[ { "completion_time": 0.043781280517578125, "slip_count": 0, "slip_count_per_object": { "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": 0.07308602333068848, "slip_count": 0, "slip_count_per_object": { "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": 0.10122227668762207, "slip_count": 0, "slip_count_per_object": { "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": 0.1294565200805664, "slip_count": 0, "slip_count_per_object": { "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": 0.15792608261108398, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005268709697482388, "left gripper-book distance": 0.5024222082836992, "right gripper-book distance": 0.5024914428156864 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.442293942609234e-05, "bimanual_gripper_vertical_difference": 2.5025938210632147e-09, "task_success": 0.0 }, { "completion_time": 0.18709254264831543, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005808829610109978, "left gripper-book distance": 0.5021339210526989, "right gripper-book distance": 0.5022294363841775 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0002574583932979082, "bimanual_gripper_vertical_difference": 2.344635337732844e-09, "task_success": 0.0 }, { "completion_time": 0.21570396423339844, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006989515326791818, "left gripper-book distance": 0.49874196723460945, "right gripper-book distance": 0.5012688238597307 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.05706265127251424, "bimanual_gripper_vertical_difference": 0.0002146213886044444, "task_success": 0.0 }, { "completion_time": 0.2451460361480713, "slip_count": 0, "slip_count_per_object": { "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": 0.4888208790907138, "right gripper-book distance": 0.50184604541125 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2060467233072973, "bimanual_gripper_vertical_difference": 0.0011727589730598231, "task_success": 0.0 }, { "completion_time": 0.2747223377227783, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005262332895652477, "left gripper-book distance": 0.475429614768497, "right gripper-book distance": 0.5032347933950005 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.37089851698493764, "bimanual_gripper_vertical_difference": 0.00276871738679918, "task_success": 0.0 }, { "completion_time": 0.3045487403869629, "slip_count": 0, "slip_count_per_object": { "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": 0.4575427683244677, "right gripper-book distance": 0.5042568335009115 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5333296039164879, "bimanual_gripper_vertical_difference": 0.005025499087092489, "task_success": 0.0 }, { "completion_time": 0.3347907066345215, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004260956568110652, "left gripper-book distance": 0.43169568769480304, "right gripper-book distance": 0.5044109096357897 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6995874446365332, "bimanual_gripper_vertical_difference": 0.008428598024994616, "task_success": 0.0 }, { "completion_time": 0.36548280715942383, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005017399467522887, "left gripper-book distance": 0.3967326698508621, "right gripper-book distance": 0.5028390747376308 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8674719154389648, "bimanual_gripper_vertical_difference": 0.013420926351999521, "task_success": 0.0 }, { "completion_time": 0.39537930488586426, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006576387411730833, "left gripper-book distance": 0.35331646375185666, "right gripper-book distance": 0.4998714973152787 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0216225317398946, "bimanual_gripper_vertical_difference": 0.020293256423046194, "task_success": 0.0 }, { "completion_time": 0.42447757720947266, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000655369582706844, "left gripper-book distance": 0.3044297574841955, "right gripper-book distance": 0.49647230818169064 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1400263712715952, "bimanual_gripper_vertical_difference": 0.02917666336867176, "task_success": 0.0 }, { "completion_time": 0.4536116123199463, "slip_count": 0, "slip_count_per_object": { "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": 0.2683451362442014, "right gripper-book distance": 0.49353150885277985 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1914439199448146, "bimanual_gripper_vertical_difference": 0.03860760766215491, "task_success": 0.0 }, { "completion_time": 0.4833676815032959, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000540832695982707, "left gripper-book distance": 0.24958220370244327, "right gripper-book distance": 0.4911473660565399 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2397346221443644, "bimanual_gripper_vertical_difference": 0.047043731237296986, "task_success": 0.0 }, { "completion_time": 0.5119006633758545, "slip_count": 0, "slip_count_per_object": { "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": 0.2422401785977431, "right gripper-book distance": 0.48929902314641877 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2406793433449617, "bimanual_gripper_vertical_difference": 0.05403020178729325, "task_success": 0.0 }, { "completion_time": 0.5416598320007324, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000563283730251829, "left gripper-book distance": 0.2407442883574815, "right gripper-book distance": 0.48757473930014444 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2434903268795403, "bimanual_gripper_vertical_difference": 0.05973688893045681, "task_success": 0.0 }, { "completion_time": 0.5707221031188965, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006393359269577514, "left gripper-book distance": 0.2390248622769495, "right gripper-book distance": 0.4859350515495845 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2616624777853167, "bimanual_gripper_vertical_difference": 0.06463951364396886, "task_success": 0.0 }, { "completion_time": 0.6005263328552246, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007188927615990881, "left gripper-book distance": 0.22549675414244696, "right gripper-book distance": 0.4845228649032488 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2823581575321399, "bimanual_gripper_vertical_difference": 0.06964881911887535, "task_success": 0.0 }, { "completion_time": 0.6316127777099609, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006824478899479791, "left gripper-book distance": 0.2074122380286093, "right gripper-book distance": 0.4833666896555731 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.309404718714438, "bimanual_gripper_vertical_difference": 0.07503714030500293, "task_success": 0.0 }, { "completion_time": 0.662097692489624, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005426481893561208, "left gripper-book distance": 0.19080944441475056, "right gripper-book distance": 0.4822332977303676 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3055191551657026, "bimanual_gripper_vertical_difference": 0.08069025943455382, "task_success": 0.0 }, { "completion_time": 0.6941008567810059, "slip_count": 0, "slip_count_per_object": { "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": 0.17730494059518806, "right gripper-book distance": 0.4807524786283128 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2840138581816571, "bimanual_gripper_vertical_difference": 0.08641446998677581, "task_success": 0.0 }, { "completion_time": 0.7242269515991211, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0006010423932945042, "left gripper-book distance": 0.1667764146862042, "right gripper-book distance": 0.47876305211031467 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2635433168499235, "bimanual_gripper_vertical_difference": 0.09206347519148729, "task_success": 0.0 }, { "completion_time": 0.75360107421875, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.000647375942930295, "left gripper-book distance": 0.15980895128198358, "right gripper-book distance": 0.4766137273097501 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2608439328801884, "bimanual_gripper_vertical_difference": 0.09751199986548274, "task_success": 0.0 }, { "completion_time": 0.7834410667419434, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005612072356449005, "left gripper-book distance": 0.15614739200934177, "right gripper-book distance": 0.474993072634581 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2440529274459138, "bimanual_gripper_vertical_difference": 0.10270794912054299, "task_success": 0.0 }, { "completion_time": 0.8135766983032227, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005296471480111808, "left gripper-book distance": 0.1540202389533075, "right gripper-book distance": 0.4741012511803744 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2244685746394708, "bimanual_gripper_vertical_difference": 0.1076722751291903, "task_success": 0.0 }, { "completion_time": 0.8433032035827637, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005286125105281592, "left gripper-book distance": 0.1531263181997929, "right gripper-book distance": 0.47407364952477354 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.204121499545979, "bimanual_gripper_vertical_difference": 0.11241378093252079, "task_success": 0.0 }, { "completion_time": 0.8727099895477295, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.00044595630905464034, "left gripper-book distance": 0.15149754386945527, "right gripper-book distance": 0.4749569016386174 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1798680844466654, "bimanual_gripper_vertical_difference": 0.11697022239169202, "task_success": 0.0 }, { "completion_time": 0.9015765190124512, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0005564527648699302, "left gripper-book distance": 0.14740311174888587, "right gripper-book distance": 0.47610931956662633 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.149758325080086, "bimanual_gripper_vertical_difference": 0.12140960775508007, "task_success": 0.0 }, { "completion_time": 0.9317669868469238, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007179572734086204, "left gripper-book distance": 0.14068523453311071, "right gripper-book distance": 0.47742839775211976 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1216246377420578, "bimanual_gripper_vertical_difference": 0.12580016205505168, "task_success": 0.0 }, { "completion_time": 0.9609107971191406, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0007149288319033831, "left gripper-book distance": 0.1326478265868295, "right gripper-book distance": 0.47873996162747345 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0939065141750828, "bimanual_gripper_vertical_difference": 0.1301715277147815, "task_success": 0.0 }, { "completion_time": 0.9899849891662598, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false }, "target_distance": { "book lift distance": 0.0004954045080118874, "left gripper-book distance": 0.12442596270149144, "right gripper-book distance": 0.47994815825309795 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.065458918637518, "bimanual_gripper_vertical_difference": 0.13451896123065116, "task_success": 0.0 }, { "completion_time": 1.0166785717010498, "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": 0.0007178244273731149, "left gripper-book distance": 0.11942569520342501, "right gripper-book distance": 0.48002110515225593 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0426535133861543, "bimanual_gripper_vertical_difference": 0.13874767836412322, "task_success": 0.0 }, { "completion_time": 1.0440454483032227, "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": 0.0006949787506532745, "left gripper-book distance": 0.11859818971906569, "right gripper-book distance": 0.47962026947241426 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0250609074421315, "bimanual_gripper_vertical_difference": 0.14275729262448128, "task_success": 0.0 }, { "completion_time": 1.0711169242858887, "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": 0.0006500095941205375, "left gripper-book distance": 0.11820525400433138, "right gripper-book distance": 0.4788526867126573 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0078259508873584, "bimanual_gripper_vertical_difference": 0.14656825799425874, "task_success": 0.0 }, { "completion_time": 1.098189353942871, "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": 0.0007633868416652145, "left gripper-book distance": 0.11981160490703494, "right gripper-book distance": 0.47701482744752854 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9919241224008014, "bimanual_gripper_vertical_difference": 0.150193585041633, "task_success": 0.0 }, { "completion_time": 1.1260359287261963, "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": 0.0012068583223419083, "left gripper-book distance": 0.12174013689108978, "right gripper-book distance": 0.47586941601604227 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9770803001634814, "bimanual_gripper_vertical_difference": 0.15362406118101904, "task_success": 0.0 }, { "completion_time": 1.1549274921417236, "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": 0.0011804297046192902, "left gripper-book distance": 0.1246099631182512, "right gripper-book distance": 0.4759350744371208 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9626651235882926, "bimanual_gripper_vertical_difference": 0.15684686271272213, "task_success": 0.0 }, { "completion_time": 1.1815636157989502, "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": 0.0011919026340280192, "left gripper-book distance": 0.1271348157304919, "right gripper-book distance": 0.47609513495473266 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9461126570371343, "bimanual_gripper_vertical_difference": 0.159878653040625, "task_success": 0.0 }, { "completion_time": 1.2119572162628174, "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": 0.0014655499007628636, "left gripper-book distance": 0.1292565990166832, "right gripper-book distance": 0.4765436606354734 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9270232571013967, "bimanual_gripper_vertical_difference": 0.1627306824910223, "task_success": 0.0 }, { "completion_time": 1.238875389099121, "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": 0.0017863331921019743, "left gripper-book distance": 0.13115812958230705, "right gripper-book distance": 0.47709382108632553 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.906616432763893, "bimanual_gripper_vertical_difference": 0.1654149883041104, "task_success": 0.0 }, { "completion_time": 1.2660572528839111, "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": 0.0020808638592724193, "left gripper-book distance": 0.13294292915386613, "right gripper-book distance": 0.4774613222998244 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8862046367120443, "bimanual_gripper_vertical_difference": 0.16794169456387473, "task_success": 0.0 }, { "completion_time": 1.2933337688446045, "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": 0.0022724175963032556, "left gripper-book distance": 0.1344785280842489, "right gripper-book distance": 0.47788363052463256 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8664888171177082, "bimanual_gripper_vertical_difference": 0.17033285261682948, "task_success": 0.0 }, { "completion_time": 1.3211562633514404, "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": 0.002250753059530708, "left gripper-book distance": 0.13555616073735763, "right gripper-book distance": 0.47860273442256174 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8490385349006621, "bimanual_gripper_vertical_difference": 0.1726221552125779, "task_success": 0.0 }, { "completion_time": 1.3494329452514648, "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": 0.0019720512322484174, "left gripper-book distance": 0.1359878500460517, "right gripper-book distance": 0.47950053682013716 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8342599124123803, "bimanual_gripper_vertical_difference": 0.17484453211009124, "task_success": 0.0 }, { "completion_time": 1.3779456615447998, "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": 0.0015908199043916937, "left gripper-book distance": 0.13574235367126555, "right gripper-book distance": 0.4802612379665072 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8205043886857459, "bimanual_gripper_vertical_difference": 0.177019084661184, "task_success": 0.0 }, { "completion_time": 1.4070484638214111, "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": 0.0013164222058541508, "left gripper-book distance": 0.13499247498458844, "right gripper-book distance": 0.4806229496960874 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8065708892787572, "bimanual_gripper_vertical_difference": 0.17914949268036465, "task_success": 0.0 }, { "completion_time": 1.4334609508514404, "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": 0.000726745806517215, "left gripper-book distance": 0.1343313944210368, "right gripper-book distance": 0.4806867771495585 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.793718513132723, "bimanual_gripper_vertical_difference": 0.18123302224517893, "task_success": 0.0 }, { "completion_time": 1.461855411529541, "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": 0.0006983858632976236, "left gripper-book distance": 0.13339117240596796, "right gripper-book distance": 0.48014745947944115 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7807786183763752, "bimanual_gripper_vertical_difference": 0.18325746388151912, "task_success": 0.0 }, { "completion_time": 1.4891903400421143, "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": 0.0006653818991452232, "left gripper-book distance": 0.13256198540307365, "right gripper-book distance": 0.4800485405446392 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7687483559609294, "bimanual_gripper_vertical_difference": 0.1852302171984486, "task_success": 0.0 }, { "completion_time": 1.5159602165222168, "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": 0.0006990483938845715, "left gripper-book distance": 0.13156838639417326, "right gripper-book distance": 0.48024826239018265 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.757865266385219, "bimanual_gripper_vertical_difference": 0.1871608578588489, "task_success": 0.0 }, { "completion_time": 1.5455071926116943, "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": 0.00071055130579456, "left gripper-book distance": 0.13193505889962948, "right gripper-book distance": 0.48055878129967633 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7490540200010922, "bimanual_gripper_vertical_difference": 0.18904071434461386, "task_success": 0.0 }, { "completion_time": 1.5740547180175781, "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": 0.0007111721068397969, "left gripper-book distance": 0.13525428848571916, "right gripper-book distance": 0.4809005732322727 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7432780499153755, "bimanual_gripper_vertical_difference": 0.19084520268867222, "task_success": 0.0 }, { "completion_time": 1.606266975402832, "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": 0.000712394791809623, "left gripper-book distance": 0.14081192839097573, "right gripper-book distance": 0.48125042885117153 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7381694217174377, "bimanual_gripper_vertical_difference": 0.1925465944648758, "task_success": 0.0 }, { "completion_time": 1.6346828937530518, "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": 0.0007129569277121162, "left gripper-book distance": 0.14675356358494324, "right gripper-book distance": 0.48170911880785805 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7308755712940719, "bimanual_gripper_vertical_difference": 0.19413120472706538, "task_success": 0.0 }, { "completion_time": 1.6628434658050537, "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": 0.0007135196419494338, "left gripper-book distance": 0.15173922122397376, "right gripper-book distance": 0.4824562131465154 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7217137275819672, "bimanual_gripper_vertical_difference": 0.19560424427622825, "task_success": 0.0 }, { "completion_time": 1.691260814666748, "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": 0.00071408220320901, "left gripper-book distance": 0.1545048286395254, "right gripper-book distance": 0.48362401529161075 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7157315467217139, "bimanual_gripper_vertical_difference": 0.1969786932769468, "task_success": 0.0 }, { "completion_time": 1.7201530933380127, "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": 0.0007153050814263651, "left gripper-book distance": 0.15526481568865652, "right gripper-book distance": 0.4848517783525157 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7150658319302337, "bimanual_gripper_vertical_difference": 0.1982580523091538, "task_success": 0.0 }, { "completion_time": 1.748138427734375, "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": 0.0007158670482125817, "left gripper-book distance": 0.15489839488800955, "right gripper-book distance": 0.48586146193820345 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7201423289709797, "bimanual_gripper_vertical_difference": 0.19943889858329233, "task_success": 0.0 }, { "completion_time": 1.7794973850250244, "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": 0.0007164300751958397, "left gripper-book distance": 0.15522378454739583, "right gripper-book distance": 0.4863147955319036 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7298031136461244, "bimanual_gripper_vertical_difference": 0.20050192938652042, "task_success": 0.0 }, { "completion_time": 1.8083219528198242, "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": 0.0007169929524353247, "left gripper-book distance": 0.15650102898126583, "right gripper-book distance": 0.4862607249676306 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7428436404221302, "bimanual_gripper_vertical_difference": 0.20143122356790327, "task_success": 0.0 }, { "completion_time": 1.837012529373169, "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": 0.0007182167226950087, "left gripper-book distance": 0.15785321288240092, "right gripper-book distance": 0.48606602441018604 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7538939000759999, "bimanual_gripper_vertical_difference": 0.20223400371306055, "task_success": 0.0 }, { "completion_time": 1.8654460906982422, "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": 0.0007187782145784416, "left gripper-book distance": 0.1582505711006822, "right gripper-book distance": 0.4856802293936212 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7642513487252197, "bimanual_gripper_vertical_difference": 0.2029347837432222, "task_success": 0.0 }, { "completion_time": 1.894376277923584, "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": 0.0007193415523485402, "left gripper-book distance": 0.1578940487281137, "right gripper-book distance": 0.4847422400756599 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7737824650622374, "bimanual_gripper_vertical_difference": 0.20355434203294637, "task_success": 0.0 }, { "completion_time": 1.9229984283447266, "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": 0.0007199047456555308, "left gripper-book distance": 0.1571546257089988, "right gripper-book distance": 0.4830098991292428 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7829752472773028, "bimanual_gripper_vertical_difference": 0.20410887452148865, "task_success": 0.0 }, { "completion_time": 1.9523229598999023, "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": 0.0007211286354645852, "left gripper-book distance": 0.1565045083049904, "right gripper-book distance": 0.4802741149159431 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7929176228034049, "bimanual_gripper_vertical_difference": 0.2046053249483169, "task_success": 0.0 }, { "completion_time": 1.9812679290771484, "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": 0.0007216904462846729, "left gripper-book distance": 0.15642068365698553, "right gripper-book distance": 0.47706778942292277 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8027704398532819, "bimanual_gripper_vertical_difference": 0.2050512680862329, "task_success": 0.0 }, { "completion_time": 2.009491205215454, "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": 0.0007222541002582794, "left gripper-book distance": 0.15681361003616145, "right gripper-book distance": 0.47385867128384557 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8118613455700096, "bimanual_gripper_vertical_difference": 0.20546545535988758, "task_success": 0.0 }, { "completion_time": 2.0391337871551514, "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": 0.0007228176097875405, "left gripper-book distance": 0.15772760777580835, "right gripper-book distance": 0.47120599789873996 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8200492444979846, "bimanual_gripper_vertical_difference": 0.2058742011136465, "task_success": 0.0 }, { "completion_time": 2.0686182975769043, "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": 0.0004916532909909899, "left gripper-book distance": 0.15895401677244952, "right gripper-book distance": 0.46917712443422155 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8283049481033943, "bimanual_gripper_vertical_difference": 0.2063041614057963, "task_success": 0.0 }, { "completion_time": 2.098400592803955, "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": 0.0004911631818590445, "left gripper-book distance": 0.15993314979956108, "right gripper-book distance": 0.4669351349884787 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8389569416945288, "bimanual_gripper_vertical_difference": 0.20677198315336834, "task_success": 0.0 }, { "completion_time": 2.1285128593444824, "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": 0.0005126075018827558, "left gripper-book distance": 0.16116110629405053, "right gripper-book distance": 0.4643685131927631 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8536108374436173, "bimanual_gripper_vertical_difference": 0.2072749010077917, "task_success": 0.0 }, { "completion_time": 2.1583921909332275, "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": 0.0005266635693744748, "left gripper-book distance": 0.16268009506649328, "right gripper-book distance": 0.4620288497611493 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8731251169978638, "bimanual_gripper_vertical_difference": 0.20780201605705378, "task_success": 0.0 }, { "completion_time": 2.188572406768799, "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": 0.0005409347358187322, "left gripper-book distance": 0.16438637963038882, "right gripper-book distance": 0.4602212359907131 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8958939424689364, "bimanual_gripper_vertical_difference": 0.2083419075742432, "task_success": 0.0 }, { "completion_time": 2.2185537815093994, "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": 0.0005399278823714493, "left gripper-book distance": 0.16567100827446815, "right gripper-book distance": 0.45904613829078283 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9206603095538012, "bimanual_gripper_vertical_difference": 0.2088893178325884, "task_success": 0.0 }, { "completion_time": 2.247502326965332, "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": 0.00052387632938522, "left gripper-book distance": 0.16608176852770576, "right gripper-book distance": 0.4583798244350627 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9469256037961231, "bimanual_gripper_vertical_difference": 0.20945211566381688, "task_success": 0.0 }, { "completion_time": 2.27716326713562, "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": 0.00047837119792037974, "left gripper-book distance": 0.16497545098670766, "right gripper-book distance": 0.4579673251320573 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9741510074108163, "bimanual_gripper_vertical_difference": 0.21003458221534138, "task_success": 0.0 }, { "completion_time": 2.30741024017334, "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": 0.0004911671463402323, "left gripper-book distance": 0.1616306545199944, "right gripper-book distance": 0.45724069323857136 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0050749295643455, "bimanual_gripper_vertical_difference": 0.21061532327973312, "task_success": 0.0 }, { "completion_time": 2.337040662765503, "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": 0.0005125228288063166, "left gripper-book distance": 0.15624284298639615, "right gripper-book distance": 0.45605989541451575 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0337108123838221, "bimanual_gripper_vertical_difference": 0.21119013558580738, "task_success": 0.0 }, { "completion_time": 2.3694007396698, "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": 0.0005264662519336438, "left gripper-book distance": 0.15120795396202388, "right gripper-book distance": 0.45520324193007516 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0588122102322308, "bimanual_gripper_vertical_difference": 0.21179163950539037, "task_success": 0.0 }, { "completion_time": 2.3994970321655273, "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": 0.0005408292237124579, "left gripper-book distance": 0.14767393030283618, "right gripper-book distance": 0.4550515782996784 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0831655687199735, "bimanual_gripper_vertical_difference": 0.21244550475370616, "task_success": 0.0 }, { "completion_time": 2.428722381591797, "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": 0.0005394080844728366, "left gripper-book distance": 0.1452934527045805, "right gripper-book distance": 0.4554402971339208 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1072192488681343, "bimanual_gripper_vertical_difference": 0.21316277330274747, "task_success": 0.0 }, { "completion_time": 2.458657741546631, "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": 0.0005237745548223316, "left gripper-book distance": 0.1429505136965018, "right gripper-book distance": 0.45583675978476706 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.131395955326924, "bimanual_gripper_vertical_difference": 0.21394466841927415, "task_success": 0.0 }, { "completion_time": 2.48872971534729, "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": 0.00047840558319545146, "left gripper-book distance": 0.14049122492956018, "right gripper-book distance": 0.45577827414523775 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.156107824509333, "bimanual_gripper_vertical_difference": 0.21478230780867227, "task_success": 0.0 }, { "completion_time": 2.5182950496673584, "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": 0.0004910522026345676, "left gripper-book distance": 0.13753481608814822, "right gripper-book distance": 0.4552454281039754 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1803868218254252, "bimanual_gripper_vertical_difference": 0.21566568151701795, "task_success": 0.0 }, { "completion_time": 2.550261974334717, "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": 0.000512524626275157, "left gripper-book distance": 0.13345431532149718, "right gripper-book distance": 0.45476842603165624 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2041010629806266, "bimanual_gripper_vertical_difference": 0.21659073145571967, "task_success": 0.0 }, { "completion_time": 2.5802721977233887, "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": 0.0005265718955324017, "left gripper-book distance": 0.12749384026675412, "right gripper-book distance": 0.4547460149449451 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2268361262891905, "bimanual_gripper_vertical_difference": 0.21755566385427105, "task_success": 0.0 }, { "completion_time": 2.610154867172241, "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": 0.0005409351116693051, "left gripper-book distance": 0.1203100146539097, "right gripper-book distance": 0.45502748957382727 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.248341112030378, "bimanual_gripper_vertical_difference": 0.21854270200416584, "task_success": 0.0 }, { "completion_time": 2.6400225162506104, "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": 0.0005399633683059735, "left gripper-book distance": 0.11297982577403652, "right gripper-book distance": 0.4559036783874401 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2686515833612937, "bimanual_gripper_vertical_difference": 0.2195347602889418, "task_success": 0.0 }, { "completion_time": 2.6673314571380615, "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": -8.047485278217525e-05, "left gripper-book distance": 0.11014545661622434, "right gripper-book distance": 0.45837202147886486 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2890971999136966, "bimanual_gripper_vertical_difference": 0.22063940039476862, "task_success": 0.0 }, { "completion_time": 2.6964175701141357, "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": -0.0007427664739982909, "left gripper-book distance": 0.11178498802377225, "right gripper-book distance": 0.46120073085702873 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3124541797546632, "bimanual_gripper_vertical_difference": 0.22176847692866897, "task_success": 0.0 }, { "completion_time": 2.7252132892608643, "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": 0.0003077076089598174, "left gripper-book distance": 0.11141323993348531, "right gripper-book distance": 0.4621264776675499 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3382022485176632, "bimanual_gripper_vertical_difference": 0.22289643591673067, "task_success": 0.0 }, { "completion_time": 2.753204107284546, "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": 0.002227856672330941, "left gripper-book distance": 0.11272301540421567, "right gripper-book distance": 0.4610658943189938 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3608364476049506, "bimanual_gripper_vertical_difference": 0.2239992366820923, "task_success": 0.0 }, { "completion_time": 2.7820277214050293, "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": 0.004617445215562954, "left gripper-book distance": 0.11408941457339968, "right gripper-book distance": 0.4582838745089329 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.381173688348963, "bimanual_gripper_vertical_difference": 0.22505968087462572, "task_success": 0.0 }, { "completion_time": 2.8108885288238525, "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": 0.0060283089463692985, "left gripper-book distance": 0.11377969468947881, "right gripper-book distance": 0.4566407656810953 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3943322409656274, "bimanual_gripper_vertical_difference": 0.22609278290223436, "task_success": 0.0 }, { "completion_time": 2.8387508392333984, "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": 0.007755048807499776, "left gripper-book distance": 0.11464103850123322, "right gripper-book distance": 0.45559095950831097 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4083080987045271, "bimanual_gripper_vertical_difference": 0.22709732628502044, "task_success": 0.0 }, { "completion_time": 2.866823434829712, "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": 0.007913604044603062, "left gripper-book distance": 0.1147054596559498, "right gripper-book distance": 0.4581614815217485 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.427521177585934, "bimanual_gripper_vertical_difference": 0.22808923890999186, "task_success": 0.0 }, { "completion_time": 2.8944849967956543, "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": 0.011180847906494207, "left gripper-book distance": 0.11467437311290037, "right gripper-book distance": 0.4575513230240035 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4597420083554564, "bimanual_gripper_vertical_difference": 0.2290270591459299, "task_success": 0.0 }, { "completion_time": 2.9229602813720703, "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": 0.01551384938754985, "left gripper-book distance": 0.11480152149973892, "right gripper-book distance": 0.45522783105177633 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4988547325576775, "bimanual_gripper_vertical_difference": 0.22986636717396638, "task_success": 0.0 }, { "completion_time": 2.9544167518615723, "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": 0.019106281787187873, "left gripper-book distance": 0.11578848299757244, "right gripper-book distance": 0.45293414357584766 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5446695702562574, "bimanual_gripper_vertical_difference": 0.23059458324567386, "task_success": 0.0 }, { "completion_time": 2.983304977416992, "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": 0.02071310173468699, "left gripper-book distance": 0.11698520716524043, "right gripper-book distance": 0.45204678255627406 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5908254583356638, "bimanual_gripper_vertical_difference": 0.2312200089830437, "task_success": 0.0 }, { "completion_time": 3.011723279953003, "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": 0.023943809167691232, "left gripper-book distance": 0.12258629717484223, "right gripper-book distance": 0.4496379514615952 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6244222310936018, "bimanual_gripper_vertical_difference": 0.23170899207937268, "task_success": 0.0 }, { "completion_time": 3.03985857963562, "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": 0.03807916990745097, "left gripper-book distance": 0.12790912700019919, "right gripper-book distance": 0.43978207633386296 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6529847998384715, "bimanual_gripper_vertical_difference": 0.2320055495165104, "task_success": 0.0 }, { "completion_time": 3.069291830062866, "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": 0.06309127462732433, "left gripper-book distance": 0.13314119227427748, "right gripper-book distance": 0.4244561373578645 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.6802634090503883, "bimanual_gripper_vertical_difference": 0.23204908108714434, "task_success": 1.0 } ]