[ { "completion_time": 0.04791450500488281, "slip_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": -0.000721750696279333, "book-upper shelf": 0.601852447125846, "book-lower shelf": 0.39036322902330717 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.07812142372131348, "slip_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": 0.00027085573680230013, "book-upper shelf": 0.6009012534956263, "book-lower shelf": 0.3895230518872839 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.018563459267291e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.10851430892944336, "slip_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": 0.0007583970777350624, "book-upper shelf": 0.6004337348897382, "book-lower shelf": 0.38911007597515845 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.865484758559101e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.13904213905334473, "slip_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": 0.0006157422877952623, "book-upper shelf": 0.6005782486824903, "book-lower shelf": 0.3892428081174239 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0476543531652153e-06, "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, "task_success": 0.0 }, { "completion_time": 0.16993260383605957, "slip_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": 0.0007236915825915569, "book-upper shelf": 0.6004560500352726, "book-lower shelf": 0.3891225495067989 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0001767503972824488, "bimanual_gripper_vertical_difference": 2.2006893640735827e-09, "task_success": 0.0 }, { "completion_time": 0.20170331001281738, "slip_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": 0.0007611010398649309, "book-upper shelf": 0.6004242217740658, "book-lower shelf": 0.3890971072764402 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00019642507390926824, "bimanual_gripper_vertical_difference": 2.7687085587165447e-09, "task_success": 0.0 }, { "completion_time": 0.232133150100708, "slip_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": 0.0005124396046165547, "book-upper shelf": 0.6006511005328226, "book-lower shelf": 0.3892898714912684 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00018898803668993734, "bimanual_gripper_vertical_difference": 3.305395037043825e-09, "task_success": 0.0 }, { "completion_time": 0.2633061408996582, "slip_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": 0.000711577726519641, "book-upper shelf": 0.6004633779614824, "book-lower shelf": 0.3891261920190091 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00040343131833661195, "bimanual_gripper_vertical_difference": 4.199730702092452e-09, "task_success": 0.0 }, { "completion_time": 0.29489946365356445, "slip_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": 0.0007833823113568839, "book-upper shelf": 0.6003965392853674, "book-lower shelf": 0.3890684895951706 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007208841171722943, "bimanual_gripper_vertical_difference": 4.43590364440638e-09, "task_success": 0.0 }, { "completion_time": 0.325986385345459, "slip_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": 0.0007574090275809242, "book-upper shelf": 0.6004284108119368, "book-lower shelf": 0.38910123512603223 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.026346985601821794, "bimanual_gripper_vertical_difference": 1.1419557331615593e-05, "task_success": 0.0 }, { "completion_time": 0.3566441535949707, "slip_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": 0.0007841506504777662, "book-upper shelf": 0.6003975899849375, "book-lower shelf": 0.3890705972421226 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.06617765312812604, "bimanual_gripper_vertical_difference": 0.00038166874702979826, "task_success": 0.0 }, { "completion_time": 0.38814520835876465, "slip_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": 0.0007059327387726189, "book-upper shelf": 0.6004656019491985, "book-lower shelf": 0.38912605193215277 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.15062383858495335, "bimanual_gripper_vertical_difference": 0.001260010034188334, "task_success": 0.0 }, { "completion_time": 0.41925477981567383, "slip_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": 0.0007467256833892932, "book-upper shelf": 0.6004269489829646, "book-lower shelf": 0.38909221878445793 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.24233502405818644, "bimanual_gripper_vertical_difference": 0.00271864274199776, "task_success": 0.0 }, { "completion_time": 0.4494476318359375, "slip_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": 0.0007836197682243862, "book-upper shelf": 0.6003868396382975, "book-lower shelf": 0.38905367156283027 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3599984967778143, "bimanual_gripper_vertical_difference": 0.004864671502124662, "task_success": 0.0 }, { "completion_time": 0.48366236686706543, "slip_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": 0.0007220898901056927, "book-upper shelf": 0.6004383886897671, "book-lower shelf": 0.3890942821086047 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4884542556745633, "bimanual_gripper_vertical_difference": 0.0076433297678237515, "task_success": 0.0 }, { "completion_time": 0.5146467685699463, "slip_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": 0.0007859216278274239, "book-upper shelf": 0.6003843933882059, "book-lower shelf": 0.38905135332053364 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6250524662477586, "bimanual_gripper_vertical_difference": 0.01094888296547017, "task_success": 0.0 }, { "completion_time": 0.5457577705383301, "slip_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": 0.0006311190586342219, "book-upper shelf": 0.6005436951578791, "book-lower shelf": 0.38919922014987673 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7620035923840041, "bimanual_gripper_vertical_difference": 0.014915032494670652, "task_success": 0.0 }, { "completion_time": 0.5767910480499268, "slip_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": 0.0007579113123650227, "book-upper shelf": 0.6004052722934325, "book-lower shelf": 0.3890658466305519 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8838652237011453, "bimanual_gripper_vertical_difference": 0.019700838907862204, "task_success": 0.0 }, { "completion_time": 0.6080288887023926, "slip_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": 0.0006551642818424241, "book-upper shelf": 0.6005185434910288, "book-lower shelf": 0.38917562271822825 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9874227271782164, "bimanual_gripper_vertical_difference": 0.0252968065522593, "task_success": 0.0 }, { "completion_time": 0.6394543647766113, "slip_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": 0.0007608247476234009, "book-upper shelf": 0.600409759052567, "book-lower shelf": 0.38907461431369245 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0837424640919129, "bimanual_gripper_vertical_difference": 0.031468515747146736, "task_success": 0.0 }, { "completion_time": 0.6729285717010498, "slip_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": 0.0007773039161831363, "book-upper shelf": 0.600380443625844, "book-lower shelf": 0.38903980386676446 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1730090275478762, "bimanual_gripper_vertical_difference": 0.03792849729207088, "task_success": 0.0 }, { "completion_time": 0.704071044921875, "slip_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": 0.0006104375526154726, "book-upper shelf": 0.6005473428919093, "book-lower shelf": 0.38919176458181864 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.26105280235187, "bimanual_gripper_vertical_difference": 0.04448251738176093, "task_success": 0.0 }, { "completion_time": 0.7358908653259277, "slip_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": 0.0007403997384648475, "book-upper shelf": 0.6004148172411128, "book-lower shelf": 0.3890694940556622 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3463687335737298, "bimanual_gripper_vertical_difference": 0.05110441339106533, "task_success": 0.0 }, { "completion_time": 0.7663397789001465, "slip_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": 0.0007596102373362834, "book-upper shelf": 0.600390546391067, "book-lower shelf": 0.3890441965226592 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4285229019324548, "bimanual_gripper_vertical_difference": 0.057811757644684915, "task_success": 0.0 }, { "completion_time": 0.7972602844238281, "slip_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": 0.0006560149284479122, "book-upper shelf": 0.6005042448778581, "book-lower shelf": 0.38915409706025267 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5160011847681967, "bimanual_gripper_vertical_difference": 0.06469896227773943, "task_success": 0.0 }, { "completion_time": 0.8294773101806641, "slip_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": 0.0007607281944771449, "book-upper shelf": 0.6003961916091375, "book-lower shelf": 0.3890536159566524 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5958618658862158, "bimanual_gripper_vertical_difference": 0.07122420969838122, "task_success": 0.0 }, { "completion_time": 0.8604943752288818, "slip_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": 0.0007771049319375001, "book-upper shelf": 0.6003669702658123, "book-lower shelf": 0.389018885018047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6625620929775804, "bimanual_gripper_vertical_difference": 0.07686056233314968, "task_success": 0.0 }, { "completion_time": 0.8914408683776855, "slip_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": 0.0006102149933373546, "book-upper shelf": 0.6005336902530183, "book-lower shelf": 0.38917055656019156 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7058603276837623, "bimanual_gripper_vertical_difference": 0.0816015035449594, "task_success": 0.0 }, { "completion_time": 0.9231810569763184, "slip_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": 0.0007388581202008027, "book-upper shelf": 0.6004023958192042, "book-lower shelf": 0.38904934928306734 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7210782600894339, "bimanual_gripper_vertical_difference": 0.08541960962397449, "task_success": 0.0 }, { "completion_time": 0.9544377326965332, "slip_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": 0.0007578909042541548, "book-upper shelf": 0.600378306067127, "book-lower shelf": 0.38902421822125166 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7091481474165553, "bimanual_gripper_vertical_difference": 0.08880459193966077, "task_success": 0.0 }, { "completion_time": 0.9852461814880371, "slip_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": 0.0006553839630166758, "book-upper shelf": 0.6004911786034595, "book-lower shelf": 0.38913353492612257 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7091579357193636, "bimanual_gripper_vertical_difference": 0.09211702893457772, "task_success": 0.0 }, { "completion_time": 1.0167298316955566, "slip_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": 0.0007610332545816556, "book-upper shelf": 0.6003824941295757, "book-lower shelf": 0.3890326704459256 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.684202438806135, "bimanual_gripper_vertical_difference": 0.09534363711739538, "task_success": 0.0 }, { "completion_time": 1.048435926437378, "slip_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": 0.0007773862643323248, "book-upper shelf": 0.6003532731234633, "book-lower shelf": 0.3889979241676323 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6377762889701537, "bimanual_gripper_vertical_difference": 0.0984040177038904, "task_success": 0.0 }, { "completion_time": 1.0789811611175537, "slip_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": 0.0006100750782357389, "book-upper shelf": 0.6005199997081089, "book-lower shelf": 0.3891493416577967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6036692365068972, "bimanual_gripper_vertical_difference": 0.10125013780114145, "task_success": 0.0 }, { "completion_time": 1.110898733139038, "slip_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": 0.0007371921684451443, "book-upper shelf": 0.6003901246203046, "book-lower shelf": 0.3890293570102166 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5840845949770228, "bimanual_gripper_vertical_difference": 0.10388356388434626, "task_success": 0.0 }, { "completion_time": 1.142601728439331, "slip_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": 0.0007780126625931416, "book-upper shelf": 0.6003480792080184, "book-lower shelf": 0.3889903046802725 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5686928391521042, "bimanual_gripper_vertical_difference": 0.10636287576301656, "task_success": 0.0 }, { "completion_time": 1.174170732498169, "slip_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": 0.0006581807279231189, "book-upper shelf": 0.6004560748542782, "book-lower shelf": 0.38908113231022856 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.552882095485654, "bimanual_gripper_vertical_difference": 0.10875737728447504, "task_success": 0.0 }, { "completion_time": 1.2046759128570557, "slip_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": 0.0007199432288860219, "book-upper shelf": 0.6003898083557392, "book-lower shelf": 0.38901795152842583 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.537007845452889, "bimanual_gripper_vertical_difference": 0.11113713589400664, "task_success": 0.0 }, { "completion_time": 1.2364215850830078, "slip_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": 0.0007797573155614579, "book-upper shelf": 0.6003423718008968, "book-lower shelf": 0.3889826004596768 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.527147886834681, "bimanual_gripper_vertical_difference": 0.11354405994058189, "task_success": 0.0 }, { "completion_time": 1.2680771350860596, "slip_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": 0.0005549874076042904, "book-upper shelf": 0.6005268069582681, "book-lower shelf": 0.38912499022219466 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5186704426104956, "bimanual_gripper_vertical_difference": 0.11598166367838761, "task_success": 0.0 }, { "completion_time": 1.3013782501220703, "slip_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": 0.0007365994480025284, "book-upper shelf": 0.6003668999837092, "book-lower shelf": 0.38899313822362647 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5195518554455778, "bimanual_gripper_vertical_difference": 0.11846808455677169, "task_success": 0.0 }, { "completion_time": 1.333169937133789, "slip_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": 0.0007767096101253257, "book-upper shelf": 0.60033262567724, "book-lower shelf": 0.3889656291895686 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5340258512372078, "bimanual_gripper_vertical_difference": 0.12103718680525163, "task_success": 0.0 }, { "completion_time": 1.3644046783447266, "slip_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": 0.0006817059889601129, "book-upper shelf": 0.6004209822514803, "book-lower shelf": 0.38904186231433513 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5573537418521606, "bimanual_gripper_vertical_difference": 0.12370742346248957, "task_success": 0.0 }, { "completion_time": 1.3957586288452148, "slip_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": 0.0005979922171028829, "book-upper shelf": 0.6004762271747481, "book-lower shelf": 0.38907414365431436 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5807728440615705, "bimanual_gripper_vertical_difference": 0.12644506338199718, "task_success": 0.0 }, { "completion_time": 1.427391767501831, "slip_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": 0.0005152864040037786, "book-upper shelf": 0.6005512939824121, "book-lower shelf": 0.3891376595559752 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.611529789270862, "bimanual_gripper_vertical_difference": 0.12917826623451667, "task_success": 0.0 }, { "completion_time": 1.458292007446289, "slip_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": 0.0006049465157360601, "book-upper shelf": 0.600474146991553, "book-lower shelf": 0.38907533423220964 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6399889731542785, "bimanual_gripper_vertical_difference": 0.1318245282653926, "task_success": 0.0 }, { "completion_time": 1.4904696941375732, "slip_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": 0.000598952175288936, "book-upper shelf": 0.6004450644547957, "book-lower shelf": 0.3890266546367354 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6546393112722992, "bimanual_gripper_vertical_difference": 0.13434617538484572, "task_success": 0.0 }, { "completion_time": 1.5235145092010498, "slip_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": 0.0005164173738728683, "book-upper shelf": 0.6005193883757094, "book-lower shelf": 0.3890891339294883 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.661766422043116, "bimanual_gripper_vertical_difference": 0.13679297779140276, "task_success": 0.0 }, { "completion_time": 1.5544004440307617, "slip_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": 0.0006051714958619225, "book-upper shelf": 0.6004427156871911, "book-lower shelf": 0.3890269657953598 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6671414652376624, "bimanual_gripper_vertical_difference": 0.13927393582279324, "task_success": 0.0 }, { "completion_time": 1.5847804546356201, "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": -0.0030508886822218084, "book-upper shelf": 0.6034253108780618, "book-lower shelf": 0.3913211012351716 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6662773359471674, "bimanual_gripper_vertical_difference": 0.14183045123536178, "task_success": 0.0 }, { "completion_time": 1.6146113872528076, "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": -0.001779437795392691, "book-upper shelf": 0.6008142122099419, "book-lower shelf": 0.38809012103484275 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6498459774164485, "bimanual_gripper_vertical_difference": 0.14433665456747233, "task_success": 0.0 }, { "completion_time": 1.6450812816619873, "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": -0.0010167619889109858, "book-upper shelf": 0.6005769063472709, "book-lower shelf": 0.38820667767192435 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.62997707434751, "bimanual_gripper_vertical_difference": 0.14675077309858722, "task_success": 0.0 }, { "completion_time": 1.6766037940979004, "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": -0.0030504561685568143, "book-upper shelf": 0.603729530706297, "book-lower shelf": 0.3917903236449583 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.618814515555174, "bimanual_gripper_vertical_difference": 0.14912246460544268, "task_success": 0.0 }, { "completion_time": 1.7079081535339355, "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": -0.0010451387255986377, "book-upper shelf": 0.6032276684046305, "book-lower shelf": 0.3922772615846505 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6119381631285246, "bimanual_gripper_vertical_difference": 0.15136756286478642, "task_success": 0.0 }, { "completion_time": 1.7391016483306885, "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": 0.0028768668743504033, "book-upper shelf": 0.6011816590811305, "book-lower shelf": 0.3915975087972505 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.595564554028496, "bimanual_gripper_vertical_difference": 0.15346635721200577, "task_success": 0.0 }, { "completion_time": 1.7704310417175293, "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": 0.006271297340518678, "book-upper shelf": 0.5984741758717563, "book-lower shelf": 0.38957945036311903 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5810774485933912, "bimanual_gripper_vertical_difference": 0.15541033156387457, "task_success": 0.0 }, { "completion_time": 1.8012220859527588, "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": 0.00956449508810242, "book-upper shelf": 0.5962307136134493, "book-lower shelf": 0.3882185055389345 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5954570200260054, "bimanual_gripper_vertical_difference": 0.1571846126427913, "task_success": 0.0 }, { "completion_time": 1.8316113948822021, "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": 0.013650931912204345, "book-upper shelf": 0.5953946303520754, "book-lower shelf": 0.3895249361059157 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6271201035246365, "bimanual_gripper_vertical_difference": 0.15875924571331607, "task_success": 0.0 }, { "completion_time": 1.863520622253418, "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": 0.016778113270792594, "book-upper shelf": 0.5987512135977875, "book-lower shelf": 0.3965827861084172 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6705883687032042, "bimanual_gripper_vertical_difference": 0.16014742066164375, "task_success": 0.0 }, { "completion_time": 1.8945298194885254, "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": 0.022972514321282778, "book-upper shelf": 0.5983025945844826, "book-lower shelf": 0.3997390623011967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7179753845791343, "bimanual_gripper_vertical_difference": 0.16127644887106982, "task_success": 0.0 }, { "completion_time": 1.9261162281036377, "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": 0.03264042322121674, "book-upper shelf": 0.593462133375213, "book-lower shelf": 0.3984765849079262 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7667395675438695, "bimanual_gripper_vertical_difference": 0.16204379216975281, "task_success": 0.0 }, { "completion_time": 1.9568860530853271, "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": 0.05603848015487167, "book-upper shelf": 0.5761605505386583, "book-lower shelf": 0.38738822655939864 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.820273169166975, "bimanual_gripper_vertical_difference": 0.1622918896252489, "task_success": 0.0 }, { "completion_time": 1.9879422187805176, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.10111169979271262, "book-upper shelf": 0.5394162640539554, "book-lower shelf": 0.3623187422213004 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8752709504444407, "bimanual_gripper_vertical_difference": 0.16189357404183558, "task_success": 0.0 }, { "completion_time": 2.019143581390381, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.15478369792252977, "book-upper shelf": 0.49847725673058757, "book-lower shelf": 0.33943381672154666 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9236478837226545, "bimanual_gripper_vertical_difference": 0.16071981453824383, "task_success": 0.0 }, { "completion_time": 2.0498480796813965, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.20780356879904083, "book-upper shelf": 0.4625112876309242, "book-lower shelf": 0.3267446510579498 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9667591879215685, "bimanual_gripper_vertical_difference": 0.15880664640548137, "task_success": 0.0 }, { "completion_time": 2.0823652744293213, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.24943872366175146, "book-upper shelf": 0.44182695739662603, "book-lower shelf": 0.32948394203029097 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9983066421175326, "bimanual_gripper_vertical_difference": 0.15645447688123573, "task_success": 0.0 }, { "completion_time": 2.114318609237671, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.27535794660252255, "book-upper shelf": 0.4369702081357329, "book-lower shelf": 0.3421337339099528 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.006101587079684, "bimanual_gripper_vertical_difference": 0.15454567916040196, "task_success": 0.0 }, { "completion_time": 2.1453990936279297, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2888639059867405, "book-upper shelf": 0.43243804203154607, "book-lower shelf": 0.34607253424731593 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9955076395499673, "bimanual_gripper_vertical_difference": 0.15287276661075633, "task_success": 0.0 }, { "completion_time": 2.1762707233428955, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2922455622001826, "book-upper shelf": 0.4213053624679314, "book-lower shelf": 0.3345549936960396 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9875483531195126, "bimanual_gripper_vertical_difference": 0.15128743039486825, "task_success": 0.0 }, { "completion_time": 2.2081985473632812, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.28700917021231, "book-upper shelf": 0.4048544188010113, "book-lower shelf": 0.3094467232933504 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.990059879657859, "bimanual_gripper_vertical_difference": 0.14967823866661498, "task_success": 0.0 }, { "completion_time": 2.238717794418335, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2745007870794107, "book-upper shelf": 0.39212619716613, "book-lower shelf": 0.2818747512261001 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9967997577041259, "bimanual_gripper_vertical_difference": 0.14795768332700748, "task_success": 0.0 }, { "completion_time": 2.269587993621826, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.25632526651896814, "book-upper shelf": 0.3897683323828498, "book-lower shelf": 0.2620290799207659 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0048123944332668, "bimanual_gripper_vertical_difference": 0.14604845581078096, "task_success": 0.0 }, { "completion_time": 2.300335645675659, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.24065126778275436, "book-upper shelf": 0.3965402713057151, "book-lower shelf": 0.2574206905109117 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9996424927349086, "bimanual_gripper_vertical_difference": 0.1441090344913598, "task_success": 0.0 }, { "completion_time": 2.3305888175964355, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.23193684093699118, "book-upper shelf": 0.4003432917641363, "book-lower shelf": 0.2549599123513844 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9909265088719992, "bimanual_gripper_vertical_difference": 0.1423383921136976, "task_success": 0.0 }, { "completion_time": 2.3619937896728516, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2309510131049779, "book-upper shelf": 0.3977741170618704, "book-lower shelf": 0.24993715797232918 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9803041353342243, "bimanual_gripper_vertical_difference": 0.14063500923752614, "task_success": 0.0 }, { "completion_time": 2.393068790435791, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2396098176474386, "book-upper shelf": 0.39018277119042016, "book-lower shelf": 0.24647709417265495 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9622672440422972, "bimanual_gripper_vertical_difference": 0.13888618779987158, "task_success": 0.0 }, { "completion_time": 2.4251253604888916, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2513985356439955, "book-upper shelf": 0.3839604604494453, "book-lower shelf": 0.24847404767988027 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9450842538245892, "bimanual_gripper_vertical_difference": 0.13713504055373166, "task_success": 0.0 }, { "completion_time": 2.4567294120788574, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2691496111870526, "book-upper shelf": 0.37608067819242286, "book-lower shelf": 0.25395257593182646 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.933590515113414, "bimanual_gripper_vertical_difference": 0.13565718096792817, "task_success": 0.0 }, { "completion_time": 2.487614870071411, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2873261583225283, "book-upper shelf": 0.367399103263871, "book-lower shelf": 0.25882112743726604 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9177810481360988, "bimanual_gripper_vertical_difference": 0.13443655576254718, "task_success": 0.0 }, { "completion_time": 2.5226895809173584, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3007524836729266, "book-upper shelf": 0.36008608181829677, "book-lower shelf": 0.2613045257003646 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8999882300817528, "bimanual_gripper_vertical_difference": 0.1334004396023017, "task_success": 0.0 }, { "completion_time": 2.5562844276428223, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.31120365783480863, "book-upper shelf": 0.3530538568921166, "book-lower shelf": 0.26155644783238846 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8826975703478201, "bimanual_gripper_vertical_difference": 0.13250051740434834, "task_success": 0.0 }, { "completion_time": 2.58801531791687, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.319987221764492, "book-upper shelf": 0.34581216020499717, "book-lower shelf": 0.26014662352040047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8670935238199802, "bimanual_gripper_vertical_difference": 0.13170859391016404, "task_success": 0.0 }, { "completion_time": 2.6192171573638916, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3255977087386427, "book-upper shelf": 0.3391251706256855, "book-lower shelf": 0.25663004742102685 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8527541383482324, "bimanual_gripper_vertical_difference": 0.13100421285913294, "task_success": 0.0 }, { "completion_time": 2.650458335876465, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3317546758746116, "book-upper shelf": 0.3311227198706955, "book-lower shelf": 0.2520463329648878 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.837184500719872, "bimanual_gripper_vertical_difference": 0.130390638608099, "task_success": 0.0 }, { "completion_time": 2.682175636291504, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3403007480184693, "book-upper shelf": 0.3219184863955276, "book-lower shelf": 0.24844541341536178 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.821045215419306, "bimanual_gripper_vertical_difference": 0.12988008883292665, "task_success": 0.0 }, { "completion_time": 2.7131900787353516, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35042550131319683, "book-upper shelf": 0.3114193825696319, "book-lower shelf": 0.24507463792158296 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8062212420883164, "bimanual_gripper_vertical_difference": 0.1294815849309678, "task_success": 0.0 }, { "completion_time": 2.7441792488098145, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3604502782349447, "book-upper shelf": 0.299954629809391, "book-lower shelf": 0.24080911037598918 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7936111326321487, "bimanual_gripper_vertical_difference": 0.12918031683885967, "task_success": 0.0 }, { "completion_time": 2.7741892337799072, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3703379824592724, "book-upper shelf": 0.28779083182063453, "book-lower shelf": 0.2360275630301552 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7832808310808834, "bimanual_gripper_vertical_difference": 0.12896000787583503, "task_success": 0.0 }, { "completion_time": 2.8049285411834717, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3814856913135928, "book-upper shelf": 0.2744662184517336, "book-lower shelf": 0.23174736657336242 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.774227838506266, "bimanual_gripper_vertical_difference": 0.12882277496762096, "task_success": 0.0 }, { "completion_time": 2.8350706100463867, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3939440693544426, "book-upper shelf": 0.26015066292226496, "book-lower shelf": 0.22844831475269542 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7665473116323922, "bimanual_gripper_vertical_difference": 0.12877477881547847, "task_success": 0.0 }, { "completion_time": 2.8658835887908936, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.40630063986013665, "book-upper shelf": 0.24521922476514452, "book-lower shelf": 0.225228165246399 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7607244698621902, "bimanual_gripper_vertical_difference": 0.12881091897974037, "task_success": 0.0 }, { "completion_time": 2.8975539207458496, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.41756101522495437, "book-upper shelf": 0.23060153050898102, "book-lower shelf": 0.22207542847970208 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7550210453725639, "bimanual_gripper_vertical_difference": 0.12892045808430413, "task_success": 0.0 }, { "completion_time": 2.9278578758239746, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.42533790024248075, "book-upper shelf": 0.21868897002680018, "book-lower shelf": 0.2186207279530521 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7481390822487175, "bimanual_gripper_vertical_difference": 0.12907507564719176, "task_success": 0.0 }, { "completion_time": 2.9579267501831055, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4289613696189146, "book-upper shelf": 0.20940899724718867, "book-lower shelf": 0.21355716494112506 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7407559525008667, "bimanual_gripper_vertical_difference": 0.12923818336774, "task_success": 0.0 }, { "completion_time": 2.989363431930542, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.42991641945627646, "book-upper shelf": 0.20189242551347475, "book-lower shelf": 0.20732920764004198 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7327923432200163, "bimanual_gripper_vertical_difference": 0.1293827701878705, "task_success": 0.0 }, { "completion_time": 3.0203471183776855, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4296526652843601, "book-upper shelf": 0.19558728327072603, "book-lower shelf": 0.20087147258010166 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7245352279396302, "bimanual_gripper_vertical_difference": 0.12949160646512517, "task_success": 0.0 }, { "completion_time": 3.05070161819458, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4305040008100983, "book-upper shelf": 0.1900012560562312, "book-lower shelf": 0.19650618463777766 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7105298794952586, "bimanual_gripper_vertical_difference": 0.12956614695399607, "task_success": 0.0 }, { "completion_time": 3.0820672512054443, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43086598302512014, "book-upper shelf": 0.18926369214289004, "book-lower shelf": 0.1962478193582867 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.697348415804107, "bimanual_gripper_vertical_difference": 0.12961186294833676, "task_success": 0.0 }, { "completion_time": 3.113476037979126, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4306691062694862, "book-upper shelf": 0.18833552806620033, "book-lower shelf": 0.1951045376540791 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6844473253024441, "bimanual_gripper_vertical_difference": 0.12963092788410557, "task_success": 0.0 }, { "completion_time": 3.144129514694214, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43085257834060287, "book-upper shelf": 0.18690122782677182, "book-lower shelf": 0.19395342035036078 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6734571954928197, "bimanual_gripper_vertical_difference": 0.12963559305463365, "task_success": 0.0 }, { "completion_time": 3.1764118671417236, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.431180322995527, "book-upper shelf": 0.18553127057261273, "book-lower shelf": 0.19305209275653873 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.661417453543194, "bimanual_gripper_vertical_difference": 0.12964408000068708, "task_success": 0.0 }, { "completion_time": 3.20778489112854, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43218729108169407, "book-upper shelf": 0.1841832550231012, "book-lower shelf": 0.1930456190157563 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6492623433300135, "bimanual_gripper_vertical_difference": 0.1296853074240538, "task_success": 0.0 }, { "completion_time": 3.2392866611480713, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.432069847384121, "book-upper shelf": 0.18416247101472968, "book-lower shelf": 0.19287591910808227 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6401934178840112, "bimanual_gripper_vertical_difference": 0.1297750315649005, "task_success": 0.0 }, { "completion_time": 3.270171642303467, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4314761438118614, "book-upper shelf": 0.18478288134381188, "book-lower shelf": 0.19271130832355893 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6339802347943362, "bimanual_gripper_vertical_difference": 0.12992237323926575, "task_success": 0.0 }, { "completion_time": 3.3017454147338867, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4303238553234904, "book-upper shelf": 0.1861033379997465, "book-lower shelf": 0.1925095921452352 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6275725766426798, "bimanual_gripper_vertical_difference": 0.13012325342569894, "task_success": 0.0 }, { "completion_time": 3.3328750133514404, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4291956947023229, "book-upper shelf": 0.1880643390557051, "book-lower shelf": 0.19297182069186494 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6177761422555794, "bimanual_gripper_vertical_difference": 0.1303620730528378, "task_success": 0.0 }, { "completion_time": 3.3628592491149902, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4197812119194245, "book-upper shelf": 0.19514722662818426, "book-lower shelf": 0.187926065200338 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6065665637802038, "bimanual_gripper_vertical_difference": 0.1306013814049388, "task_success": 0.0 }, { "completion_time": 3.393913507461548, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3957594795954772, "book-upper shelf": 0.21260711897920848, "book-lower shelf": 0.1749458513546746 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5967778907748895, "bimanual_gripper_vertical_difference": 0.13083819004130312, "task_success": 0.0 }, { "completion_time": 3.420245409011841, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.37163791659254575, "book-upper shelf": 0.22904866508425029, "book-lower shelf": 0.16121070426389492 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.58986461501232, "bimanual_gripper_vertical_difference": 0.13109293382621603, "task_success": 0.0 }, { "completion_time": 3.448206663131714, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": true }, "target_distance": { "book lift distance": 0.35835391157747043, "book-upper shelf": 0.23477705891664888, "book-lower shelf": 0.148674676160616 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.5871594433061553, "bimanual_gripper_vertical_difference": 0.1313010242936318, "task_success": 1.0 } ]