual_gripper_vertical_difference": 0.22080757493495815, "task_success": 0.0 }, { "completion_time": 3.1868698596954346, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005299802303275758, "left gripper-book distance": 0.4494053034623914, "right gripper-book distance": 0.1993575982713087 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0307955983043762, "bimanual_gripper_vertical_difference": 0.22093245125233865, "task_success": 0.0 }, { "completion_time": 3.214643716812134, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005640033980642833, "left gripper-book distance": 0.44894744781867363, "right gripper-book distance": 0.19914456574415731 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0211655088332712, "bimanual_gripper_vertical_difference": 0.2210537091369367, "task_success": 0.0 }, { "completion_time": 3.243163824081421, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005923765461378627, "left gripper-book distance": 0.44865665459044185, "right gripper-book distance": 0.19900152257274228 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0117428605617425, "bimanual_gripper_vertical_difference": 0.22117191087226487, "task_success": 0.0 }, { "completion_time": 3.2720794677734375, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004751301925443041, "left gripper-book distance": 0.44758651926474347, "right gripper-book distance": 0.19745942831676516 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0042288311692358, "bimanual_gripper_vertical_difference": 0.22129154212210655, "task_success": 0.0 }, { "completion_time": 3.3000645637512207, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000636924522201987, "left gripper-book distance": 0.44615249395620793, "right gripper-book distance": 0.19289755208691364 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9994123454743914, "bimanual_gripper_vertical_difference": 0.22143228948269997, "task_success": 0.0 }, { "completion_time": 3.328688383102417, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004822636538890368, "left gripper-book distance": 0.4458920187982918, "right gripper-book distance": 0.18887884126822654 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9933130843843337, "bimanual_gripper_vertical_difference": 0.22161229651960906, "task_success": 0.0 }, { "completion_time": 3.358347177505493, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006198822199487974, "left gripper-book distance": 0.44643415338863673, "right gripper-book distance": 0.18606765132744393 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9891486224134941, "bimanual_gripper_vertical_difference": 0.22184393471793643, "task_success": 0.0 }, { "completion_time": 3.3870134353637695, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005299317584526175, "left gripper-book distance": 0.4473629072374114, "right gripper-book distance": 0.18460429730553143 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9877256558179526, "bimanual_gripper_vertical_difference": 0.22212892460947653, "task_success": 0.0 }, { "completion_time": 3.416675567626953, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000563883617219485, "left gripper-book distance": 0.4477609790936238, "right gripper-book distance": 0.18343910150399229 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9891796148760907, "bimanual_gripper_vertical_difference": 0.2224603776643015, "task_success": 0.0 }, { "completion_time": 3.4451072216033936, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006334565345834653, "left gripper-book distance": 0.44789237957573325, "right gripper-book distance": 0.18153513177636227 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9912237553249947, "bimanual_gripper_vertical_difference": 0.22283106542210035, "task_success": 0.0 }, { "completion_time": 3.4736945629119873, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004979449000399594, "left gripper-book distance": 0.44806736332988556, "right gripper-book distance": 0.17848818815130507 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.993057077689157, "bimanual_gripper_vertical_difference": 0.22323139361454075, "task_success": 0.0 }, { "completion_time": 3.503028631210327, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005959028240186681, "left gripper-book distance": 0.448001915092543, "right gripper-book distance": 0.17457824812040865 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9937835158288133, "bimanual_gripper_vertical_difference": 0.22364880358368375, "task_success": 0.0 }, { "completion_time": 3.532907247543335, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006054384635376664, "left gripper-book distance": 0.44781701553365194, "right gripper-book distance": 0.1702810164920127 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.993216602441536, "bimanual_gripper_vertical_difference": 0.22407224703050213, "task_success": 0.0 }, { "completion_time": 3.5628368854522705, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.000481827874309948, "left gripper-book distance": 0.4476679514876851, "right gripper-book distance": 0.16624300282398607 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9916415014012395, "bimanual_gripper_vertical_difference": 0.2244941836990941, "task_success": 0.0 }, { "completion_time": 3.5920183658599854, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006224188429087008, "left gripper-book distance": 0.44742183288502263, "right gripper-book distance": 0.16231038688401397 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9887490289322813, "bimanual_gripper_vertical_difference": 0.22490997155890163, "task_success": 0.0 }, { "completion_time": 3.6236846446990967, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006134169366577291, "left gripper-book distance": 0.44740062167951355, "right gripper-book distance": 0.15834128184984156 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9847155774742313, "bimanual_gripper_vertical_difference": 0.22532403238408028, "task_success": 0.0 }, { "completion_time": 3.652580738067627, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004679324314196265, "left gripper-book distance": 0.4476921197545891, "right gripper-book distance": 0.15422735805319734 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9803279428398514, "bimanual_gripper_vertical_difference": 0.22574458461210495, "task_success": 0.0 }, { "completion_time": 3.6819546222686768, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005530281148058425, "left gripper-book distance": 0.447916598060748, "right gripper-book distance": 0.15032206856298674 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9754602633453873, "bimanual_gripper_vertical_difference": 0.22617672132002392, "task_success": 0.0 }, { "completion_time": 3.710531711578369, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005921464139658772, "left gripper-book distance": 0.44846697130580443, "right gripper-book distance": 0.1462779667636547 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9704817914017057, "bimanual_gripper_vertical_difference": 0.2266242320870352, "task_success": 0.0 }, { "completion_time": 3.7396116256713867, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00046715328371382814, "left gripper-book distance": 0.4493637915649918, "right gripper-book distance": 0.14221080635746552 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9651902700438882, "bimanual_gripper_vertical_difference": 0.2270884578881166, "task_success": 0.0 }, { "completion_time": 3.7707977294921875, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006209064401085929, "left gripper-book distance": 0.4500365984235782, "right gripper-book distance": 0.1380331469781779 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9597667562397523, "bimanual_gripper_vertical_difference": 0.22756807408407423, "task_success": 0.0 }, { "completion_time": 3.8038241863250732, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005302559818332053, "left gripper-book distance": 0.450808986162738, "right gripper-book distance": 0.13365123379135796 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9545720324881024, "bimanual_gripper_vertical_difference": 0.2280599313704219, "task_success": 0.0 }, { "completion_time": 3.833500862121582, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005604339191548346, "left gripper-book distance": 0.45139364801904064, "right gripper-book distance": 0.12898928194409967 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9496136232889671, "bimanual_gripper_vertical_difference": 0.22856040565408117, "task_success": 0.0 }, { "completion_time": 3.8632044792175293, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006527914814064006, "left gripper-book distance": 0.4520099344631285, "right gripper-book distance": 0.12426852336460568 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9447180214521431, "bimanual_gripper_vertical_difference": 0.2290670791780302, "task_success": 0.0 }, { "completion_time": 3.891947031021118, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00048272033510954326, "left gripper-book distance": 0.45283456681069034, "right gripper-book distance": 0.12011750856163349 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9397467561534094, "bimanual_gripper_vertical_difference": 0.22957540876515248, "task_success": 0.0 }, { "completion_time": 3.9201979637145996, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006197448292090124, "left gripper-book distance": 0.45338569924949657, "right gripper-book distance": 0.11663452279787835 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9345903680819446, "bimanual_gripper_vertical_difference": 0.23008275518754065, "task_success": 0.0 }, { "completion_time": 3.9484877586364746, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005677482294089709, "left gripper-book distance": 0.45407141720620553, "right gripper-book distance": 0.11360984490287863 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9296730937982145, "bimanual_gripper_vertical_difference": 0.23059135686943832, "task_success": 0.0 }, { "completion_time": 3.9769177436828613, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00047645512867000583, "left gripper-book distance": 0.45482232758412083, "right gripper-book distance": 0.11069718734172919 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9250309470528395, "bimanual_gripper_vertical_difference": 0.2311046728017721, "task_success": 0.0 }, { "completion_time": 4.006656169891357, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0006572840397557345, "left gripper-book distance": 0.455515588996453, "right gripper-book distance": 0.10786971828179961 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9205237522019699, "bimanual_gripper_vertical_difference": 0.23162492258157236, "task_success": 0.0 }, { "completion_time": 4.0364251136779785, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005892482526016485, "left gripper-book distance": 0.45627293017154263, "right gripper-book distance": 0.1064487038236472 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9156381038806082, "bimanual_gripper_vertical_difference": 0.23214631524524013, "task_success": 0.0 }, { "completion_time": 4.0657408237457275, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0004936222004732205, "left gripper-book distance": 0.45703556029585946, "right gripper-book distance": 0.10556758981769933 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9104560169154422, "bimanual_gripper_vertical_difference": 0.2326611821365931, "task_success": 0.0 }, { "completion_time": 4.095376491546631, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0007005744399652958, "left gripper-book distance": 0.45747518765655004, "right gripper-book distance": 0.10548767318767079 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9046936833263098, "bimanual_gripper_vertical_difference": 0.23316266732855961, "task_success": 0.0 }, { "completion_time": 4.128002166748047, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0005020818758609824, "left gripper-book distance": 0.45829913702798836, "right gripper-book distance": 0.10549112377577206 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8996393212743111, "bimanual_gripper_vertical_difference": 0.23365597444489206, "task_success": 0.0 }, { "completion_time": 4.157013416290283, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00046430903021954517, "left gripper-book distance": 0.45939495042744327, "right gripper-book distance": 0.1054229791842377 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8965061517146176, "bimanual_gripper_vertical_difference": 0.23413973717461684, "task_success": 0.0 }, { "completion_time": 4.187057256698608, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.00043912592957751073, "left gripper-book distance": 0.46041039771743936, "right gripper-book distance": 0.10551034957392431 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8934961572130881, "bimanual_gripper_vertical_difference": 0.23461759398600504, "task_success": 0.0 }, { "completion_time": 4.218778371810913, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.002413754463250428, "left gripper-book distance": 0.46327341940597705, "right gripper-book distance": 0.10766656447053793 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8914583423638288, "bimanual_gripper_vertical_difference": 0.23508568262896426, "task_success": 0.0 }, { "completion_time": 4.248655080795288, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -0.001956009751570509, "left gripper-book distance": 0.46353233013541895, "right gripper-book distance": 0.10876689440101227 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8881185555180704, "bimanual_gripper_vertical_difference": 0.23554600902708606, "task_success": 0.0 }, { "completion_time": 4.278903961181641, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": -8.367085412630537e-05, "left gripper-book distance": 0.4625583822123849, "right gripper-book distance": 0.11036419936151846 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8881963946617045, "bimanual_gripper_vertical_difference": 0.23599809040900843, "task_success": 0.0 }, { "completion_time": 4.3097124099731445, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.003171624988196342, "left gripper-book distance": 0.46141940543297894, "right gripper-book distance": 0.11284455045751808 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8909853233910872, "bimanual_gripper_vertical_difference": 0.23643956337683183, "task_success": 0.0 }, { "completion_time": 4.339783191680908, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.008838835659702782, "left gripper-book distance": 0.4603061261977571, "right gripper-book distance": 0.11551782330874924 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8972450858909181, "bimanual_gripper_vertical_difference": 0.2368592354441595, "task_success": 0.0 }, { "completion_time": 4.3704869747161865, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.01599219129295948, "left gripper-book distance": 0.4610815682638092, "right gripper-book distance": 0.11809211172272265 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9068035421339266, "bimanual_gripper_vertical_difference": 0.23724960203871098, "task_success": 0.0 }, { "completion_time": 4.400545120239258, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.024847207287388318, "left gripper-book distance": 0.46307132368174136, "right gripper-book distance": 0.12092459923274465 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9180582335757674, "bimanual_gripper_vertical_difference": 0.23759885660914473, "task_success": 0.0 }, { "completion_time": 4.430422067642212, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.0342689269962273, "left gripper-book distance": 0.4664808413784922, "right gripper-book distance": 0.12421225632578643 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9302280104537475, "bimanual_gripper_vertical_difference": 0.23789733955018422, "task_success": 0.0 }, { "completion_time": 4.460672616958618, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.04498152298603708, "left gripper-book distance": 0.47019050481305824, "right gripper-book distance": 0.12691368194703173 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9424440145520755, "bimanual_gripper_vertical_difference": 0.2381430947479486, "task_success": 0.0 }, { "completion_time": 4.492675542831421, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true }, "target_distance": { "book lift distance": 0.06028901865877678, "left gripper-book distance": 0.4729587149734199, "right gripper-book distance": 0.12706849668876694 }, "success": 1.0, "bimanual_arm_velocity_difference": 0.9542215411731856, "bimanual_gripper_vertical_difference": 0.23833831237593803, "task_success": 1.0 } ]