[ { "completion_time": 0.048674583435058594, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0004258002828052554, "book-upper shelf": 0.6315238482044426, "book-lower shelf": 0.43488526543659567 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.08065462112426758, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006820631144712763, "book-upper shelf": 0.6306001211363882, "book-lower shelf": 0.43417151374642116 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.018563459267291e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.11202216148376465, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007460576087572335, "book-upper shelf": 0.6305540671698249, "book-lower shelf": 0.43414091754253853 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.865484758559101e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.14392542839050293, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007715277912472285, "book-upper shelf": 0.6305276677485324, "book-lower shelf": 0.43411702022382276 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0476543531660826e-06, "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, "task_success": 0.0 }, { "completion_time": 0.175429105758667, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007535423456781487, "book-upper shelf": 0.6305444256236993, "book-lower shelf": 0.4341311589877858 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00017675039728245052, "bimanual_gripper_vertical_difference": 2.2006893640735827e-09, "task_success": 0.0 }, { "completion_time": 0.2064838409423828, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007267102691460581, "book-upper shelf": 0.6305724777272865, "book-lower shelf": 0.4341566845391524 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00019642507390926853, "bimanual_gripper_vertical_difference": 2.7687085587165447e-09, "task_success": 0.0 }, { "completion_time": 0.2378702163696289, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007793625569195717, "book-upper shelf": 0.6305214179110814, "book-lower shelf": 0.43411238651592765 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0001889880366899382, "bimanual_gripper_vertical_difference": 3.305395037043825e-09, "task_success": 0.0 }, { "completion_time": 0.26958203315734863, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000793104833675895, "book-upper shelf": 0.6305098969137757, "book-lower shelf": 0.4341034475471791 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00040343131833661227, "bimanual_gripper_vertical_difference": 4.199730702092452e-09, "task_success": 0.0 }, { "completion_time": 0.30208277702331543, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007347124994266929, "book-upper shelf": 0.6305621437095749, "book-lower shelf": 0.43414621366632566 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.000720884117172295, "bimanual_gripper_vertical_difference": 4.43590364440638e-09, "task_success": 0.0 }, { "completion_time": 0.33428359031677246, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007730432374345453, "book-upper shelf": 0.6305247886184105, "book-lower shelf": 0.4341136980047643 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007462850011111853, "bimanual_gripper_vertical_difference": 4.825983190848149e-09, "task_success": 0.0 }, { "completion_time": 0.3662436008453369, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007550763403010308, "book-upper shelf": 0.6305415227562579, "book-lower shelf": 0.4341278128090713 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0006785070326285679, "bimanual_gripper_vertical_difference": 4.967613391344953e-09, "task_success": 0.0 }, { "completion_time": 0.39808058738708496, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007267576802356679, "book-upper shelf": 0.6305705971919201, "book-lower shelf": 0.43415398011934153 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0006811761983091, "bimanual_gripper_vertical_difference": 4.918051928666974e-09, "task_success": 0.0 }, { "completion_time": 0.4305746555328369, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007794506998410888, "book-upper shelf": 0.6305194982986655, "book-lower shelf": 0.434109648387059 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007011504090955317, "bimanual_gripper_vertical_difference": 4.694580228832461e-09, "task_success": 0.0 }, { "completion_time": 0.4617781639099121, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007931723022470694, "book-upper shelf": 0.6305079923103247, "book-lower shelf": 0.43410071948595147 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0006520478968390093, "bimanual_gripper_vertical_difference": 4.366202399630481e-09, "task_success": 0.0 }, { "completion_time": 0.49336671829223633, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007346457502048764, "book-upper shelf": 0.6305603273233976, "book-lower shelf": 0.4341435376516947 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0008584501586393812, "bimanual_gripper_vertical_difference": 4.4869235438227404e-09, "task_success": 0.0 }, { "completion_time": 0.5257046222686768, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007729577516218944, "book-upper shelf": 0.6305229843582665, "book-lower shelf": 0.4341110289311328 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0008049852011830384, "bimanual_gripper_vertical_difference": 4.737594372361542e-09, "task_success": 0.0 }, { "completion_time": 0.5575759410858154, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000754968594953831, "book-upper shelf": 0.6305397346525075, "book-lower shelf": 0.4341251545937715 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0011309261323092378, "bimanual_gripper_vertical_difference": 5.729533749404221e-09, "task_success": 0.0 }, { "completion_time": 0.5890069007873535, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007267573954107265, "book-upper shelf": 0.6305687351943016, "book-lower shelf": 0.43415127556506156 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0010731932881877665, "bimanual_gripper_vertical_difference": 7.014450785646097e-09, "task_success": 0.0 }, { "completion_time": 0.6205871105194092, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007794108878595996, "book-upper shelf": 0.6305176639460497, "book-lower shelf": 0.43410696150892186 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0010199406433634374, "bimanual_gripper_vertical_difference": 8.619678561559927e-09, "task_success": 0.0 }, { "completion_time": 0.6516599655151367, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007931111090364595, "book-upper shelf": 0.6305061735335438, "book-lower shelf": 0.4340980430966478 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0012478151944895343, "bimanual_gripper_vertical_difference": 1.0633142244476091e-08, "task_success": 0.0 }, { "completion_time": 0.6854050159454346, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007346034697498505, "book-upper shelf": 0.6305584928430416, "book-lower shelf": 0.4341408492252441 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0013663043695312375, "bimanual_gripper_vertical_difference": 1.2932944672866277e-08, "task_success": 0.0 }, { "completion_time": 0.7173986434936523, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007728931124759697, "book-upper shelf": 0.6305211653573137, "book-lower shelf": 0.4341083502624543 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0013102053227259521, "bimanual_gripper_vertical_difference": 1.5435951829865437e-08, "task_success": 0.0 }, { "completion_time": 0.74910569190979, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007548762798352815, "book-upper shelf": 0.6305379353300953, "book-lower shelf": 0.43412248882679516 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00138375265044121, "bimanual_gripper_vertical_difference": 1.7935565535169742e-08, "task_success": 0.0 }, { "completion_time": 0.7812955379486084, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007267673823483367, "book-upper shelf": 0.6305668608290335, "book-lower shelf": 0.4341485588644488 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0013321062125445729, "bimanual_gripper_vertical_difference": 2.0396486851333624e-08, "task_success": 0.0 }, { "completion_time": 0.8125183582305908, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000779379933920632, "book-upper shelf": 0.6305158185496152, "book-lower shelf": 0.4341042636055872 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0012826722577083708, "bimanual_gripper_vertical_difference": 2.2684541809425697e-08, "task_success": 0.0 }, { "completion_time": 0.8446755409240723, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007930591837130851, "book-upper shelf": 0.63050434345335, "book-lower shelf": 0.4340953555376311 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0012358091837022483, "bimanual_gripper_vertical_difference": 2.481489970771979e-08, "task_success": 0.0 }, { "completion_time": 0.8767306804656982, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007345634842106374, "book-upper shelf": 0.6305566512306681, "book-lower shelf": 0.43413815173269876 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.001191625778868932, "bimanual_gripper_vertical_difference": 2.680226444899629e-08, "task_success": 0.0 }, { "completion_time": 0.9106855392456055, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007728305779334255, "book-upper shelf": 0.6305193394392425, "book-lower shelf": 0.43410566273179174 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0011500886291973596, "bimanual_gripper_vertical_difference": 2.8658618153202094e-08, "task_success": 0.0 }, { "completion_time": 0.9428482055664062, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007547855154478311, "book-upper shelf": 0.6305361294509031, "book-lower shelf": 0.4341198144070769 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0011110876668164555, "bimanual_gripper_vertical_difference": 3.0394943986998405e-08, "task_success": 0.0 }, { "completion_time": 0.9738376140594482, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007267785796072346, "book-upper shelf": 0.6305649795454966, "book-lower shelf": 0.43414583279308216 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0010802094962279944, "bimanual_gripper_vertical_difference": 3.254487290031231e-08, "task_success": 0.0 }, { "completion_time": 1.0052101612091064, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007793501545361181, "book-upper shelf": 0.6305139663058517, "book-lower shelf": 0.4341015564140913 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0010521108028657157, "bimanual_gripper_vertical_difference": 3.478005035944191e-08, "task_success": 0.0 }, { "completion_time": 1.0373191833496094, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007930085919878316, "book-upper shelf": 0.6305025064198434, "book-lower shelf": 0.4340926586267177 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.001023590151437002, "bimanual_gripper_vertical_difference": 3.731549669261369e-08, "task_success": 0.0 }, { "completion_time": 1.0685265064239502, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007345237702179874, "book-upper shelf": 0.6305548034988926, "book-lower shelf": 0.4341354454971637 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.008715683558918537, "bimanual_gripper_vertical_difference": 5.3569066903915854e-05, "task_success": 0.0 }, { "completion_time": 1.1000988483428955, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007727684324411177, "book-upper shelf": 0.6305175073276308, "book-lower shelf": 0.43410296641696733 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.04503976561596729, "bimanual_gripper_vertical_difference": 0.0003018548866088779, "task_success": 0.0 }, { "completion_time": 1.1323068141937256, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007546952247614591, "book-upper shelf": 0.6305343173227057, "book-lower shelf": 0.43411713117069123 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.09028594552566815, "bimanual_gripper_vertical_difference": 0.0008234251258470581, "task_success": 0.0 }, { "completion_time": 1.1644039154052734, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007267883255402952, "book-upper shelf": 0.630563093068688, "book-lower shelf": 0.43414309834675696 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.14692425708725504, "bimanual_gripper_vertical_difference": 0.0018029806334403037, "task_success": 0.0 }, { "completion_time": 1.1962170600891113, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007793188143061514, "book-upper shelf": 0.6305121089725527, "book-lower shelf": 0.4340988409359324 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2025432025506469, "bimanual_gripper_vertical_difference": 0.0035412976842164345, "task_success": 0.0 }, { "completion_time": 1.2278392314910889, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007929565309134912, "book-upper shelf": 0.6305006642324615, "book-lower shelf": 0.4340899533875514 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2643111875610482, "bimanual_gripper_vertical_difference": 0.006316895310519003, "task_success": 0.0 }, { "completion_time": 1.2602713108062744, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007344842726485501, "book-upper shelf": 0.6305529493851763, "book-lower shelf": 0.4341327301059669 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.320398044838479, "bimanual_gripper_vertical_difference": 0.010329182612494088, "task_success": 0.0 }, { "completion_time": 1.2929878234863281, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007727067065238513, "book-upper shelf": 0.6305156686826967, "book-lower shelf": 0.43410026084168857 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.37165834455092783, "bimanual_gripper_vertical_difference": 0.015468258364856583, "task_success": 0.0 }, { "completion_time": 1.3279693126678467, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007546055492412274, "book-upper shelf": 0.6305324985332941, "book-lower shelf": 0.434114438599074 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.408325603367732, "bimanual_gripper_vertical_difference": 0.021069606361495616, "task_success": 0.0 }, { "completion_time": 1.360466480255127, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007267976186194902, "book-upper shelf": 0.630561200665858, "book-lower shelf": 0.4341403550273992 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.44324677471847884, "bimanual_gripper_vertical_difference": 0.02639487585317119, "task_success": 0.0 }, { "completion_time": 1.39227294921875, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007792872097984738, "book-upper shelf": 0.6305102455784829, "book-lower shelf": 0.43409611649576274 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47373836893150295, "bimanual_gripper_vertical_difference": 0.03132514483153574, "task_success": 0.0 }, { "completion_time": 1.424694538116455, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007929043230012756, "book-upper shelf": 0.6304988159032011, "book-lower shelf": 0.43408723913515795 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48753001601377405, "bimanual_gripper_vertical_difference": 0.03593189348598784, "task_success": 0.0 }, { "completion_time": 1.456874132156372, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007344447583801372, "book-upper shelf": 0.6305510890694631, "book-lower shelf": 0.4341300056881582 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47962669179806794, "bimanual_gripper_vertical_difference": 0.04027476947638232, "task_success": 0.0 }, { "completion_time": 1.4886066913604736, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007726451426354197, "book-upper shelf": 0.6305138237062423, "book-lower shelf": 0.4340975461528934 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48556180028628004, "bimanual_gripper_vertical_difference": 0.044391562714932206, "task_success": 0.0 }, { "completion_time": 1.5203807353973389, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007545161960644808, "book-upper shelf": 0.63053067330759, "book-lower shelf": 0.4341117368527391 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48322253241031404, "bimanual_gripper_vertical_difference": 0.04831014630615421, "task_success": 0.0 }, { "completion_time": 1.5527317523956299, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007268068161417895, "book-upper shelf": 0.6305593021241188, "book-lower shelf": 0.4341376027283556 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48319489280258376, "bimanual_gripper_vertical_difference": 0.05221083193589676, "task_success": 0.0 }, { "completion_time": 1.5844547748565674, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007792557270753786, "book-upper shelf": 0.6305083758906117, "book-lower shelf": 0.4340933829740023 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4957996052587461, "bimanual_gripper_vertical_difference": 0.056190821407509826, "task_success": 0.0 }, { "completion_time": 1.617443323135376, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007928523639301188, "book-upper shelf": 0.6304969611929642, "book-lower shelf": 0.43408451574660284 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5027308361673734, "bimanual_gripper_vertical_difference": 0.060188178225396086, "task_success": 0.0 }, { "completion_time": 1.6501331329345703, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007344057577204355, "book-upper shelf": 0.6305492220686936, "book-lower shelf": 0.434127271842802 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5066149611738252, "bimanual_gripper_vertical_difference": 0.06415780917916572, "task_success": 0.0 }, { "completion_time": 1.6827542781829834, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007725842899956037, "book-upper shelf": 0.6305119718992996, "book-lower shelf": 0.43409482193727894 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5065354038549731, "bimanual_gripper_vertical_difference": 0.06810497618247256, "task_success": 0.0 }, { "completion_time": 1.716111183166504, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007544277298258129, "book-upper shelf": 0.6305288411362107, "book-lower shelf": 0.4341090255119704 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5049376222515306, "bimanual_gripper_vertical_difference": 0.07205806017875103, "task_success": 0.0 }, { "completion_time": 1.7488353252410889, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007268159049601541, "book-upper shelf": 0.6305573973491837, "book-lower shelf": 0.4341348413051326 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5006060233470375, "bimanual_gripper_vertical_difference": 0.07601414770124933, "task_success": 0.0 }, { "completion_time": 1.7816808223724365, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007792243922332132, "book-upper shelf": 0.6305064997816685, "book-lower shelf": 0.434090640200506 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4964731215183502, "bimanual_gripper_vertical_difference": 0.07993727310437897, "task_success": 0.0 }, { "completion_time": 1.8140804767608643, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007928006802325749, "book-upper shelf": 0.630495099973979, "book-lower shelf": 0.4340817830512604 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4922694217002506, "bimanual_gripper_vertical_difference": 0.08379466086161692, "task_success": 0.0 }, { "completion_time": 1.8456284999847412, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007343668096714273, "book-upper shelf": 0.6305473487019463, "book-lower shelf": 0.4341245287717875 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4873087595464536, "bimanual_gripper_vertical_difference": 0.08756408728534772, "task_success": 0.0 }, { "completion_time": 1.8769705295562744, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007725236685132142, "book-upper shelf": 0.6305101135975363, "book-lower shelf": 0.4340920884099868 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4820469822409488, "bimanual_gripper_vertical_difference": 0.09123337884508234, "task_success": 0.0 }, { "completion_time": 1.9078679084777832, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007543396467014629, "book-upper shelf": 0.6305270023705281, "book-lower shelf": 0.43410630480126555 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4779394295118712, "bimanual_gripper_vertical_difference": 0.0947912635889512, "task_success": 0.0 }, { "completion_time": 1.9421710968017578, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007150726161463394, "book-upper shelf": 0.6307967736175506, "book-lower shelf": 0.4344757941554451 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47317364575995274, "bimanual_gripper_vertical_difference": 0.09820901091535297, "task_success": 0.0 }, { "completion_time": 1.97499680519104, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007532140860919689, "book-upper shelf": 0.6311118492558466, "book-lower shelf": 0.43495470469769487 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.46854748075535047, "bimanual_gripper_vertical_difference": 0.10148954355942987, "task_success": 0.0 }, { "completion_time": 2.006342887878418, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006624501050120912, "book-upper shelf": 0.631898049699068, "book-lower shelf": 0.43604343517433153 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4648309351458451, "bimanual_gripper_vertical_difference": 0.10465298190049169, "task_success": 0.0 }, { "completion_time": 2.0382330417633057, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000674311069789213, "book-upper shelf": 0.6326007545185028, "book-lower shelf": 0.43706782962672464 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4607162410511969, "bimanual_gripper_vertical_difference": 0.1077071305068747, "task_success": 0.0 }, { "completion_time": 2.0686185359954834, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000847847110899913, "book-upper shelf": 0.6331516869843327, "book-lower shelf": 0.43796242947493697 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45713150843663203, "bimanual_gripper_vertical_difference": 0.11065999094280136, "task_success": 0.0 }, { "completion_time": 2.098815441131592, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007275629714201814, "book-upper shelf": 0.6339227659038486, "book-lower shelf": 0.43900896358425223 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45344372261287674, "bimanual_gripper_vertical_difference": 0.11352669477034677, "task_success": 0.0 }, { "completion_time": 2.130126953125, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008378091508030039, "book-upper shelf": 0.6342899727593706, "book-lower shelf": 0.4396007930499304 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4484405713433581, "bimanual_gripper_vertical_difference": 0.11631001236526682, "task_success": 0.0 }, { "completion_time": 2.1616106033325195, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006845112233756501, "book-upper shelf": 0.6349599733893211, "book-lower shelf": 0.44048128671877285 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4434622535858939, "bimanual_gripper_vertical_difference": 0.11901941063797003, "task_success": 0.0 }, { "completion_time": 2.193528175354004, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000759785178132133, "book-upper shelf": 0.6350826631890913, "book-lower shelf": 0.4407001859372662 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43757178573627864, "bimanual_gripper_vertical_difference": 0.12165277032854993, "task_success": 0.0 }, { "completion_time": 2.2259860038757324, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007699104800380496, "book-upper shelf": 0.6351711651702147, "book-lower shelf": 0.4408333699601156 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.43183714886538904, "bimanual_gripper_vertical_difference": 0.12420815299188348, "task_success": 0.0 }, { "completion_time": 2.2578580379486084, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007591069280977747, "book-upper shelf": 0.6352024175957925, "book-lower shelf": 0.4408723648825169 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4257805782402171, "bimanual_gripper_vertical_difference": 0.1266822572723308, "task_success": 0.0 }, { "completion_time": 2.290053606033325, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000764797629258962, "book-upper shelf": 0.6352062486877424, "book-lower shelf": 0.44088106282227396 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.42028773203708614, "bimanual_gripper_vertical_difference": 0.12907554153067452, "task_success": 0.0 }, { "completion_time": 2.321702480316162, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007726420307688775, "book-upper shelf": 0.6351831270603954, "book-lower shelf": 0.4408521306073963 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.41559773720607995, "bimanual_gripper_vertical_difference": 0.1313947136369333, "task_success": 0.0 }, { "completion_time": 2.353440999984741, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000619830200579985, "book-upper shelf": 0.6351955326362286, "book-lower shelf": 0.4407846511101299 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4113294746658827, "bimanual_gripper_vertical_difference": 0.13365244786948272, "task_success": 0.0 }, { "completion_time": 2.3845887184143066, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007292939570799906, "book-upper shelf": 0.635045820715576, "book-lower shelf": 0.440630053228714 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4063819826093741, "bimanual_gripper_vertical_difference": 0.13585664384361218, "task_success": 0.0 }, { "completion_time": 2.415520191192627, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008460855744804041, "book-upper shelf": 0.6349792982575514, "book-lower shelf": 0.4405994469441916 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.40147455513473784, "bimanual_gripper_vertical_difference": 0.13800376231305117, "task_success": 0.0 }, { "completion_time": 2.4473209381103516, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007685307903166905, "book-upper shelf": 0.6350172008005256, "book-lower shelf": 0.44061073170207443 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3969349785419644, "bimanual_gripper_vertical_difference": 0.14009225464688815, "task_success": 0.0 }, { "completion_time": 2.4786171913146973, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008916429192693531, "book-upper shelf": 0.634879484720409, "book-lower shelf": 0.44048105324192577 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.39266368282038655, "bimanual_gripper_vertical_difference": 0.14212277845356958, "task_success": 0.0 }, { "completion_time": 2.5095298290252686, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0012577867084552219, "book-upper shelf": 0.6345981952940865, "book-lower shelf": 0.44028033697332114 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3885107825796568, "bimanual_gripper_vertical_difference": 0.14408750170062745, "task_success": 0.0 }, { "completion_time": 2.540241241455078, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.001218415259933714, "book-upper shelf": 0.6347012660918948, "book-lower shelf": 0.44040687365628695 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3845554005188358, "bimanual_gripper_vertical_difference": 0.1459877325962312, "task_success": 0.0 }, { "completion_time": 2.5726399421691895, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008694343872209798, "book-upper shelf": 0.6347145377313356, "book-lower shelf": 0.4402308553045612 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.381627694771669, "bimanual_gripper_vertical_difference": 0.14783881466723145, "task_success": 0.0 }, { "completion_time": 2.606309413909912, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007717745142094001, "book-upper shelf": 0.6347515303767537, "book-lower shelf": 0.4402295699586303 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3803216762393722, "bimanual_gripper_vertical_difference": 0.14964535647244703, "task_success": 0.0 }, { "completion_time": 2.63796329498291, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007348958731298039, "book-upper shelf": 0.6347616966410852, "book-lower shelf": 0.440223601805084 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.37981770800224685, "bimanual_gripper_vertical_difference": 0.1513965026168144, "task_success": 0.0 }, { "completion_time": 2.669034719467163, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007183098840707336, "book-upper shelf": 0.634764065026981, "book-lower shelf": 0.44021773992293456 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3824441141152204, "bimanual_gripper_vertical_difference": 0.15308901316165918, "task_success": 0.0 }, { "completion_time": 2.700326681137085, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007523205602755212, "book-upper shelf": 0.6347402093595689, "book-lower shelf": 0.4402023650874293 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3873131070123514, "bimanual_gripper_vertical_difference": 0.15471720507826253, "task_success": 0.0 }, { "completion_time": 2.7312991619110107, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00075744229675756, "book-upper shelf": 0.6347413683112845, "book-lower shelf": 0.44020690100854115 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.39752923588391387, "bimanual_gripper_vertical_difference": 0.1562726272590876, "task_success": 0.0 }, { "completion_time": 2.7635531425476074, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007495100584270498, "book-upper shelf": 0.6347478797336877, "book-lower shelf": 0.44021185314064104 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.41619343237666756, "bimanual_gripper_vertical_difference": 0.15774228259503353, "task_success": 0.0 }, { "completion_time": 2.795624256134033, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00074600121719548, "book-upper shelf": 0.6347512516265085, "book-lower shelf": 0.4402147525147968 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4357846096788733, "bimanual_gripper_vertical_difference": 0.15911608607082303, "task_success": 0.0 }, { "completion_time": 2.827740430831909, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007367928860034789, "book-upper shelf": 0.6347551858108996, "book-lower shelf": 0.4402152747933554 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45229820952256433, "bimanual_gripper_vertical_difference": 0.16039797593616212, "task_success": 0.0 }, { "completion_time": 2.8594822883605957, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007326500953714898, "book-upper shelf": 0.6347596226853168, "book-lower shelf": 0.4402193552331877 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4672118709123155, "bimanual_gripper_vertical_difference": 0.16160309046175675, "task_success": 0.0 }, { "completion_time": 2.8913955688476562, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006970531360960264, "book-upper shelf": 0.6347965234904686, "book-lower shelf": 0.44025265319285506 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4820109447729966, "bimanual_gripper_vertical_difference": 0.16275452809138458, "task_success": 0.0 }, { "completion_time": 2.922569751739502, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007649275043911663, "book-upper shelf": 0.6347320260254553, "book-lower shelf": 0.4401976169889289 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.502439296285663, "bimanual_gripper_vertical_difference": 0.16386776361928654, "task_success": 0.0 }, { "completion_time": 2.957139492034912, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000764379057146436, "book-upper shelf": 0.6347376374538278, "book-lower shelf": 0.4402054014411618 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5259529586660129, "bimanual_gripper_vertical_difference": 0.16493855616574707, "task_success": 0.0 }, { "completion_time": 2.9892520904541016, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007510405877129145, "book-upper shelf": 0.6347409580228168, "book-lower shelf": 0.4402027286602997 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5493695966057253, "bimanual_gripper_vertical_difference": 0.16597523863086472, "task_success": 0.0 }, { "completion_time": 3.0210187435150146, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007527988411284436, "book-upper shelf": 0.6347462529650733, "book-lower shelf": 0.4402113470065752 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5722679982398514, "bimanual_gripper_vertical_difference": 0.16701087754031818, "task_success": 0.0 }, { "completion_time": 3.0534260272979736, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007449115127269312, "book-upper shelf": 0.6347527887081209, "book-lower shelf": 0.44021635934846487 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5956545772049664, "bimanual_gripper_vertical_difference": 0.16806305126627188, "task_success": 0.0 }, { "completion_time": 3.085444927215576, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007314333167598441, "book-upper shelf": 0.6347557796366919, "book-lower shelf": 0.44021313327736644 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6191423622360922, "bimanual_gripper_vertical_difference": 0.16911711730229725, "task_success": 0.0 }, { "completion_time": 3.1176862716674805, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000733103690939596, "book-upper shelf": 0.6347610907981748, "book-lower shelf": 0.44022172583227126 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6432105578044086, "bimanual_gripper_vertical_difference": 0.17016907126857664, "task_success": 0.0 }, { "completion_time": 3.149381160736084, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007253024952044163, "book-upper shelf": 0.634767538709029, "book-lower shelf": 0.44022665980531267 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6670707782288747, "bimanual_gripper_vertical_difference": 0.17122160976438133, "task_success": 0.0 }, { "completion_time": 3.18105149269104, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007684943345603878, "book-upper shelf": 0.6347329356083353, "book-lower shelf": 0.44020092363810454 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6844127109086482, "bimanual_gripper_vertical_difference": 0.17226060750375635, "task_success": 0.0 }, { "completion_time": 3.2133240699768066, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007631831346459617, "book-upper shelf": 0.6347390550197508, "book-lower shelf": 0.44020677651853535 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6981960714405746, "bimanual_gripper_vertical_difference": 0.17328298677794432, "task_success": 0.0 }, { "completion_time": 3.2474887371063232, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00075017932666821, "book-upper shelf": 0.6347419818484163, "book-lower shelf": 0.4402037232022294 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7020129080897752, "bimanual_gripper_vertical_difference": 0.1742831933202993, "task_success": 0.0 }, { "completion_time": 3.279332160949707, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007519040659944576, "book-upper shelf": 0.6347472807872397, "book-lower shelf": 0.4402123285585309 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6974780714038159, "bimanual_gripper_vertical_difference": 0.17525498998373162, "task_success": 0.0 }, { "completion_time": 3.3113601207733154, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007440340996816008, "book-upper shelf": 0.63475381721792, "book-lower shelf": 0.44021735160707576 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.69760551397519, "bimanual_gripper_vertical_difference": 0.17620067049231963, "task_success": 0.0 }, { "completion_time": 3.3425846099853516, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007305785705520318, "book-upper shelf": 0.6347568087436611, "book-lower shelf": 0.44021413908955664 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7054601626109493, "bimanual_gripper_vertical_difference": 0.17710791613441654, "task_success": 0.0 }, { "completion_time": 3.373946189880371, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007322655374282228, "book-upper shelf": 0.6347621208557749, "book-lower shelf": 0.4402227422885832 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7070916806141077, "bimanual_gripper_vertical_difference": 0.1779778656817917, "task_success": 0.0 }, { "completion_time": 3.4055674076080322, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007508730648038142, "book-upper shelf": 0.634748819790696, "book-lower shelf": 0.44021397099282894 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7055750257115768, "bimanual_gripper_vertical_difference": 0.17882664716283625, "task_success": 0.0 }, { "completion_time": 3.4382150173187256, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007672257533752891, "book-upper shelf": 0.6347339459395173, "book-lower shelf": 0.44020167087485274 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7093062224378507, "bimanual_gripper_vertical_difference": 0.17966353388227094, "task_success": 0.0 }, { "completion_time": 3.4699172973632812, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007616308044285924, "book-upper shelf": 0.6347401950286508, "book-lower shelf": 0.4402075520313905 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7145214745906657, "bimanual_gripper_vertical_difference": 0.180509319107794, "task_success": 0.0 }, { "completion_time": 3.502051830291748, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007520763358994653, "book-upper shelf": 0.6347441889146693, "book-lower shelf": 0.44020796669686124 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7216207714426682, "bimanual_gripper_vertical_difference": 0.18138979002462052, "task_success": 0.0 }, { "completion_time": 3.5347840785980225, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007479981017877169, "book-upper shelf": 0.6347486152056194, "book-lower shelf": 0.44021206794170387 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.727211001178872, "bimanual_gripper_vertical_difference": 0.18231794040289295, "task_success": 0.0 }, { "completion_time": 3.5666909217834473, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0004955809051537807, "book-upper shelf": 0.6345529628364293, "book-lower shelf": 0.4392333348233093 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7265893084843821, "bimanual_gripper_vertical_difference": 0.18326721806201982, "task_success": 0.0 }, { "completion_time": 3.5995850563049316, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0031058592086360415, "book-upper shelf": 0.6281214326057856, "book-lower shelf": 0.43194736143906853 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7248600295825959, "bimanual_gripper_vertical_difference": 0.18413731257929014, "task_success": 0.0 }, { "completion_time": 3.6325058937072754, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.004367644350284361, "book-upper shelf": 0.6265788317793332, "book-lower shelf": 0.43042349782620304 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7224251455912262, "bimanual_gripper_vertical_difference": 0.1849608938351219, "task_success": 0.0 }, { "completion_time": 3.6645846366882324, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0078010495482861986, "book-upper shelf": 0.6224525680503509, "book-lower shelf": 0.42638167749716105 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7179637263647415, "bimanual_gripper_vertical_difference": 0.18572951851288957, "task_success": 0.0 }, { "completion_time": 3.696681022644043, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.013161181643888797, "book-upper shelf": 0.6174720260954093, "book-lower shelf": 0.422214916230504 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7143091069204889, "bimanual_gripper_vertical_difference": 0.18643683829290406, "task_success": 0.0 }, { "completion_time": 3.728740692138672, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.025803891347665697, "book-upper shelf": 0.6057779291557889, "book-lower shelf": 0.4125367066196586 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7126441017960717, "bimanual_gripper_vertical_difference": 0.18704092068520978, "task_success": 0.0 }, { "completion_time": 3.760468006134033, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.04435154996470536, "book-upper shelf": 0.5881488362316373, "book-lower shelf": 0.39783474318073664 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7090636694841214, "bimanual_gripper_vertical_difference": 0.1875203968355979, "task_success": 0.0 }, { "completion_time": 3.7920308113098145, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.06587799239604353, "book-upper shelf": 0.5669404938891388, "book-lower shelf": 0.37996795849517545 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7046887542874637, "bimanual_gripper_vertical_difference": 0.18788612726317644, "task_success": 0.0 }, { "completion_time": 3.8233861923217773, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.08904083913662253, "book-upper shelf": 0.5434826781072077, "book-lower shelf": 0.36018618952592274 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7035571068321124, "bimanual_gripper_vertical_difference": 0.188139186621434, "task_success": 0.0 }, { "completion_time": 3.8546059131622314, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.11322759282897987, "book-upper shelf": 0.5187531988520084, "book-lower shelf": 0.33967089641288717 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7073750596904441, "bimanual_gripper_vertical_difference": 0.18825759275227327, "task_success": 0.0 }, { "completion_time": 3.887556552886963, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.13892520366860783, "book-upper shelf": 0.49309773347255764, "book-lower shelf": 0.31948646252240903 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7149990369286288, "bimanual_gripper_vertical_difference": 0.18821629533374473, "task_success": 0.0 }, { "completion_time": 3.9197185039520264, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.16606652185049164, "book-upper shelf": 0.4662481663656909, "book-lower shelf": 0.2994650559352227 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7216311855442483, "bimanual_gripper_vertical_difference": 0.1879967486015979, "task_success": 0.0 }, { "completion_time": 3.951133966445923, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.19540146724390328, "book-upper shelf": 0.43802155459136277, "book-lower shelf": 0.2803584191690445 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7282362279080096, "bimanual_gripper_vertical_difference": 0.18758570904819488, "task_success": 0.0 }, { "completion_time": 3.9837701320648193, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.227101582056776, "book-upper shelf": 0.40797215219902, "book-lower shelf": 0.2622784005318644 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7358064295683953, "bimanual_gripper_vertical_difference": 0.18697667207486465, "task_success": 0.0 }, { "completion_time": 4.018522262573242, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.25948785773294714, "book-upper shelf": 0.3777414439456051, "book-lower shelf": 0.24695323911508194 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7445909818765136, "bimanual_gripper_vertical_difference": 0.1861723579818899, "task_success": 0.0 }, { "completion_time": 4.050147294998169, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.29057811096384045, "book-upper shelf": 0.348768416030276, "book-lower shelf": 0.23504703151403808 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7533175764638577, "bimanual_gripper_vertical_difference": 0.1851810902115577, "task_success": 0.0 }, { "completion_time": 4.081929922103882, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3184083859194037, "book-upper shelf": 0.32239630898684796, "book-lower shelf": 0.22638926193981596 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7606621057414283, "bimanual_gripper_vertical_difference": 0.18401830567171076, "task_success": 0.0 }, { "completion_time": 4.112621068954468, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.33780547506614156, "book-upper shelf": 0.2999803725808392, "book-lower shelf": 0.21645562671171992 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7656738535667023, "bimanual_gripper_vertical_difference": 0.18274245725495025, "task_success": 0.0 }, { "completion_time": 4.144128799438477, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.34528615253897665, "book-upper shelf": 0.28338514281546834, "book-lower shelf": 0.2021282097652488 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7714448694368248, "bimanual_gripper_vertical_difference": 0.18144280606275665, "task_success": 0.0 }, { "completion_time": 4.175660133361816, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3481613334960266, "book-upper shelf": 0.27106627027903063, "book-lower shelf": 0.18825907615930337 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7776277043986676, "bimanual_gripper_vertical_difference": 0.18016235591811813, "task_success": 0.0 }, { "completion_time": 4.2065589427948, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3546780501571941, "book-upper shelf": 0.25919423922866097, "book-lower shelf": 0.17987597848247655 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7848425631332269, "bimanual_gripper_vertical_difference": 0.17888273119418688, "task_success": 0.0 }, { "completion_time": 4.237759113311768, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3657622578828389, "book-upper shelf": 0.24620606643096443, "book-lower shelf": 0.1767754485637681 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7911120109219968, "bimanual_gripper_vertical_difference": 0.1775688856260187, "task_success": 0.0 }, { "completion_time": 4.268838405609131, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38160023109036867, "book-upper shelf": 0.23163560604934097, "book-lower shelf": 0.17912731769688667 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7960653503743832, "bimanual_gripper_vertical_difference": 0.17628517222407292, "task_success": 0.0 }, { "completion_time": 4.30021595954895, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4006016786863741, "book-upper shelf": 0.21470656794907608, "book-lower shelf": 0.1840861622252323 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8010647280379938, "bimanual_gripper_vertical_difference": 0.1751421859437415, "task_success": 0.0 }, { "completion_time": 4.3323633670806885, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.395359638381635, "book-upper shelf": 0.21835186382163424, "book-lower shelf": 0.18134193804703622 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8027585138965241, "bimanual_gripper_vertical_difference": 0.1739821869359678, "task_success": 0.0 }, { "completion_time": 4.364743947982788, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3840778783579607, "book-upper shelf": 0.22255577939906457, "book-lower shelf": 0.17082954748359908 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7998199132891672, "bimanual_gripper_vertical_difference": 0.17276098999310927, "task_success": 0.0 }, { "completion_time": 4.395842552185059, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3725167033198308, "book-upper shelf": 0.23002231280398786, "book-lower shelf": 0.16391651259993728 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7987605534373107, "bimanual_gripper_vertical_difference": 0.17153055507255435, "task_success": 0.0 }, { "completion_time": 4.427736282348633, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35972779284444323, "book-upper shelf": 0.24368125757947545, "book-lower shelf": 0.16444152474899873 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8014194053437305, "bimanual_gripper_vertical_difference": 0.17041291678873524, "task_success": 0.0 }, { "completion_time": 4.4594244956970215, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3547219650337766, "book-upper shelf": 0.2512029792508299, "book-lower shelf": 0.16822091621174737 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7976958312320888, "bimanual_gripper_vertical_difference": 0.16934766291137804, "task_success": 0.0 }, { "completion_time": 4.491006851196289, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.36009587202992954, "book-upper shelf": 0.24974006796198578, "book-lower shelf": 0.17381548235525415 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.797003744571141, "bimanual_gripper_vertical_difference": 0.168260086973631, "task_success": 0.0 }, { "completion_time": 4.524181365966797, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37641112708742763, "book-upper shelf": 0.24021141460463452, "book-lower shelf": 0.18324216600303994 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8005011822877866, "bimanual_gripper_vertical_difference": 0.16707949617185805, "task_success": 0.0 }, { "completion_time": 4.5551440715789795, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3994165385479068, "book-upper shelf": 0.22700464609924914, "book-lower shelf": 0.1968153751442116 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8057978455055722, "bimanual_gripper_vertical_difference": 0.1660471212008788, "task_success": 0.0 }, { "completion_time": 4.586533069610596, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3960298671800183, "book-upper shelf": 0.2388187332522364, "book-lower shelf": 0.20632935705680203 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8240205478471122, "bimanual_gripper_vertical_difference": 0.16504155019209454, "task_success": 0.0 }, { "completion_time": 4.617807865142822, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3884560133706708, "book-upper shelf": 0.253207569548929, "book-lower shelf": 0.21429359581751514 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8350300420038321, "bimanual_gripper_vertical_difference": 0.1640386505864034, "task_success": 0.0 }, { "completion_time": 4.648608446121216, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3820764401581399, "book-upper shelf": 0.26464980862524656, "book-lower shelf": 0.22069338983235198 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8402125504123489, "bimanual_gripper_vertical_difference": 0.16304245769967168, "task_success": 0.0 }, { "completion_time": 4.680235385894775, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.381513253386465, "book-upper shelf": 0.27196700211298497, "book-lower shelf": 0.2288116256302822 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.842745262137554, "bimanual_gripper_vertical_difference": 0.16207992157122264, "task_success": 0.0 }, { "completion_time": 4.71142840385437, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3843215397395353, "book-upper shelf": 0.27615004505606205, "book-lower shelf": 0.23670762087661817 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8423774658011105, "bimanual_gripper_vertical_difference": 0.1611614293916256, "task_success": 0.0 }, { "completion_time": 4.742634057998657, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3819811287625171, "book-upper shelf": 0.2809665092107748, "book-lower shelf": 0.23991934959843877 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8393526773578303, "bimanual_gripper_vertical_difference": 0.16024981663660895, "task_success": 0.0 }, { "completion_time": 4.773415565490723, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3771130962788841, "book-upper shelf": 0.2831337266812814, "book-lower shelf": 0.2374585429229405 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8372426586651628, "bimanual_gripper_vertical_difference": 0.15932944870633295, "task_success": 0.0 }, { "completion_time": 4.804779291152954, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37397842160824013, "book-upper shelf": 0.28200957601575116, "book-lower shelf": 0.23282521953016144 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8338726924801837, "bimanual_gripper_vertical_difference": 0.15841236898918262, "task_success": 0.0 }, { "completion_time": 4.835960865020752, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3735218670774806, "book-upper shelf": 0.2779451257980755, "book-lower shelf": 0.22739139069332004 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8291306079178866, "bimanual_gripper_vertical_difference": 0.15751772657366264, "task_success": 0.0 }, { "completion_time": 4.867333173751831, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.374127827689018, "book-upper shelf": 0.2717893371311938, "book-lower shelf": 0.2205021557427635 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8258983939777944, "bimanual_gripper_vertical_difference": 0.15664703266199154, "task_success": 0.0 }, { "completion_time": 4.898877382278442, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37696467234062647, "book-upper shelf": 0.2638289457255326, "book-lower shelf": 0.21390295382971303 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8214932141994703, "bimanual_gripper_vertical_difference": 0.1558122053447718, "task_success": 0.0 }, { "completion_time": 4.930636405944824, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3812286831782784, "book-upper shelf": 0.25552602939650687, "book-lower shelf": 0.20866749839324936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8164685590465004, "bimanual_gripper_vertical_difference": 0.15502079169389354, "task_success": 0.0 }, { "completion_time": 4.962347030639648, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.380913865820255, "book-upper shelf": 0.25096718028617254, "book-lower shelf": 0.20267724825383368 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8146688906310051, "bimanual_gripper_vertical_difference": 0.15425149872581811, "task_success": 0.0 }, { "completion_time": 4.993759632110596, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37482729805560056, "book-upper shelf": 0.2506157756690841, "book-lower shelf": 0.19469072423829548 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.816716982733436, "bimanual_gripper_vertical_difference": 0.15347648659153412, "task_success": 0.0 }, { "completion_time": 5.025112867355347, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.36548366325311166, "book-upper shelf": 0.2534415496644648, "book-lower shelf": 0.18635331292667692 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8192572292906395, "bimanual_gripper_vertical_difference": 0.15267514115617545, "task_success": 0.0 }, { "completion_time": 5.056884288787842, "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, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3559335471990669, "book-upper shelf": 0.2602819109705806, "book-lower shelf": 0.18313562373562048 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8199617183483145, "bimanual_gripper_vertical_difference": 0.151848521855536, "task_success": 0.0 }, { "completion_time": 5.088596343994141, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.34946256180316915, "book-upper shelf": 0.26643489381516544, "book-lower shelf": 0.18328365828417867 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8183642942764904, "bimanual_gripper_vertical_difference": 0.1510159327277771, "task_success": 0.0 }, { "completion_time": 5.118448495864868, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.35001092355004804, "book-upper shelf": 0.26539761135213574, "book-lower shelf": 0.1825137792189274 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.818001075438991, "bimanual_gripper_vertical_difference": 0.15020685691257663, "task_success": 0.0 }, { "completion_time": 5.152064561843872, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3510606685936547, "book-upper shelf": 0.2647012360210556, "book-lower shelf": 0.18291822979121963 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8197451124555635, "bimanual_gripper_vertical_difference": 0.14941868624445304, "task_success": 0.0 }, { "completion_time": 5.183025360107422, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3524215568175314, "book-upper shelf": 0.26272955959357325, "book-lower shelf": 0.18190471496748634 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8236904861738374, "bimanual_gripper_vertical_difference": 0.14865448673700404, "task_success": 0.0 }, { "completion_time": 5.214645862579346, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3563620579764214, "book-upper shelf": 0.258439264805095, "book-lower shelf": 0.18109074307471754 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8291804440282701, "bimanual_gripper_vertical_difference": 0.147926294505004, "task_success": 0.0 }, { "completion_time": 5.246023178100586, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.36090470995370894, "book-upper shelf": 0.2535394422664336, "book-lower shelf": 0.18033935061474007 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8359742359896422, "bimanual_gripper_vertical_difference": 0.14723539055916268, "task_success": 0.0 }, { "completion_time": 5.276490926742554, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3577471672812157, "book-upper shelf": 0.2543762735360608, "book-lower shelf": 0.1771789751861348 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8451524403633994, "bimanual_gripper_vertical_difference": 0.14657980584157115, "task_success": 0.0 }, { "completion_time": 5.307823419570923, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3608488410536509, "book-upper shelf": 0.2501529334358709, "book-lower shelf": 0.17546797446307277 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8568496457813738, "bimanual_gripper_vertical_difference": 0.145956479164541, "task_success": 0.0 }, { "completion_time": 5.3388988971710205, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3593901851696272, "book-upper shelf": 0.2454592627272765, "book-lower shelf": 0.16656666691088662 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8693273913528886, "bimanual_gripper_vertical_difference": 0.1453648660437115, "task_success": 0.0 }, { "completion_time": 5.367264032363892, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.35732526111873997, "book-upper shelf": 0.24499272220084684, "book-lower shelf": 0.1627844186403266 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8818395131190642, "bimanual_gripper_vertical_difference": 0.14480337292002846, "task_success": 0.0 }, { "completion_time": 5.394881010055542, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3580092960466482, "book-upper shelf": 0.2431326224744621, "book-lower shelf": 0.16102067609925977 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8955698695260543, "bimanual_gripper_vertical_difference": 0.14427188086507198, "task_success": 0.0 }, { "completion_time": 5.425985336303711, "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, "3": true, "4": false }, "target_distance": { "book lift distance": 0.35804918203286984, "book-upper shelf": 0.24182816662454423, "book-lower shelf": 0.15910590827185186 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9094884519062434, "bimanual_gripper_vertical_difference": 0.14377135079015826, "task_success": 0.0 }, { "completion_time": 5.454939842224121, "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, "3": true, "4": true }, "target_distance": { "book lift distance": 0.3589441851349574, "book-upper shelf": 0.24065074933824585, "book-lower shelf": 0.15870524662934307 }, "success": 1.0, "bimanual_arm_velocity_difference": 0.9237569516663863, "bimanual_gripper_vertical_difference": 0.1432919373149039, "task_success": 1.0 } ]