[ { "completion_time": 0.04684877395629883, "slip_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": -0.00083411209170281, "book-upper shelf": 0.5908700063279415, "book-lower shelf": 0.3731341775703047 }, "success": 0.0, "bimanual_arm_velocity_difference": 7.619425090865661e-09, "bimanual_gripper_vertical_difference": 1.3532419629314063e-10, "task_success": 0.0 }, { "completion_time": 0.07800769805908203, "slip_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": 0.0006883925991895135, "book-upper shelf": 0.589490799148036, "book-lower shelf": 0.3719555212744713 }, "success": 0.0, "bimanual_arm_velocity_difference": 3.0088532315324795e-05, "bimanual_gripper_vertical_difference": 1.3122195552384142e-09, "task_success": 0.0 }, { "completion_time": 0.11002254486083984, "slip_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": 0.0007656673274465398, "book-upper shelf": 0.5894187761890508, "book-lower shelf": 0.37189253177553 }, "success": 0.0, "bimanual_arm_velocity_difference": 3.518707714115707e-05, "bimanual_gripper_vertical_difference": 1.5664170701275755e-09, "task_success": 0.0 }, { "completion_time": 0.14125657081604004, "slip_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": 0.0006970587791699234, "book-upper shelf": 0.5894743890440315, "book-lower shelf": 0.37193525044761366 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.968032225683311e-05, "bimanual_gripper_vertical_difference": 2.729610704133023e-09, "task_success": 0.0 }, { "completion_time": 0.1722404956817627, "slip_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": 0.000707432815192921, "book-upper shelf": 0.589463893579569, "book-lower shelf": 0.3719254840888267 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00010787157460042281, "bimanual_gripper_vertical_difference": 3.290103167685743e-09, "task_success": 0.0 }, { "completion_time": 0.20373845100402832, "slip_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": 0.0007760055134783395, "book-upper shelf": 0.5894047242592098, "book-lower shelf": 0.37187710535200996 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0003994825575680718, "bimanual_gripper_vertical_difference": 4.852928503495946e-09, "task_success": 0.0 }, { "completion_time": 0.23529410362243652, "slip_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": 0.0007424141569026821, "book-upper shelf": 0.5894394462529614, "book-lower shelf": 0.37190989667042385 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007424004797576012, "bimanual_gripper_vertical_difference": 5.443930925100712e-09, "task_success": 0.0 }, { "completion_time": 0.26755356788635254, "slip_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": 0.0007319902668022626, "book-upper shelf": 0.5894551780138197, "book-lower shelf": 0.3719279286166118 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.000649981506726279, "bimanual_gripper_vertical_difference": 6.2019842594907004e-09, "task_success": 0.0 }, { "completion_time": 0.298382043838501, "slip_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": 0.0007912667466928314, "book-upper shelf": 0.5893934129208664, "book-lower shelf": 0.37186928226824645 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0005779973878707674, "bimanual_gripper_vertical_difference": 6.552346023782876e-09, "task_success": 0.0 }, { "completion_time": 0.330338716506958, "slip_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": 0.0007772229402529529, "book-upper shelf": 0.58940669058412, "book-lower shelf": 0.37188102792835936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.08825703050131968, "bimanual_gripper_vertical_difference": 0.0004615540362268744, "task_success": 0.0 }, { "completion_time": 0.36138081550598145, "slip_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": 0.000644858128861836, "book-upper shelf": 0.5895202161913496, "book-lower shelf": 0.37197332468176547 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.23240088447773177, "bimanual_gripper_vertical_difference": 0.0014973988322808385, "task_success": 0.0 }, { "completion_time": 0.39212751388549805, "slip_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": 0.0007964433093744505, "book-upper shelf": 0.5893911759577033, "book-lower shelf": 0.3718691643512337 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4080588767732041, "bimanual_gripper_vertical_difference": 0.0034465585560321346, "task_success": 0.0 }, { "completion_time": 0.42360949516296387, "slip_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": 0.0007647611881947958, "book-upper shelf": 0.5894205453012121, "book-lower shelf": 0.37189473572654935 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.56583012317873, "bimanual_gripper_vertical_difference": 0.006950639003332379, "task_success": 0.0 }, { "completion_time": 0.4556293487548828, "slip_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": 0.0005936267560063824, "book-upper shelf": 0.5895787302654454, "book-lower shelf": 0.37203214816521074 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7489500521228727, "bimanual_gripper_vertical_difference": 0.01247396083416598, "task_success": 0.0 }, { "completion_time": 0.4865415096282959, "slip_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": 0.0007673013640013826, "book-upper shelf": 0.5894117998732257, "book-lower shelf": 0.37188255669943737 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9172967589937693, "bimanual_gripper_vertical_difference": 0.02020772226256357, "task_success": 0.0 }, { "completion_time": 0.517789363861084, "slip_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": 0.0007142947549133583, "book-upper shelf": 0.5894563912367864, "book-lower shelf": 0.371918136439762 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0746796104354561, "bimanual_gripper_vertical_difference": 0.030018423744719545, "task_success": 0.0 }, { "completion_time": 0.5502033233642578, "slip_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": 0.0004676779850548707, "book-upper shelf": 0.5896846554965154, "book-lower shelf": 0.3721166612004085 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2048661630573414, "bimanual_gripper_vertical_difference": 0.0410999285376313, "task_success": 0.0 }, { "completion_time": 0.5824930667877197, "slip_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": 0.0007615063271989575, "book-upper shelf": 0.5894155179780847, "book-lower shelf": 0.3718846127699047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1971817790790333, "bimanual_gripper_vertical_difference": 0.0519701823801767, "task_success": 0.0 }, { "completion_time": 0.6211426258087158, "slip_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": 0.000749078479801768, "book-upper shelf": 0.5894401131472544, "book-lower shelf": 0.37191536574234163 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.166821211866102, "bimanual_gripper_vertical_difference": 0.06147798304418517, "task_success": 0.0 }, { "completion_time": 0.6577155590057373, "slip_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": 0.000611265740501854, "book-upper shelf": 0.5895588244159113, "book-lower shelf": 0.37201227647965107 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1987456396187224, "bimanual_gripper_vertical_difference": 0.06916834150210457, "task_success": 0.0 }, { "completion_time": 0.6953287124633789, "slip_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": 0.0007464430475434547, "book-upper shelf": 0.5894299493421266, "book-lower shelf": 0.37189751229479995 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2327568580676522, "bimanual_gripper_vertical_difference": 0.07496085919130945, "task_success": 0.0 }, { "completion_time": 0.7285079956054688, "slip_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": 0.0007851716992937074, "book-upper shelf": 0.5893935307983662, "book-lower shelf": 0.3718654333775509 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1990457510269203, "bimanual_gripper_vertical_difference": 0.07990057634527464, "task_success": 0.0 }, { "completion_time": 0.761871337890625, "slip_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": 0.0007405852492503584, "book-upper shelf": 0.5894336937453791, "book-lower shelf": 0.37189956859232537 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1815909349050877, "bimanual_gripper_vertical_difference": 0.0848953004871102, "task_success": 0.0 }, { "completion_time": 0.7940530776977539, "slip_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": 0.0007089234238970565, "book-upper shelf": 0.5894597753471462, "book-lower shelf": 0.37191994391708183 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1623943600884665, "bimanual_gripper_vertical_difference": 0.09008755381522475, "task_success": 0.0 }, { "completion_time": 0.8262796401977539, "slip_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": 0.0006958813939709207, "book-upper shelf": 0.5894724393687175, "book-lower shelf": 0.37193138098130607 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.132559174627747, "bimanual_gripper_vertical_difference": 0.09517918832139667, "task_success": 0.0 }, { "completion_time": 0.8582179546356201, "slip_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": 0.000766572162291923, "book-upper shelf": 0.5894086002759104, "book-lower shelf": 0.3718770026922097 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1088873632950147, "bimanual_gripper_vertical_difference": 0.10004033433889782, "task_success": 0.0 }, { "completion_time": 0.8895456790924072, "slip_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": 0.000739875192304118, "book-upper shelf": 0.5894414345346145, "book-lower shelf": 0.3719113669619659 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.094094589548308, "bimanual_gripper_vertical_difference": 0.10470585178102353, "task_success": 0.0 }, { "completion_time": 0.9219143390655518, "slip_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": 0.0007806948867825625, "book-upper shelf": 0.5894033677155179, "book-lower shelf": 0.37187806020547526 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.085558329778185, "bimanual_gripper_vertical_difference": 0.10917589919016812, "task_success": 0.0 }, { "completion_time": 0.9539484977722168, "slip_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": 0.0007610406489000354, "book-upper shelf": 0.5894286190384304, "book-lower shelf": 0.37190506853217453 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0482328330439579, "bimanual_gripper_vertical_difference": 0.1133842612883188, "task_success": 0.0 }, { "completion_time": 0.9862751960754395, "slip_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": 0.0007308149180770274, "book-upper shelf": 0.5894500537820541, "book-lower shelf": 0.3719190292266954 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0134191243379367, "bimanual_gripper_vertical_difference": 0.11730043844165114, "task_success": 0.0 }, { "completion_time": 1.0181834697723389, "slip_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": 0.0007670815641152018, "book-upper shelf": 0.5894086343941786, "book-lower shelf": 0.37187739405007075 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0068610558612714, "bimanual_gripper_vertical_difference": 0.12099496052870874, "task_success": 0.0 }, { "completion_time": 1.0505247116088867, "slip_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": 0.0007579072053923719, "book-upper shelf": 0.5894175638705177, "book-lower shelf": 0.37188547241479375 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0194733331294148, "bimanual_gripper_vertical_difference": 0.12461510771073327, "task_success": 0.0 }, { "completion_time": 1.0819082260131836, "slip_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": 0.000736996056426964, "book-upper shelf": 0.5894443052252897, "book-lower shelf": 0.3719140105741634 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.022417206160019, "bimanual_gripper_vertical_difference": 0.12823478571966618, "task_success": 0.0 }, { "completion_time": 1.1140739917755127, "slip_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": 0.0007772661116391966, "book-upper shelf": 0.5894039072372209, "book-lower shelf": 0.371876645077343 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0072067578940043, "bimanual_gripper_vertical_difference": 0.13188996016430943, "task_success": 0.0 }, { "completion_time": 1.1455316543579102, "slip_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": 0.0007722447258503573, "book-upper shelf": 0.589408566779266, "book-lower shelf": 0.3718807054672778 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9962089794622516, "bimanual_gripper_vertical_difference": 0.13551417336961435, "task_success": 0.0 }, { "completion_time": 1.177933931350708, "slip_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": 0.0007512546881497384, "book-upper shelf": 0.5894325419881937, "book-lower shelf": 0.3719048070631433 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9890009040662527, "bimanual_gripper_vertical_difference": 0.13903109877594277, "task_success": 0.0 }, { "completion_time": 1.2093610763549805, "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": 0.0005436649685177652, "book-upper shelf": 0.5896059923323311, "book-lower shelf": 0.3720422860361544 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9772757795969488, "bimanual_gripper_vertical_difference": 0.14240728194205562, "task_success": 0.0 }, { "completion_time": 1.2407078742980957, "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": 0.000571438230466792, "book-upper shelf": 0.5890891658426318, "book-lower shelf": 0.371241105833928 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9641143578174244, "bimanual_gripper_vertical_difference": 0.14560742769345186, "task_success": 0.0 }, { "completion_time": 1.272277593612671, "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": 0.0007050680907875195, "book-upper shelf": 0.5884759442876806, "book-lower shelf": 0.37035612102065923 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9515601523619253, "bimanual_gripper_vertical_difference": 0.1486520233308011, "task_success": 0.0 }, { "completion_time": 1.3043293952941895, "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": 0.0004935116549805718, "book-upper shelf": 0.5883608889768248, "book-lower shelf": 0.3700325311147932 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.934603800797996, "bimanual_gripper_vertical_difference": 0.15156735047895883, "task_success": 0.0 }, { "completion_time": 1.3371098041534424, "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": 0.0005459323050489573, "book-upper shelf": 0.5884015445406545, "book-lower shelf": 0.3701320447793124 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9207761970050247, "bimanual_gripper_vertical_difference": 0.1543580756975487, "task_success": 0.0 }, { "completion_time": 1.3685998916625977, "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": 0.0005303148673392322, "book-upper shelf": 0.5887704625589746, "book-lower shelf": 0.370707863053124 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9106574190976253, "bimanual_gripper_vertical_difference": 0.15704112754225238, "task_success": 0.0 }, { "completion_time": 1.399338960647583, "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": 0.0006884288352730916, "book-upper shelf": 0.5896470970697756, "book-lower shelf": 0.37220320317488703 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8945226668094513, "bimanual_gripper_vertical_difference": 0.15963145245725205, "task_success": 0.0 }, { "completion_time": 1.4321248531341553, "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": 0.0007327839489880139, "book-upper shelf": 0.5904635666133625, "book-lower shelf": 0.3735245527998177 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8794256419137599, "bimanual_gripper_vertical_difference": 0.16209377817141365, "task_success": 0.0 }, { "completion_time": 1.4626400470733643, "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": 0.0018853434022141347, "book-upper shelf": 0.5894049307161151, "book-lower shelf": 0.3726112160153284 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8719492903904885, "bimanual_gripper_vertical_difference": 0.16439331311609026, "task_success": 0.0 }, { "completion_time": 1.4949791431427002, "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": -0.0003320026276070198, "book-upper shelf": 0.591649483095488, "book-lower shelf": 0.37469737755322435 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8685068722304703, "bimanual_gripper_vertical_difference": 0.1664373292926725, "task_success": 0.0 }, { "completion_time": 1.5273566246032715, "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": 0.0007568083019772187, "book-upper shelf": 0.5905763294476233, "book-lower shelf": 0.3737186103781303 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8590561749200636, "bimanual_gripper_vertical_difference": 0.16823636167955186, "task_success": 0.0 }, { "completion_time": 1.5592522621154785, "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": 0.0007834967344203525, "book-upper shelf": 0.5905492678310582, "book-lower shelf": 0.3736934295561778 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8481050843775657, "bimanual_gripper_vertical_difference": 0.16989347625926546, "task_success": 0.0 }, { "completion_time": 1.5909626483917236, "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": 0.0003285024836594541, "book-upper shelf": 0.5909754028710816, "book-lower shelf": 0.3740671148845216 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8462750925704204, "bimanual_gripper_vertical_difference": 0.1715306307139093, "task_success": 0.0 }, { "completion_time": 1.6233429908752441, "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": 0.0007231089277904834, "book-upper shelf": 0.5905952014751533, "book-lower shelf": 0.37372623079980655 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8474450036877138, "bimanual_gripper_vertical_difference": 0.1732287266620379, "task_success": 0.0 }, { "completion_time": 1.6587255001068115, "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": 0.0006942579123465631, "book-upper shelf": 0.5906111246370643, "book-lower shelf": 0.3737323861332985 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8439233521014594, "bimanual_gripper_vertical_difference": 0.17500514748182558, "task_success": 0.0 }, { "completion_time": 1.6901180744171143, "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": -0.00030489518014253925, "book-upper shelf": 0.591861705907104, "book-lower shelf": 0.37505018581497246 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.837322634393739, "bimanual_gripper_vertical_difference": 0.1767523029573712, "task_success": 0.0 }, { "completion_time": 1.721750020980835, "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": -0.00015357335251109383, "book-upper shelf": 0.5921605841244714, "book-lower shelf": 0.37562087107222525 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8339425607207475, "bimanual_gripper_vertical_difference": 0.17840803474834172, "task_success": 0.0 }, { "completion_time": 1.7535619735717773, "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": 2.4431992723616958e-05, "book-upper shelf": 0.5923672538226396, "book-lower shelf": 0.37606316427942627 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8347374633849938, "bimanual_gripper_vertical_difference": 0.17999440284516535, "task_success": 0.0 }, { "completion_time": 1.785215139389038, "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": 0.00010804519176177418, "book-upper shelf": 0.592485448477822, "book-lower shelf": 0.37630402881741215 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8353416655188689, "bimanual_gripper_vertical_difference": 0.1815383310687178, "task_success": 0.0 }, { "completion_time": 1.815964937210083, "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": 0.0001358081299572822, "book-upper shelf": 0.5926602042003332, "book-lower shelf": 0.3765972715619606 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8337201408593048, "bimanual_gripper_vertical_difference": 0.18303514708180496, "task_success": 0.0 }, { "completion_time": 1.8471918106079102, "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": 0.0005548164150063206, "book-upper shelf": 0.5923355401090173, "book-lower shelf": 0.376360359244789 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8314242431488986, "bimanual_gripper_vertical_difference": 0.18448919997728888, "task_success": 0.0 }, { "completion_time": 1.8789536952972412, "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": 0.0006467223973291025, "book-upper shelf": 0.5923286039879984, "book-lower shelf": 0.3764095670116343 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8257773296570351, "bimanual_gripper_vertical_difference": 0.1859042846925654, "task_success": 0.0 }, { "completion_time": 1.9105792045593262, "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": 0.0006967334412874004, "book-upper shelf": 0.5923369694430384, "book-lower shelf": 0.3764554427060632 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8173122683338835, "bimanual_gripper_vertical_difference": 0.18727307633830922, "task_success": 0.0 }, { "completion_time": 1.941591501235962, "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": 0.0005785313461987851, "book-upper shelf": 0.5924569736480714, "book-lower shelf": 0.3765669555028635 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8130061205895598, "bimanual_gripper_vertical_difference": 0.18859052196568324, "task_success": 0.0 }, { "completion_time": 1.9760322570800781, "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": 0.00021357007969913244, "book-upper shelf": 0.5927297508429954, "book-lower shelf": 0.3767575330522181 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8156554157125276, "bimanual_gripper_vertical_difference": 0.18985385823298626, "task_success": 0.0 }, { "completion_time": 2.008441686630249, "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": 0.0007407618048032028, "book-upper shelf": 0.5920562863397844, "book-lower shelf": 0.37604247490951703 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8248120757525699, "bimanual_gripper_vertical_difference": 0.19103773513178396, "task_success": 0.0 }, { "completion_time": 2.040055274963379, "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": 0.000773520722108012, "book-upper shelf": 0.5920226513528093, "book-lower shelf": 0.37601096870333095 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8328620981565582, "bimanual_gripper_vertical_difference": 0.19212903728760838, "task_success": 0.0 }, { "completion_time": 2.071647882461548, "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": 0.0007525365854799126, "book-upper shelf": 0.5920421968116238, "book-lower shelf": 0.3760280016672727 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8357468167659052, "bimanual_gripper_vertical_difference": 0.1931423801164993, "task_success": 0.0 }, { "completion_time": 2.103832483291626, "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": 0.0006871002140486082, "book-upper shelf": 0.592101701749993, "book-lower shelf": 0.3760788432051848 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.833575493806597, "bimanual_gripper_vertical_difference": 0.19413327129374708, "task_success": 0.0 }, { "completion_time": 2.135645627975464, "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": 0.0007532498928419784, "book-upper shelf": 0.5920376059560533, "book-lower shelf": 0.3760212405792171 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8295447036534438, "bimanual_gripper_vertical_difference": 0.19518764679219305, "task_success": 0.0 }, { "completion_time": 2.167694568634033, "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": 0.00028627060417318884, "book-upper shelf": 0.5924497505903039, "book-lower shelf": 0.376364437115014 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.826091814836406, "bimanual_gripper_vertical_difference": 0.1963784164994738, "task_success": 0.0 }, { "completion_time": 2.199763536453247, "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": 0.0007367205282642342, "book-upper shelf": 0.5920377893695675, "book-lower shelf": 0.37601070550796223 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8237101410263885, "bimanual_gripper_vertical_difference": 0.19772531650248704, "task_success": 0.0 }, { "completion_time": 2.2327587604522705, "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": 0.0007069401983617052, "book-upper shelf": 0.5920549955134948, "book-lower shelf": 0.37601829610279475 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.818186677809035, "bimanual_gripper_vertical_difference": 0.19902419658330378, "task_success": 0.0 }, { "completion_time": 2.2675209045410156, "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": 0.000739476278343254, "book-upper shelf": 0.5920320782132701, "book-lower shelf": 0.37600351769316986 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8103184409423886, "bimanual_gripper_vertical_difference": 0.2002742222095521, "task_success": 0.0 }, { "completion_time": 2.301791191101074, "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": 0.00070958998742221, "book-upper shelf": 0.5920545226627539, "book-lower shelf": 0.3760192867202504 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.802952495902537, "bimanual_gripper_vertical_difference": 0.20148905574793385, "task_success": 0.0 }, { "completion_time": 2.3360917568206787, "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": 0.0007678943495419421, "book-upper shelf": 0.5919973069414961, "book-lower shelf": 0.3759673783577873 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7991730342086796, "bimanual_gripper_vertical_difference": 0.2026790050812347, "task_success": 0.0 }, { "completion_time": 2.3698506355285645, "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": 0.0006031087916509303, "book-upper shelf": 0.5921628732829547, "book-lower shelf": 0.3761201643227512 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7969023755457308, "bimanual_gripper_vertical_difference": 0.20384661735902018, "task_success": 0.0 }, { "completion_time": 2.401991128921509, "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": 0.0007759172510491963, "book-upper shelf": 0.5919983813272988, "book-lower shelf": 0.37597432430316763 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.792515942863529, "bimanual_gripper_vertical_difference": 0.20499005334199288, "task_success": 0.0 }, { "completion_time": 2.4358291625976562, "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": 0.0007258419423619156, "book-upper shelf": 0.5920339942929956, "book-lower shelf": 0.3759976061810696 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7881339353180193, "bimanual_gripper_vertical_difference": 0.2061065662486868, "task_success": 0.0 }, { "completion_time": 2.4688429832458496, "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": 0.0006944873120691142, "book-upper shelf": 0.5920476107246738, "book-lower shelf": 0.3759985136041352 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7834755550659802, "bimanual_gripper_vertical_difference": 0.2071967075371571, "task_success": 0.0 }, { "completion_time": 2.5002098083496094, "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": 0.0009410672602979675, "book-upper shelf": 0.5919574487205287, "book-lower shelf": 0.3760180291670396 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7790113067680635, "bimanual_gripper_vertical_difference": 0.2082577126137784, "task_success": 0.0 }, { "completion_time": 2.5315401554107666, "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": 0.0010722026281612118, "book-upper shelf": 0.5922168275647207, "book-lower shelf": 0.3765119993114742 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7735856500328592, "bimanual_gripper_vertical_difference": 0.2092969960095214, "task_success": 0.0 }, { "completion_time": 2.5643112659454346, "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": 0.0007199875146124413, "book-upper shelf": 0.592948750004285, "book-lower shelf": 0.37743249273755103 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7676028010833837, "bimanual_gripper_vertical_difference": 0.21030961947281435, "task_success": 0.0 }, { "completion_time": 2.5961711406707764, "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": 0.0007543429695270332, "book-upper shelf": 0.5932957888371635, "book-lower shelf": 0.37799983841012796 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7613720992405921, "bimanual_gripper_vertical_difference": 0.21129309699927745, "task_success": 0.0 }, { "completion_time": 2.6299028396606445, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006754737890189988, "book-upper shelf": 0.5937287535881917, "book-lower shelf": 0.3786277571648801 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7550292130461096, "bimanual_gripper_vertical_difference": 0.21224843642442714, "task_success": 0.0 }, { "completion_time": 2.6623430252075195, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007502391675000553, "book-upper shelf": 0.5939683409025375, "book-lower shelf": 0.3790519144700107 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7485134598296044, "bimanual_gripper_vertical_difference": 0.21318122814593976, "task_success": 0.0 }, { "completion_time": 2.697725534439087, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007740970576785022, "book-upper shelf": 0.5942142935215855, "book-lower shelf": 0.37945268389117415 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7421503773045276, "bimanual_gripper_vertical_difference": 0.2140921489748584, "task_success": 0.0 }, { "completion_time": 2.7298455238342285, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008039518167733961, "book-upper shelf": 0.594525694899884, "book-lower shelf": 0.3799594933136038 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7351985622147448, "bimanual_gripper_vertical_difference": 0.2149805502951183, "task_success": 0.0 }, { "completion_time": 2.762455701828003, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006524544844325186, "book-upper shelf": 0.5951070282932406, "book-lower shelf": 0.3807705147799846 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7286146128490096, "bimanual_gripper_vertical_difference": 0.2158478147936354, "task_success": 0.0 }, { "completion_time": 2.7957305908203125, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007942168318865184, "book-upper shelf": 0.5956398227017097, "book-lower shelf": 0.38169414333700247 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7224950196375808, "bimanual_gripper_vertical_difference": 0.21669298828220937, "task_success": 0.0 }, { "completion_time": 2.8272786140441895, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007979980100578654, "book-upper shelf": 0.5961333956829896, "book-lower shelf": 0.38246634905487054 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7163624724320646, "bimanual_gripper_vertical_difference": 0.2175180240310556, "task_success": 0.0 }, { "completion_time": 2.8590354919433594, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010360713240119557, "book-upper shelf": 0.5965365115920354, "book-lower shelf": 0.3832473503840686 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7097676826206343, "bimanual_gripper_vertical_difference": 0.21832222441445095, "task_success": 0.0 }, { "completion_time": 2.890496253967285, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007077392442645936, "book-upper shelf": 0.5973272589062315, "book-lower shelf": 0.3842666899617383 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7032859027321074, "bimanual_gripper_vertical_difference": 0.21910746524995672, "task_success": 0.0 }, { "completion_time": 2.9217865467071533, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007921722855543933, "book-upper shelf": 0.5976103196208564, "book-lower shelf": 0.38476058523469797 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6964372480125575, "bimanual_gripper_vertical_difference": 0.21987361775235506, "task_success": 0.0 }, { "completion_time": 2.953012466430664, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006798000916954372, "book-upper shelf": 0.5980780910150558, "book-lower shelf": 0.3854149440515784 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6892788043247289, "bimanual_gripper_vertical_difference": 0.22062118527936206, "task_success": 0.0 }, { "completion_time": 2.984372854232788, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008097557779570552, "book-upper shelf": 0.5981254999746991, "book-lower shelf": 0.38557150639486126 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6820414409983397, "bimanual_gripper_vertical_difference": 0.22134956562335706, "task_success": 0.0 }, { "completion_time": 3.0150928497314453, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007819320813361452, "book-upper shelf": 0.5982675971623115, "book-lower shelf": 0.3857741422887432 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6747302609899934, "bimanual_gripper_vertical_difference": 0.22205989297962989, "task_success": 0.0 }, { "completion_time": 3.0466504096984863, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006489664468687373, "book-upper shelf": 0.5984447435632426, "book-lower shelf": 0.38596399212385535 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6680475561662906, "bimanual_gripper_vertical_difference": 0.22274948711295636, "task_success": 0.0 }, { "completion_time": 3.0785093307495117, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009223822005726134, "book-upper shelf": 0.5981772736794856, "book-lower shelf": 0.385723717772098 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6664954261834614, "bimanual_gripper_vertical_difference": 0.22342008150972045, "task_success": 0.0 }, { "completion_time": 3.1105358600616455, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000731579913820779, "book-upper shelf": 0.598340958736191, "book-lower shelf": 0.3858557736003939 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6697134510341446, "bimanual_gripper_vertical_difference": 0.2240421188145503, "task_success": 0.0 }, { "completion_time": 3.1425743103027344, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007467922042087016, "book-upper shelf": 0.5983341849042174, "book-lower shelf": 0.385854976949621 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6794394660380136, "bimanual_gripper_vertical_difference": 0.22459733119735775, "task_success": 0.0 }, { "completion_time": 3.174187421798706, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009563192101867957, "book-upper shelf": 0.5982161483987216, "book-lower shelf": 0.38580566116978365 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6923290707241894, "bimanual_gripper_vertical_difference": 0.22506984141760344, "task_success": 0.0 }, { "completion_time": 3.2060554027557373, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005838386991287026, "book-upper shelf": 0.5986481411659124, "book-lower shelf": 0.38623777246640484 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7041868525840603, "bimanual_gripper_vertical_difference": 0.2254548250912074, "task_success": 0.0 }, { "completion_time": 3.2380990982055664, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007354252608424705, "book-upper shelf": 0.5985310446643833, "book-lower shelf": 0.3861529233187141 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7119252230323742, "bimanual_gripper_vertical_difference": 0.2257553228907036, "task_success": 0.0 }, { "completion_time": 3.271343946456909, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007424953843754301, "book-upper shelf": 0.5985206438366212, "book-lower shelf": 0.3861413103275535 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7166515163057076, "bimanual_gripper_vertical_difference": 0.22598631190279367, "task_success": 0.0 }, { "completion_time": 3.3036727905273438, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007430649279732693, "book-upper shelf": 0.598522157095519, "book-lower shelf": 0.38614401905104495 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7200172098237559, "bimanual_gripper_vertical_difference": 0.2261617752821446, "task_success": 0.0 }, { "completion_time": 3.3360307216644287, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000711391526739158, "book-upper shelf": 0.5985396083483385, "book-lower shelf": 0.3861508722118875 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7203803358420953, "bimanual_gripper_vertical_difference": 0.22627907302522932, "task_success": 0.0 }, { "completion_time": 3.367605209350586, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007379708489585468, "book-upper shelf": 0.5985165385270818, "book-lower shelf": 0.3861320618983295 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7203627346262551, "bimanual_gripper_vertical_difference": 0.22634284686143685, "task_success": 0.0 }, { "completion_time": 3.398634195327759, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007484179175202277, "book-upper shelf": 0.5985188936340416, "book-lower shelf": 0.3861423740425726 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7279429034310709, "bimanual_gripper_vertical_difference": 0.2263692193847384, "task_success": 0.0 }, { "completion_time": 3.4301576614379883, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007405258328141429, "book-upper shelf": 0.5985176778064063, "book-lower shelf": 0.386135457040642 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7405851734131588, "bimanual_gripper_vertical_difference": 0.22638335814382368, "task_success": 0.0 }, { "completion_time": 3.460693120956421, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007656690943222966, "book-upper shelf": 0.5985017635133616, "book-lower shelf": 0.3861268227731882 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7568434413120884, "bimanual_gripper_vertical_difference": 0.22641473315867977, "task_success": 0.0 }, { "completion_time": 3.492784261703491, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007547773059189966, "book-upper shelf": 0.5985108244948235, "book-lower shelf": 0.38613392199158036 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7762885859049574, "bimanual_gripper_vertical_difference": 0.2264776000965951, "task_success": 0.0 }, { "completion_time": 3.5233633518218994, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007402034988561734, "book-upper shelf": 0.5985179309102187, "book-lower shelf": 0.3861356438156213 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7971750066375035, "bimanual_gripper_vertical_difference": 0.22657215492374846, "task_success": 0.0 }, { "completion_time": 3.5541698932647705, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000697335585509995, "book-upper shelf": 0.5985575040309724, "book-lower shelf": 0.3861696481234178 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8179416487048988, "bimanual_gripper_vertical_difference": 0.22669190991194, "task_success": 0.0 }, { "completion_time": 3.5853898525238037, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007291378105821478, "book-upper shelf": 0.5985282006131262, "book-lower shelf": 0.38614450589755095 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8380559469359757, "bimanual_gripper_vertical_difference": 0.22683388947567634, "task_success": 0.0 }, { "completion_time": 3.616462230682373, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007607673426252015, "book-upper shelf": 0.5985074681063867, "book-lower shelf": 0.3861325392243097 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8577281751543193, "bimanual_gripper_vertical_difference": 0.227010059022651, "task_success": 0.0 }, { "completion_time": 3.646939992904663, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007387823579574349, "book-upper shelf": 0.5985206226944679, "book-lower shelf": 0.38613890991920874 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.876770562855372, "bimanual_gripper_vertical_difference": 0.2272331786346813, "task_success": 0.0 }, { "completion_time": 3.677886724472046, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007557247472653739, "book-upper shelf": 0.5985081554445482, "book-lower shelf": 0.3861303890867071 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8953706703304523, "bimanual_gripper_vertical_difference": 0.22750325529682405, "task_success": 0.0 }, { "completion_time": 3.7121710777282715, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007195412107455779, "book-upper shelf": 0.5985364441474585, "book-lower shelf": 0.38615116422559503 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.913719158100518, "bimanual_gripper_vertical_difference": 0.22782006536636076, "task_success": 0.0 }, { "completion_time": 3.7426633834838867, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007448716651403675, "book-upper shelf": 0.5985233467252226, "book-lower shelf": 0.38614701503118914 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9318664602945399, "bimanual_gripper_vertical_difference": 0.228188951616075, "task_success": 0.0 }, { "completion_time": 3.7737927436828613, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007348478329086694, "book-upper shelf": 0.5985269136034449, "book-lower shelf": 0.3861461520122025 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9500112491805879, "bimanual_gripper_vertical_difference": 0.22861426614547453, "task_success": 0.0 }, { "completion_time": 3.805420160293579, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000758569981292867, "book-upper shelf": 0.5985110581706721, "book-lower shelf": 0.386136702646469 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9681429513483055, "bimanual_gripper_vertical_difference": 0.22909306455337625, "task_success": 0.0 }, { "completion_time": 3.8369333744049072, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007524035748911473, "book-upper shelf": 0.5985110924572902, "book-lower shelf": 0.3861328236833842 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9813359415173162, "bimanual_gripper_vertical_difference": 0.22962522397780352, "task_success": 0.0 }, { "completion_time": 3.8701729774475098, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007370141551006348, "book-upper shelf": 0.5985332416778901, "book-lower shelf": 0.3861573417727156 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9932969250043825, "bimanual_gripper_vertical_difference": 0.23021959032426148, "task_success": 0.0 }, { "completion_time": 3.9046428203582764, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007345121825647061, "book-upper shelf": 0.5985329921268205, "book-lower shelf": 0.38615535964095915 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0042500851509737, "bimanual_gripper_vertical_difference": 0.23088961769505667, "task_success": 0.0 }, { "completion_time": 3.9358816146850586, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007455754712430984, "book-upper shelf": 0.5985220597685098, "book-lower shelf": 0.386145469041384 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0145054273707879, "bimanual_gripper_vertical_difference": 0.23164417686394323, "task_success": 0.0 }, { "completion_time": 3.9663424491882324, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0014208125977326347, "book-upper shelf": 0.5993795785899312, "book-lower shelf": 0.38609417071513336 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0232087319585494, "bimanual_gripper_vertical_difference": 0.23245132493417905, "task_success": 0.0 }, { "completion_time": 3.998438835144043, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0008108608313454058, "book-upper shelf": 0.5978662884571828, "book-lower shelf": 0.38413187715912056 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0208519398930451, "bimanual_gripper_vertical_difference": 0.23326067129920552, "task_success": 0.0 }, { "completion_time": 4.0304319858551025, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.003987398373898943, "book-upper shelf": 0.5922238287408429, "book-lower shelf": 0.3784245846199966 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0179311736272851, "bimanual_gripper_vertical_difference": 0.23399754475237822, "task_success": 0.0 }, { "completion_time": 4.062227249145508, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.010431846505144504, "book-upper shelf": 0.5853125067566065, "book-lower shelf": 0.3718069417815018 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0143743846247348, "bimanual_gripper_vertical_difference": 0.23466012995933894, "task_success": 0.0 }, { "completion_time": 4.093161106109619, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.013014832483628003, "book-upper shelf": 0.5823779374399978, "book-lower shelf": 0.3688979870509254 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.013068005969485, "bimanual_gripper_vertical_difference": 0.23528702229910226, "task_success": 0.0 }, { "completion_time": 4.124454021453857, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.016651675725148474, "book-upper shelf": 0.5784818895839465, "book-lower shelf": 0.3651765639524213 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.020879827762726, "bimanual_gripper_vertical_difference": 0.23585148709905013, "task_success": 0.0 }, { "completion_time": 4.155651807785034, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.022496314501271653, "book-upper shelf": 0.5756438719215513, "book-lower shelf": 0.3646322612207155 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0352728277354268, "bimanual_gripper_vertical_difference": 0.23632351344483238, "task_success": 0.0 }, { "completion_time": 4.18607759475708, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.029828286472010412, "book-upper shelf": 0.5724843964636751, "book-lower shelf": 0.3646091502212672 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0457048635320165, "bimanual_gripper_vertical_difference": 0.23668231050574068, "task_success": 0.0 }, { "completion_time": 4.217082738876343, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03766511109860038, "book-upper shelf": 0.5709928826135419, "book-lower shelf": 0.3675507645270431 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0515301624609577, "bimanual_gripper_vertical_difference": 0.2369299652104468, "task_success": 0.0 }, { "completion_time": 4.2486891746521, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.05017589515747545, "book-upper shelf": 0.5649221149371259, "book-lower shelf": 0.3665496201738623 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0557252491046014, "bimanual_gripper_vertical_difference": 0.23708740761778224, "task_success": 0.0 }, { "completion_time": 4.278892993927002, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.07170920073649512, "book-upper shelf": 0.5486226124729974, "book-lower shelf": 0.35610739297157185 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0606914256530315, "bimanual_gripper_vertical_difference": 0.23715230361595468, "task_success": 0.0 }, { "completion_time": 4.31012225151062, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0957157869373374, "book-upper shelf": 0.5287696669766427, "book-lower shelf": 0.3424107306642623 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0667145279990309, "bimanual_gripper_vertical_difference": 0.23712221876292314, "task_success": 0.0 }, { "completion_time": 4.341624736785889, "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": false, "4": false }, "target_distance": { "book lift distance": 0.12028689131701709, "book-upper shelf": 0.5072735726061239, "book-lower shelf": 0.32722204318731135 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0728598338923174, "bimanual_gripper_vertical_difference": 0.23699662522501644, "task_success": 0.0 }, { "completion_time": 4.372022867202759, "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": false, "4": false }, "target_distance": { "book lift distance": 0.14477978662604496, "book-upper shelf": 0.4864694705879729, "book-lower shelf": 0.31378632883562935 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0727212632509775, "bimanual_gripper_vertical_difference": 0.2367710116385311, "task_success": 0.0 }, { "completion_time": 4.40384316444397, "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": false, "4": false }, "target_distance": { "book lift distance": 0.16917215400243457, "book-upper shelf": 0.46752372835859807, "book-lower shelf": 0.3039733083922197 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0699719504417209, "bimanual_gripper_vertical_difference": 0.23643690870783832, "task_success": 0.0 }, { "completion_time": 4.434798002243042, "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": false, "4": false }, "target_distance": { "book lift distance": 0.1933625128735338, "book-upper shelf": 0.4508539492913238, "book-lower shelf": 0.2983339763194262 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0684643724086622, "bimanual_gripper_vertical_difference": 0.235987581680645, "task_success": 0.0 }, { "completion_time": 4.467298984527588, "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": false, "4": false }, "target_distance": { "book lift distance": 0.216951905595554, "book-upper shelf": 0.4363533222593788, "book-lower shelf": 0.2962341913094041 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.066970426773789, "bimanual_gripper_vertical_difference": 0.2354277282805913, "task_success": 0.0 }, { "completion_time": 4.498833417892456, "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": false, "4": false }, "target_distance": { "book lift distance": 0.2393259642558676, "book-upper shelf": 0.42381904765913564, "book-lower shelf": 0.29663304700303106 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.065392165244127, "bimanual_gripper_vertical_difference": 0.2347630489064386, "task_success": 0.0 }, { "completion_time": 4.532654047012329, "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": false, "4": false }, "target_distance": { "book lift distance": 0.26020578596058863, "book-upper shelf": 0.4135329752338781, "book-lower shelf": 0.29943341362644177 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0642430485266385, "bimanual_gripper_vertical_difference": 0.2339988936980557, "task_success": 0.0 }, { "completion_time": 4.564521074295044, "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": false, "4": false }, "target_distance": { "book lift distance": 0.27962113803499156, "book-upper shelf": 0.4055952921185192, "book-lower shelf": 0.304498733471468 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0642479226612838, "bimanual_gripper_vertical_difference": 0.23313912368428982, "task_success": 0.0 }, { "completion_time": 4.595188617706299, "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": false, "4": false }, "target_distance": { "book lift distance": 0.2976141108352265, "book-upper shelf": 0.39904517626534225, "book-lower shelf": 0.3103379284466267 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0649682800037898, "bimanual_gripper_vertical_difference": 0.2321872294019865, "task_success": 0.0 }, { "completion_time": 4.6271820068359375, "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": false, "4": false }, "target_distance": { "book lift distance": 0.31359343555965846, "book-upper shelf": 0.392813830929821, "book-lower shelf": 0.31503063556411015 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.066250535097197, "bimanual_gripper_vertical_difference": 0.23114988698661065, "task_success": 0.0 }, { "completion_time": 4.659260034561157, "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": false, "4": false }, "target_distance": { "book lift distance": 0.32747122242613813, "book-upper shelf": 0.38650696015458047, "book-lower shelf": 0.3180618523944922 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0674810883386874, "bimanual_gripper_vertical_difference": 0.23003747922439985, "task_success": 0.0 }, { "completion_time": 4.690225601196289, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3393133494140813, "book-upper shelf": 0.379886591534764, "book-lower shelf": 0.3192509820662143 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0693067743451918, "bimanual_gripper_vertical_difference": 0.22885983373714855, "task_success": 0.0 }, { "completion_time": 4.722025394439697, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3491985891659307, "book-upper shelf": 0.3726621302479812, "book-lower shelf": 0.31835894325083824 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0725979380820794, "bimanual_gripper_vertical_difference": 0.2276259105038181, "task_success": 0.0 }, { "completion_time": 4.753925561904907, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3569987908334259, "book-upper shelf": 0.36473951906524066, "book-lower shelf": 0.31520069717086857 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0800757362191469, "bimanual_gripper_vertical_difference": 0.22634507560222525, "task_success": 0.0 }, { "completion_time": 4.787373065948486, "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": false, "4": false }, "target_distance": { "book lift distance": 0.36302147854017697, "book-upper shelf": 0.357056207215276, "book-lower shelf": 0.31108129226026077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0888405389934384, "bimanual_gripper_vertical_difference": 0.2250288977848959, "task_success": 0.0 }, { "completion_time": 4.819189071655273, "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": false, "4": false }, "target_distance": { "book lift distance": 0.36876908385642093, "book-upper shelf": 0.3500545377444707, "book-lower shelf": 0.3076540636985922 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.09851343545434, "bimanual_gripper_vertical_difference": 0.22368445953891652, "task_success": 0.0 }, { "completion_time": 4.850423574447632, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3755628756398296, "book-upper shelf": 0.34271792968285664, "book-lower shelf": 0.30481802045947115 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1091962881735373, "bimanual_gripper_vertical_difference": 0.22231003217032586, "task_success": 0.0 }, { "completion_time": 4.881362199783325, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3827721756174779, "book-upper shelf": 0.33460112653318874, "book-lower shelf": 0.3016066642396163 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1210210977477366, "bimanual_gripper_vertical_difference": 0.22090471535715311, "task_success": 0.0 }, { "completion_time": 4.912827014923096, "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": false, "4": false }, "target_distance": { "book lift distance": 0.38960617970009437, "book-upper shelf": 0.3258742728199185, "book-lower shelf": 0.2976039533088294 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1339605537821256, "bimanual_gripper_vertical_difference": 0.21946809141491067, "task_success": 0.0 }, { "completion_time": 4.94437837600708, "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": false, "4": false }, "target_distance": { "book lift distance": 0.39538109894763196, "book-upper shelf": 0.3170983431105521, "book-lower shelf": 0.29286394369985475 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1468687676369735, "bimanual_gripper_vertical_difference": 0.2180832893173972, "task_success": 0.0 }, { "completion_time": 4.975522756576538, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4004010497610774, "book-upper shelf": 0.31168636542100275, "book-lower shelf": 0.29127031341636145 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.159257142446054, "bimanual_gripper_vertical_difference": 0.2167608601181435, "task_success": 0.0 }, { "completion_time": 5.006988525390625, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4051604967140515, "book-upper shelf": 0.30825912823874496, "book-lower shelf": 0.2916461638310488 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.171924637608044, "bimanual_gripper_vertical_difference": 0.21549825402749986, "task_success": 0.0 }, { "completion_time": 5.039204120635986, "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": false, "4": false }, "target_distance": { "book lift distance": 0.40826635040349435, "book-upper shelf": 0.30167358769080527, "book-lower shelf": 0.2873503539077509 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1850740240808901, "bimanual_gripper_vertical_difference": 0.21428726446482488, "task_success": 0.0 }, { "completion_time": 5.070430755615234, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4083474758830573, "book-upper shelf": 0.2935491739578753, "book-lower shelf": 0.27888051232442995 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1959729519884523, "bimanual_gripper_vertical_difference": 0.2131099098179425, "task_success": 0.0 }, { "completion_time": 5.101667165756226, "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": false, "4": false }, "target_distance": { "book lift distance": 0.40661497264898616, "book-upper shelf": 0.2854618535919218, "book-lower shelf": 0.268772247941423 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2050037450476974, "bimanual_gripper_vertical_difference": 0.21195582252563339, "task_success": 0.0 }, { "completion_time": 5.1329169273376465, "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": false, "4": false }, "target_distance": { "book lift distance": 0.40337879696647094, "book-upper shelf": 0.27948545550462056, "book-lower shelf": 0.2593617484033143 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2135692394641429, "bimanual_gripper_vertical_difference": 0.2108184052437035, "task_success": 0.0 }, { "completion_time": 5.1643900871276855, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3972495552548615, "book-upper shelf": 0.280321139790534, "book-lower shelf": 0.2543973133423293 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2105693440306535, "bimanual_gripper_vertical_difference": 0.20968346901489276, "task_success": 0.0 }, { "completion_time": 5.195921897888184, "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": false, "4": false }, "target_distance": { "book lift distance": 0.39146601967786, "book-upper shelf": 0.28349065521437117, "book-lower shelf": 0.2523031928611466 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.205251246113121, "bimanual_gripper_vertical_difference": 0.20854980922887256, "task_success": 0.0 }, { "completion_time": 5.227266788482666, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3873161604401637, "book-upper shelf": 0.28594490917027915, "book-lower shelf": 0.25101960568370013 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1993598117189825, "bimanual_gripper_vertical_difference": 0.20742095997175272, "task_success": 0.0 }, { "completion_time": 5.257916450500488, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3845238197415429, "book-upper shelf": 0.28766261155467904, "book-lower shelf": 0.2502419654450848 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1931713457893252, "bimanual_gripper_vertical_difference": 0.20629963853363134, "task_success": 0.0 }, { "completion_time": 5.289888858795166, "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": false, "4": false }, "target_distance": { "book lift distance": 0.38280219346095656, "book-upper shelf": 0.2887472237102145, "book-lower shelf": 0.2497967324122015 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1868361957522837, "bimanual_gripper_vertical_difference": 0.20518815412165628, "task_success": 0.0 }, { "completion_time": 5.322402715682983, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3795648939152959, "book-upper shelf": 0.29025015140961324, "book-lower shelf": 0.24834329175398306 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1806312039701186, "bimanual_gripper_vertical_difference": 0.20408732852875608, "task_success": 0.0 }, { "completion_time": 5.352794408798218, "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": false, "4": false }, "target_distance": { "book lift distance": 0.37802204025646435, "book-upper shelf": 0.2881549172882111, "book-lower shelf": 0.24434139690349319 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1757249081054901, "bimanual_gripper_vertical_difference": 0.2030126442836378, "task_success": 0.0 }, { "completion_time": 5.383517742156982, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3815614389066998, "book-upper shelf": 0.2823991275890894, "book-lower shelf": 0.24116738172421107 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1722117645413528, "bimanual_gripper_vertical_difference": 0.20198924172452817, "task_success": 0.0 }, { "completion_time": 5.41483473777771, "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": false, "4": false }, "target_distance": { "book lift distance": 0.3905569849141498, "book-upper shelf": 0.27450269178391296, "book-lower shelf": 0.24123437392361938 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.169722423164568, "bimanual_gripper_vertical_difference": 0.20104491337558486, "task_success": 0.0 }, { "completion_time": 5.446633338928223, "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": false, "4": false }, "target_distance": { "book lift distance": 0.40226332004191334, "book-upper shelf": 0.26642337593816723, "book-lower shelf": 0.24410754869988557 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1672101369968746, "bimanual_gripper_vertical_difference": 0.20019020845741778, "task_success": 0.0 }, { "completion_time": 5.477463960647583, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4143926621224808, "book-upper shelf": 0.2588642558079978, "book-lower shelf": 0.24817509446900612 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1644109317541471, "bimanual_gripper_vertical_difference": 0.19941869920366623, "task_success": 0.0 }, { "completion_time": 5.508965730667114, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4248348945932886, "book-upper shelf": 0.251535555474673, "book-lower shelf": 0.2509832417033515 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.162437019460814, "bimanual_gripper_vertical_difference": 0.19870922934540503, "task_success": 0.0 }, { "completion_time": 5.5407373905181885, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4323273288340136, "book-upper shelf": 0.24317665088681514, "book-lower shelf": 0.25009395178166394 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1625910262345738, "bimanual_gripper_vertical_difference": 0.19803817966177248, "task_success": 0.0 }, { "completion_time": 5.572742223739624, "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": false, "4": false }, "target_distance": { "book lift distance": 0.43587885107461244, "book-upper shelf": 0.23312664183298998, "book-lower shelf": 0.2439448286742045 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1654143476874832, "bimanual_gripper_vertical_difference": 0.19738395712359172, "task_success": 0.0 }, { "completion_time": 5.603828191757202, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4352435307569157, "book-upper shelf": 0.22190631897701832, "book-lower shelf": 0.23257385755232102 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1721326221225985, "bimanual_gripper_vertical_difference": 0.1967296207255407, "task_success": 0.0 }, { "completion_time": 5.635242462158203, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4341506519388555, "book-upper shelf": 0.20990799383904263, "book-lower shelf": 0.21993490518711578 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1824522908928796, "bimanual_gripper_vertical_difference": 0.19607815873064852, "task_success": 0.0 }, { "completion_time": 5.667051792144775, "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": false, "4": false }, "target_distance": { "book lift distance": 0.436690144036988, "book-upper shelf": 0.1965889455633154, "book-lower shelf": 0.21025646967608244 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1955185974364098, "bimanual_gripper_vertical_difference": 0.1954503909612992, "task_success": 0.0 }, { "completion_time": 5.69899845123291, "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": false, "4": false }, "target_distance": { "book lift distance": 0.44325458040754484, "book-upper shelf": 0.18222229181202082, "book-lower shelf": 0.2049345989318221 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2097018604936507, "bimanual_gripper_vertical_difference": 0.19486332380227248, "task_success": 0.0 }, { "completion_time": 5.7292280197143555, "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": false, "4": false }, "target_distance": { "book lift distance": 0.45043574813340304, "book-upper shelf": 0.16870798624167463, "book-lower shelf": 0.20197023757530033 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2204662894447473, "bimanual_gripper_vertical_difference": 0.1943244218234652, "task_success": 0.0 }, { "completion_time": 5.7599968910217285, "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": false, "4": false }, "target_distance": { "book lift distance": 0.45407762300602317, "book-upper shelf": 0.16104459624050735, "book-lower shelf": 0.20014593550613063 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2309562524538125, "bimanual_gripper_vertical_difference": 0.1938209434840998, "task_success": 0.0 }, { "completion_time": 5.79264497756958, "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": false, "4": false }, "target_distance": { "book lift distance": 0.45356025616445617, "book-upper shelf": 0.17340439687321793, "book-lower shelf": 0.2096123590721288 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2377547573992873, "bimanual_gripper_vertical_difference": 0.1933344915489003, "task_success": 0.0 }, { "completion_time": 5.826181888580322, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4531959237454114, "book-upper shelf": 0.20095845846091767, "book-lower shelf": 0.23253632565357463 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2382070090826944, "bimanual_gripper_vertical_difference": 0.19285614092246284, "task_success": 0.0 }, { "completion_time": 5.857738018035889, "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": false, "4": false }, "target_distance": { "book lift distance": 0.45303235450819035, "book-upper shelf": 0.20697224984890217, "book-lower shelf": 0.2375832554249373 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2341718017491226, "bimanual_gripper_vertical_difference": 0.1923842446985544, "task_success": 0.0 }, { "completion_time": 5.889206647872925, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4552910595783376, "book-upper shelf": 0.2032599095066274, "book-lower shelf": 0.2367175134472439 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2336747925574465, "bimanual_gripper_vertical_difference": 0.19193194983356598, "task_success": 0.0 }, { "completion_time": 5.919997215270996, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4556778443347046, "book-upper shelf": 0.19411685135429563, "book-lower shelf": 0.22933036103520996 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.231530422478769, "bimanual_gripper_vertical_difference": 0.19149612366917332, "task_success": 0.0 }, { "completion_time": 5.950896739959717, "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": false, "4": false }, "target_distance": { "book lift distance": 0.44722143508673795, "book-upper shelf": 0.18820994221208875, "book-lower shelf": 0.2148713246010929 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.232048969004488, "bimanual_gripper_vertical_difference": 0.19105245990873648, "task_success": 0.0 }, { "completion_time": 5.9824583530426025, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4383925298085395, "book-upper shelf": 0.18678637821987218, "book-lower shelf": 0.20319463694375064 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2283178768754457, "bimanual_gripper_vertical_difference": 0.19059283592717652, "task_success": 0.0 }, { "completion_time": 6.013491630554199, "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": false, "4": false }, "target_distance": { "book lift distance": 0.44051627724474807, "book-upper shelf": 0.18076935271600042, "book-lower shelf": 0.2003055358648326 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2307681200602025, "bimanual_gripper_vertical_difference": 0.19014396476210446, "task_success": 0.0 }, { "completion_time": 6.044183969497681, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4466899915007657, "book-upper shelf": 0.17084166516202023, "book-lower shelf": 0.19917798309647192 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.236759496049924, "bimanual_gripper_vertical_difference": 0.189717112833408, "task_success": 0.0 }, { "completion_time": 6.075648069381714, "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": false, "4": false }, "target_distance": { "book lift distance": 0.45445981912991373, "book-upper shelf": 0.16061177276550967, "book-lower shelf": 0.2002682889351392 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2432364874479227, "bimanual_gripper_vertical_difference": 0.18932223797714823, "task_success": 0.0 }, { "completion_time": 6.107884883880615, "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": false, "4": false }, "target_distance": { "book lift distance": 0.46256182126222256, "book-upper shelf": 0.1513473542709288, "book-lower shelf": 0.20299531666450388 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2512213309649267, "bimanual_gripper_vertical_difference": 0.1889625003365578, "task_success": 0.0 }, { "completion_time": 6.139570474624634, "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": false, "4": false }, "target_distance": { "book lift distance": 0.47000949834221906, "book-upper shelf": 0.1440155008509926, "book-lower shelf": 0.20666192198321276 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2588785383222807, "bimanual_gripper_vertical_difference": 0.18863550872385224, "task_success": 0.0 }, { "completion_time": 6.1714489459991455, "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": false, "4": false }, "target_distance": { "book lift distance": 0.47741365724094764, "book-upper shelf": 0.13702456851439856, "book-lower shelf": 0.2106907590052204 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2652277090204893, "bimanual_gripper_vertical_difference": 0.1883452526498775, "task_success": 0.0 }, { "completion_time": 6.203644514083862, "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": false, "4": false }, "target_distance": { "book lift distance": 0.4861805530079676, "book-upper shelf": 0.1293257861718344, "book-lower shelf": 0.21600296371355154 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2732359615460165, "bimanual_gripper_vertical_difference": 0.18809874211799898, "task_success": 0.0 }, { "completion_time": 6.234501361846924, "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": 0.4902131765442209, "book-upper shelf": 0.12570801205521015, "book-lower shelf": 0.21845020282609184 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2802401459754784, "bimanual_gripper_vertical_difference": 0.18788980961509213, "task_success": 0.0 }, { "completion_time": 6.2657530307769775, "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": 0.48958643063495166, "book-upper shelf": 0.12595154346703374, "book-lower shelf": 0.21788331074066575 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2874228748442633, "bimanual_gripper_vertical_difference": 0.1876926437448484, "task_success": 0.0 }, { "completion_time": 6.297163963317871, "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": 0.4888995678349871, "book-upper shelf": 0.12553302361374755, "book-lower shelf": 0.2168631832057683 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.295367857810037, "bimanual_gripper_vertical_difference": 0.18750102707758431, "task_success": 0.0 }, { "completion_time": 6.327602863311768, "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": 0.48882363339241286, "book-upper shelf": 0.12531741418870937, "book-lower shelf": 0.21665216499106274 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.302830378454936, "bimanual_gripper_vertical_difference": 0.1873186877021615, "task_success": 0.0 }, { "completion_time": 6.3586859703063965, "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": 0.48063913538027336, "book-upper shelf": 0.1289468277085955, "book-lower shelf": 0.20935743272157467 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3154770018844413, "bimanual_gripper_vertical_difference": 0.18717517563188565, "task_success": 0.0 }, { "completion_time": 6.389936923980713, "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": 0.45675731146427834, "book-upper shelf": 0.14254492949924283, "book-lower shelf": 0.18910764930457305 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3284723691898699, "bimanual_gripper_vertical_difference": 0.18709336132122745, "task_success": 0.0 } ]