[ { "completion_time": 0.04803895950317383, "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": -0.0007754490233738975, "book-upper shelf": 0.5897791736942118, "book-lower shelf": 0.37144328294430734 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.921728049556151e-07, "bimanual_gripper_vertical_difference": 1.931155235723736e-10, "task_success": 0.0 }, { "completion_time": 0.07883405685424805, "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": 0.0007205961015936957, "book-upper shelf": 0.5884351256433985, "book-lower shelf": 0.37030158416088077 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.2044304624213584e-05, "bimanual_gripper_vertical_difference": 9.074333506831067e-10, "task_success": 0.0 }, { "completion_time": 0.11014413833618164, "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": 0.0007481151454834523, "book-upper shelf": 0.5884088131800587, "book-lower shelf": 0.3702780702690788 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4731461779327049e-05, "bimanual_gripper_vertical_difference": 1.400093670630061e-09, "task_success": 0.0 }, { "completion_time": 0.14189910888671875, "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": 0.0007772718454549521, "book-upper shelf": 0.5883879246866308, "book-lower shelf": 0.3702642651244319 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.106698506335782e-05, "bimanual_gripper_vertical_difference": 2.075489446973222e-09, "task_success": 0.0 }, { "completion_time": 0.1726241111755371, "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": 0.0007698492088401565, "book-upper shelf": 0.5883928704897066, "book-lower shelf": 0.3702671884961174 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00010677136221218484, "bimanual_gripper_vertical_difference": 1.9882343771371324e-09, "task_success": 0.0 }, { "completion_time": 0.20408344268798828, "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": 0.0007570988765188691, "book-upper shelf": 0.5884026913303447, "book-lower shelf": 0.37027431601092536 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00019402640602992632, "bimanual_gripper_vertical_difference": 2.336162115608905e-09, "task_success": 0.0 }, { "completion_time": 0.23514151573181152, "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": 0.0007540714106867297, "book-upper shelf": 0.5884101230876754, "book-lower shelf": 0.37028411255287946 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0003842123318696529, "bimanual_gripper_vertical_difference": 2.972421705596925e-09, "task_success": 0.0 }, { "completion_time": 0.2665870189666748, "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": 0.0007438230858443085, "book-upper shelf": 0.5884196732055773, "book-lower shelf": 0.370292473708043 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0006384621744416292, "bimanual_gripper_vertical_difference": 3.2319328047147877e-09, "task_success": 0.0 }, { "completion_time": 0.29723191261291504, "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": 0.0007692921298528832, "book-upper shelf": 0.5883996471625291, "book-lower shelf": 0.3702775867928613 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0006564300065084979, "bimanual_gripper_vertical_difference": 3.946035893104888e-09, "task_success": 0.0 }, { "completion_time": 0.3287320137023926, "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": 0.0007602641703017277, "book-upper shelf": 0.5884067204937588, "book-lower shelf": 0.37028282353318226 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0005911698338984899, "bimanual_gripper_vertical_difference": 4.49044958994449e-09, "task_success": 0.0 }, { "completion_time": 0.3626236915588379, "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": 0.0007544380320403388, "book-upper shelf": 0.5884144070162509, "book-lower shelf": 0.37029116379410343 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.000572546407353839, "bimanual_gripper_vertical_difference": 5.0844092572529835e-09, "task_success": 0.0 }, { "completion_time": 0.39321255683898926, "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": 0.0007717613356904574, "book-upper shelf": 0.5884017236776174, "book-lower shelf": 0.37028252846625004 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0005248624662506882, "bimanual_gripper_vertical_difference": 5.6712372205799016e-09, "task_success": 0.0 }, { "completion_time": 0.42447519302368164, "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": 0.0007575137871481674, "book-upper shelf": 0.5884122123530984, "book-lower shelf": 0.3702897215715991 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.04533695482062747, "bimanual_gripper_vertical_difference": 0.00024725172267206285, "task_success": 0.0 }, { "completion_time": 0.45505666732788086, "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": 0.0007573539635057358, "book-upper shelf": 0.5884120353820251, "book-lower shelf": 0.3702893340788656 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.16100440606272878, "bimanual_gripper_vertical_difference": 0.0010162600013978254, "task_success": 0.0 }, { "completion_time": 0.4863100051879883, "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": 0.0007453503133211248, "book-upper shelf": 0.588422604816306, "book-lower shelf": 0.37029814772887965 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.30239804968850675, "bimanual_gripper_vertical_difference": 0.0026306576583125037, "task_success": 0.0 }, { "completion_time": 0.5174932479858398, "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": 0.0007422693505146905, "book-upper shelf": 0.5884267345602024, "book-lower shelf": 0.37030266145098795 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.42402126715546196, "bimanual_gripper_vertical_difference": 0.0054440489324937835, "task_success": 0.0 }, { "completion_time": 0.5478801727294922, "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": 0.0007652414781114114, "book-upper shelf": 0.5884123085288402, "book-lower shelf": 0.37029501290855876 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5344118813295473, "bimanual_gripper_vertical_difference": 0.009759317626074012, "task_success": 0.0 }, { "completion_time": 0.5795865058898926, "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": 0.0007535171556047882, "book-upper shelf": 0.5884218844688499, "book-lower shelf": 0.3703024334729361 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6334305663535498, "bimanual_gripper_vertical_difference": 0.015797626626203203, "task_success": 0.0 }, { "completion_time": 0.6111061573028564, "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": 0.0007488339041675784, "book-upper shelf": 0.5884263572109774, "book-lower shelf": 0.37030642677048087 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7150915651410767, "bimanual_gripper_vertical_difference": 0.023787040222931193, "task_success": 0.0 }, { "completion_time": 0.6418421268463135, "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": 0.0007707304881978683, "book-upper shelf": 0.588412263110325, "book-lower shelf": 0.37029859059728515 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7801057504537683, "bimanual_gripper_vertical_difference": 0.03367896964797246, "task_success": 0.0 }, { "completion_time": 0.6756575107574463, "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": 0.0007649844579658005, "book-upper shelf": 0.5884157693425138, "book-lower shelf": 0.3703003413421095 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7793107294661342, "bimanual_gripper_vertical_difference": 0.04417585204543607, "task_success": 0.0 }, { "completion_time": 0.7076694965362549, "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": 0.0007558289139715235, "book-upper shelf": 0.588422869440869, "book-lower shelf": 0.37030553576815006 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7608855093114945, "bimanual_gripper_vertical_difference": 0.05398151691979365, "task_success": 0.0 }, { "completion_time": 0.7382967472076416, "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": 0.0007502017010183604, "book-upper shelf": 0.588430469788289, "book-lower shelf": 0.3703138711873548 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7609835841695115, "bimanual_gripper_vertical_difference": 0.062270426748572805, "task_success": 0.0 }, { "completion_time": 0.7700550556182861, "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": 0.0007716501031161949, "book-upper shelf": 0.5884132405613731, "book-lower shelf": 0.3703007552679622 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7339423405292052, "bimanual_gripper_vertical_difference": 0.06959197391210172, "task_success": 0.0 }, { "completion_time": 0.8023087978363037, "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": 0.0007618646502358661, "book-upper shelf": 0.5884203490002546, "book-lower shelf": 0.3703055440516772 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.707516640481758, "bimanual_gripper_vertical_difference": 0.07620681377069494, "task_success": 0.0 }, { "completion_time": 0.833266019821167, "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": 0.000753047389846162, "book-upper shelf": 0.5884331897925837, "book-lower shelf": 0.3703200853686352 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6975481325341086, "bimanual_gripper_vertical_difference": 0.08225978859119823, "task_success": 0.0 }, { "completion_time": 0.865103006362915, "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": 0.0007489536305620437, "book-upper shelf": 0.5884323143857195, "book-lower shelf": 0.37031597240672454 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7153048960741896, "bimanual_gripper_vertical_difference": 0.08794516262556103, "task_success": 0.0 }, { "completion_time": 0.8968734741210938, "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": 0.000771402145014366, "book-upper shelf": 0.5884207752269315, "book-lower shelf": 0.3703125629732038 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7482542857212685, "bimanual_gripper_vertical_difference": 0.09338412541254033, "task_success": 0.0 }, { "completion_time": 0.9282357692718506, "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": 0.0007619898408455228, "book-upper shelf": 0.5884275086443228, "book-lower shelf": 0.37031700395378464 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7886137299099283, "bimanual_gripper_vertical_difference": 0.09858881244773139, "task_success": 0.0 }, { "completion_time": 0.9597153663635254, "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": 0.0007556954868398469, "book-upper shelf": 0.5884343858266485, "book-lower shelf": 0.37032374654686256 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8342213225896361, "bimanual_gripper_vertical_difference": 0.10354649187149043, "task_success": 0.0 }, { "completion_time": 0.9903123378753662, "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": 0.000750019198418328, "book-upper shelf": 0.5884396911680843, "book-lower shelf": 0.37032840248498855 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8597698186445781, "bimanual_gripper_vertical_difference": 0.10823347785843587, "task_success": 0.0 }, { "completion_time": 1.020911693572998, "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": 0.0007668447496022024, "book-upper shelf": 0.5884267566951321, "book-lower shelf": 0.3703190371591862 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.862176077779086, "bimanual_gripper_vertical_difference": 0.1126527192431488, "task_success": 0.0 }, { "completion_time": 1.0531291961669922, "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": 0.0007636649703142151, "book-upper shelf": 0.5884293430177466, "book-lower shelf": 0.37032103252413934 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8519236862176162, "bimanual_gripper_vertical_difference": 0.11678320966958723, "task_success": 0.0 }, { "completion_time": 1.0844323635101318, "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": 0.0007486068631563647, "book-upper shelf": 0.588442706214573, "book-lower shelf": 0.37033225424978217 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8313309990904534, "bimanual_gripper_vertical_difference": 0.12062204248564218, "task_success": 0.0 }, { "completion_time": 1.1160874366760254, "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": 0.0007351874251479984, "book-upper shelf": 0.588453226410025, "book-lower shelf": 0.37034004821343774 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.808466464491828, "bimanual_gripper_vertical_difference": 0.12424224759413803, "task_success": 0.0 }, { "completion_time": 1.1475698947906494, "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": 0.0007462923202823379, "book-upper shelf": 0.5884475761963861, "book-lower shelf": 0.3703384535466997 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7866116101941047, "bimanual_gripper_vertical_difference": 0.1276669164825442, "task_success": 0.0 }, { "completion_time": 1.1795742511749268, "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": 0.0007674929812457876, "book-upper shelf": 0.5884343242387884, "book-lower shelf": 0.37033149265460275 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7689698870056094, "bimanual_gripper_vertical_difference": 0.13091954667676667, "task_success": 0.0 }, { "completion_time": 1.2106246948242188, "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": 0.0007548880806693692, "book-upper shelf": 0.5884440043132658, "book-lower shelf": 0.37033849305518185 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7699203221019962, "bimanual_gripper_vertical_difference": 0.13405062083910302, "task_success": 0.0 }, { "completion_time": 1.2422292232513428, "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": 0.0007552369209735676, "book-upper shelf": 0.5884446214215261, "book-lower shelf": 0.37033970553058815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7767364153212455, "bimanual_gripper_vertical_difference": 0.13713438878441972, "task_success": 0.0 }, { "completion_time": 1.2746732234954834, "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": 0.0007450396925663405, "book-upper shelf": 0.588454123719675, "book-lower shelf": 0.3703480243097467 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7799438206222996, "bimanual_gripper_vertical_difference": 0.14019965695271114, "task_success": 0.0 }, { "completion_time": 1.3079988956451416, "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": 0.0007705791102996518, "book-upper shelf": 0.5884340288801275, "book-lower shelf": 0.3703330752414296 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7806535768264904, "bimanual_gripper_vertical_difference": 0.14323782265941248, "task_success": 0.0 }, { "completion_time": 1.3398137092590332, "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": 0.0007615438660846241, "book-upper shelf": 0.588441111286534, "book-lower shelf": 0.37033832143028816 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7784982639480686, "bimanual_gripper_vertical_difference": 0.1462123338337922, "task_success": 0.0 }, { "completion_time": 1.3741788864135742, "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": 0.0007477391424197677, "book-upper shelf": 0.5884542572419618, "book-lower shelf": 0.37035003118362 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7725787461007163, "bimanual_gripper_vertical_difference": 0.14909144381786144, "task_success": 0.0 }, { "completion_time": 1.4061636924743652, "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": 0.0007468624149606917, "book-upper shelf": 0.588456002384141, "book-lower shelf": 0.37035222117466393 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.768599558779515, "bimanual_gripper_vertical_difference": 0.151863177013299, "task_success": 0.0 }, { "completion_time": 1.4376287460327148, "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": 0.0007635443455744628, "book-upper shelf": 0.5884433292388402, "book-lower shelf": 0.37034317562159136 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.762624379759811, "bimanual_gripper_vertical_difference": 0.15453928053096624, "task_success": 0.0 }, { "completion_time": 1.46907377243042, "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": 0.0007589444224788133, "book-upper shelf": 0.5884471679189126, "book-lower shelf": 0.3703462166722653 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7545992061885649, "bimanual_gripper_vertical_difference": 0.1571559009413038, "task_success": 0.0 }, { "completion_time": 1.5002689361572266, "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": 0.0007514181321371938, "book-upper shelf": 0.5884535998643097, "book-lower shelf": 0.37035143261943315 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7475079597173783, "bimanual_gripper_vertical_difference": 0.15971849573814734, "task_success": 0.0 }, { "completion_time": 1.5322697162628174, "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": 0.0007170345956093449, "book-upper shelf": 0.588512733073302, "book-lower shelf": 0.3704225280229123 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.739894101527078, "bimanual_gripper_vertical_difference": 0.16217806382556407, "task_success": 0.0 }, { "completion_time": 1.563147783279419, "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": 0.00041268340864719644, "book-upper shelf": 0.5891192314734456, "book-lower shelf": 0.37118351718209375 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7329207661238355, "bimanual_gripper_vertical_difference": 0.16454612740936328, "task_success": 0.0 }, { "completion_time": 1.5944232940673828, "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": 0.0007611316126222567, "book-upper shelf": 0.5890265549417874, "book-lower shelf": 0.37126757235186275 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7274120027678179, "bimanual_gripper_vertical_difference": 0.16682605845596438, "task_success": 0.0 }, { "completion_time": 1.6258246898651123, "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": 0.0009122322368412261, "book-upper shelf": 0.5896164147533206, "book-lower shelf": 0.37230263751716663 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7217856844815222, "bimanual_gripper_vertical_difference": 0.16902764498615547, "task_success": 0.0 }, { "completion_time": 1.656585931777954, "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": 0.0008963004928652651, "book-upper shelf": 0.5906585915696649, "book-lower shelf": 0.37394045456922215 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7167935950069745, "bimanual_gripper_vertical_difference": 0.17113397997865307, "task_success": 0.0 }, { "completion_time": 1.687122106552124, "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": 0.0012624639957237171, "book-upper shelf": 0.5920753915151816, "book-lower shelf": 0.3764139718751091 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.709676784222808, "bimanual_gripper_vertical_difference": 0.17314838840266727, "task_success": 0.0 }, { "completion_time": 1.7173149585723877, "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": 0.0015817852130337595, "book-upper shelf": 0.593765744450205, "book-lower shelf": 0.3792745944570305 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7008159818220631, "bimanual_gripper_vertical_difference": 0.17504675354614813, "task_success": 0.0 }, { "completion_time": 1.7478041648864746, "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": 0.0014001319014157465, "book-upper shelf": 0.5950872531496869, "book-lower shelf": 0.3812228251379761 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6891844160176942, "bimanual_gripper_vertical_difference": 0.17681367682216068, "task_success": 0.0 }, { "completion_time": 1.7779076099395752, "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": 0.0010790306445603859, "book-upper shelf": 0.5960457981310356, "book-lower shelf": 0.38251074586347594 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6772718684185406, "bimanual_gripper_vertical_difference": 0.1784626027878887, "task_success": 0.0 }, { "completion_time": 1.8083710670471191, "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": 0.0011312880668365999, "book-upper shelf": 0.5968414128810806, "book-lower shelf": 0.383782859868434 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6806035857942802, "bimanual_gripper_vertical_difference": 0.1800383609163326, "task_success": 0.0 }, { "completion_time": 1.8392198085784912, "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": 0.0010717942295938032, "book-upper shelf": 0.5976979069964685, "book-lower shelf": 0.3850754493430949 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6914391789216251, "bimanual_gripper_vertical_difference": 0.1816910437863692, "task_success": 0.0 }, { "completion_time": 1.869844675064087, "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": 0.001167782077004187, "book-upper shelf": 0.5984180949128464, "book-lower shelf": 0.386253542628796 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7069292853067884, "bimanual_gripper_vertical_difference": 0.1834865054125052, "task_success": 0.0 }, { "completion_time": 1.8997392654418945, "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": 0.0012355862951627383, "book-upper shelf": 0.5995972807159848, "book-lower shelf": 0.3881209503535371 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.722176558085791, "bimanual_gripper_vertical_difference": 0.18537735882433362, "task_success": 0.0 }, { "completion_time": 1.9315226078033447, "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": 0.0012639630638848764, "book-upper shelf": 0.6012540810954552, "book-lower shelf": 0.39069350805330033 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7182704435662646, "bimanual_gripper_vertical_difference": 0.18727344897630666, "task_success": 0.0 }, { "completion_time": 1.9625568389892578, "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": 0.001368540916959926, "book-upper shelf": 0.6032624367414973, "book-lower shelf": 0.3938426261185681 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7070298297584307, "bimanual_gripper_vertical_difference": 0.18909939784487168, "task_success": 0.0 }, { "completion_time": 1.9929656982421875, "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": 0.0008824039395090022, "book-upper shelf": 0.6053664879420296, "book-lower shelf": 0.39675639016146846 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7059185603904655, "bimanual_gripper_vertical_difference": 0.1908159394347088, "task_success": 0.0 }, { "completion_time": 2.022805690765381, "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": 0.0009886896169959414, "book-upper shelf": 0.6063756599352734, "book-lower shelf": 0.39836017591419337 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7151979424203501, "bimanual_gripper_vertical_difference": 0.19239556608647984, "task_success": 0.0 }, { "completion_time": 2.053786277770996, "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": 0.0008281024862895059, "book-upper shelf": 0.6071047063236439, "book-lower shelf": 0.39937004406995014 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7190368979488339, "bimanual_gripper_vertical_difference": 0.1938249463573601, "task_success": 0.0 }, { "completion_time": 2.084773540496826, "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": 0.00028981005692829687, "book-upper shelf": 0.6077544815569976, "book-lower shelf": 0.40002591841842955 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7167093693608839, "bimanual_gripper_vertical_difference": 0.19511290124181882, "task_success": 0.0 }, { "completion_time": 2.1159610748291016, "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": 0.0008062968983697516, "book-upper shelf": 0.6072624376559554, "book-lower shelf": 0.3995963434345002 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.709412189962986, "bimanual_gripper_vertical_difference": 0.19629232490295206, "task_success": 0.0 }, { "completion_time": 2.14599609375, "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": 0.000730991393181335, "book-upper shelf": 0.6073408547174264, "book-lower shelf": 0.3996691120305897 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7002620924977356, "bimanual_gripper_vertical_difference": 0.19741241886691724, "task_success": 0.0 }, { "completion_time": 2.1783268451690674, "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": 0.000737622357472989, "book-upper shelf": 0.6073413703686124, "book-lower shelf": 0.39967398074181404 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6910089384157382, "bimanual_gripper_vertical_difference": 0.19847580268872356, "task_success": 0.0 }, { "completion_time": 2.210312843322754, "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": 0.0007363534904694102, "book-upper shelf": 0.6073406537771734, "book-lower shelf": 0.39967211010741527 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6832112403887122, "bimanual_gripper_vertical_difference": 0.19947689548755496, "task_success": 0.0 }, { "completion_time": 2.241672992706299, "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": 0.0007395797041650498, "book-upper shelf": 0.6073406965871774, "book-lower shelf": 0.39967416272153256 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6837115292922932, "bimanual_gripper_vertical_difference": 0.20040752617568725, "task_success": 0.0 }, { "completion_time": 2.277033567428589, "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": 0.000740484940238817, "book-upper shelf": 0.6073362827480207, "book-lower shelf": 0.39966801315823036 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6916256102951706, "bimanual_gripper_vertical_difference": 0.201244455273795, "task_success": 0.0 }, { "completion_time": 2.309685707092285, "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": 0.0007400386650001645, "book-upper shelf": 0.6073346493718571, "book-lower shelf": 0.3996652561320029 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6980686470128528, "bimanual_gripper_vertical_difference": 0.20196118109580943, "task_success": 0.0 }, { "completion_time": 2.342076539993286, "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": 0.0007424940772808863, "book-upper shelf": 0.6073373974709632, "book-lower shelf": 0.3996709448608947 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6967845914878079, "bimanual_gripper_vertical_difference": 0.2025784342362674, "task_success": 0.0 }, { "completion_time": 2.376417636871338, "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": 0.0007434003156731039, "book-upper shelf": 0.6073374666174033, "book-lower shelf": 0.3996716082404884 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6890610882294589, "bimanual_gripper_vertical_difference": 0.20314610403471148, "task_success": 0.0 }, { "completion_time": 2.4085581302642822, "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": 0.0007423803783519478, "book-upper shelf": 0.6073326012057094, "book-lower shelf": 0.3996635864016806 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6826060649966997, "bimanual_gripper_vertical_difference": 0.20370250950524385, "task_success": 0.0 }, { "completion_time": 2.4403738975524902, "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": 0.0007440337900169736, "book-upper shelf": 0.6073333803863876, "book-lower shelf": 0.3996657890816894 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6783827777850364, "bimanual_gripper_vertical_difference": 0.20427092561291496, "task_success": 0.0 }, { "completion_time": 2.4725518226623535, "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": 0.0007442210124866122, "book-upper shelf": 0.607330588214447, "book-lower shelf": 0.3996616614204369 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6740876780242361, "bimanual_gripper_vertical_difference": 0.20487859010271128, "task_success": 0.0 }, { "completion_time": 2.5036070346832275, "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": 0.0007455107984861709, "book-upper shelf": 0.6073309254927973, "book-lower shelf": 0.39966296856662803 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6701770719707363, "bimanual_gripper_vertical_difference": 0.2055541326054894, "task_success": 0.0 }, { "completion_time": 2.534700870513916, "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": 0.0007478852266408209, "book-upper shelf": 0.6073300689178208, "book-lower shelf": 0.3996631297510677 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6672671015841515, "bimanual_gripper_vertical_difference": 0.2063188249831222, "task_success": 0.0 }, { "completion_time": 2.5689899921417236, "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": 0.0007488321558539734, "book-upper shelf": 0.6073301096281885, "book-lower shelf": 0.3996637749996505 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6642790042093677, "bimanual_gripper_vertical_difference": 0.20716602015349622, "task_success": 0.0 }, { "completion_time": 2.6016225814819336, "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": 0.0007477087403687799, "book-upper shelf": 0.6073290195668027, "book-lower shelf": 0.39966142641991764 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6607647592476152, "bimanual_gripper_vertical_difference": 0.2079934605980204, "task_success": 0.0 }, { "completion_time": 2.6332104206085205, "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": 0.000749564540808656, "book-upper shelf": 0.6073279276864466, "book-lower shelf": 0.3996609105189894 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6591493636289748, "bimanual_gripper_vertical_difference": 0.2088011787445233, "task_success": 0.0 }, { "completion_time": 2.665400981903076, "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": 0.0007511130298026858, "book-upper shelf": 0.6073263087160373, "book-lower shelf": 0.399659404319484 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6575290312025833, "bimanual_gripper_vertical_difference": 0.2095926556893442, "task_success": 0.0 }, { "completion_time": 2.698542356491089, "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": 0.000750549342987461, "book-upper shelf": 0.6073254779505309, "book-lower shelf": 0.39965779459761136 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6534005350452151, "bimanual_gripper_vertical_difference": 0.2103728544067206, "task_success": 0.0 }, { "completion_time": 2.731116533279419, "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": 0.0007526144131064783, "book-upper shelf": 0.6073250669523603, "book-lower shelf": 0.3996584423069934 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6484214317213599, "bimanual_gripper_vertical_difference": 0.2111435574187295, "task_success": 0.0 }, { "completion_time": 2.7625224590301514, "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": 0.0007535315479946236, "book-upper shelf": 0.6073251184883399, "book-lower shelf": 0.3996590856574065 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.642342801370624, "bimanual_gripper_vertical_difference": 0.21190463002615711, "task_success": 0.0 }, { "completion_time": 2.793210506439209, "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": 0.0007528345352273424, "book-upper shelf": 0.6073234349402982, "book-lower shelf": 0.39965609789590867 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6373060872335234, "bimanual_gripper_vertical_difference": 0.21265538283544236, "task_success": 0.0 }, { "completion_time": 2.8241493701934814, "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": 0.0007550696835020299, "book-upper shelf": 0.6073220543675277, "book-lower shelf": 0.39965537701582504 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6346688339685288, "bimanual_gripper_vertical_difference": 0.21339296907489338, "task_success": 0.0 }, { "completion_time": 2.8543131351470947, "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": 0.0007550454516964678, "book-upper shelf": 0.6073201279872881, "book-lower shelf": 0.3996524347254877 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6336958431191894, "bimanual_gripper_vertical_difference": 0.21411071425939232, "task_success": 0.0 }, { "completion_time": 2.883707284927368, "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": 0.0008080661103390119, "book-upper shelf": 0.6079433815878271, "book-lower shelf": 0.4006314964693173 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6302826440191579, "bimanual_gripper_vertical_difference": 0.21479559925789402, "task_success": 0.0 }, { "completion_time": 2.913090229034424, "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": 0.0006373331452987907, "book-upper shelf": 0.6095379339653169, "book-lower shelf": 0.4029427456116692 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6241594377397539, "bimanual_gripper_vertical_difference": 0.21545852991251255, "task_success": 0.0 }, { "completion_time": 2.9425227642059326, "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": 0.0007823933358269697, "book-upper shelf": 0.6100561821706303, "book-lower shelf": 0.4038147391980985 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6178196192867278, "bimanual_gripper_vertical_difference": 0.21611871684761558, "task_success": 0.0 }, { "completion_time": 2.9717671871185303, "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": -6.076502529839267e-05, "book-upper shelf": 0.6114727300532247, "book-lower shelf": 0.40543986539781157 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6120661520315206, "bimanual_gripper_vertical_difference": 0.21678668690226355, "task_success": 0.0 }, { "completion_time": 3.0011749267578125, "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": 0.000615569602685162, "book-upper shelf": 0.6107706277870567, "book-lower shelf": 0.4047918052644145 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6061738195548668, "bimanual_gripper_vertical_difference": 0.21744954860284832, "task_success": 0.0 }, { "completion_time": 3.030571460723877, "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": 0.0006425100715750087, "book-upper shelf": 0.610646969422424, "book-lower shelf": 0.40462159351731736 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.599961950625084, "bimanual_gripper_vertical_difference": 0.21809985713742738, "task_success": 0.0 }, { "completion_time": 3.0605251789093018, "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": 0.0006734878284665458, "book-upper shelf": 0.6104721796277653, "book-lower shelf": 0.4043766187250725 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5938883843566446, "bimanual_gripper_vertical_difference": 0.21872594923364133, "task_success": 0.0 }, { "completion_time": 3.09043550491333, "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": 0.0003135519789910779, "book-upper shelf": 0.6106449763952211, "book-lower shelf": 0.4044183532681299 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.590519601375138, "bimanual_gripper_vertical_difference": 0.21931077778532168, "task_success": 0.0 }, { "completion_time": 3.120654344558716, "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": 0.00021353479226793315, "book-upper shelf": 0.6107434760846592, "book-lower shelf": 0.40450618954457424 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5960129252811217, "bimanual_gripper_vertical_difference": 0.21984212059902855, "task_success": 0.0 }, { "completion_time": 3.151085138320923, "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": 0.0005314412515921019, "book-upper shelf": 0.6104769702122402, "book-lower shelf": 0.4042973509620676 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.609329060421832, "bimanual_gripper_vertical_difference": 0.2203071775022972, "task_success": 0.0 }, { "completion_time": 3.184033155441284, "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": 0.0006884398493790522, "book-upper shelf": 0.6103146659949534, "book-lower shelf": 0.40414789659635836 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6261346837277336, "bimanual_gripper_vertical_difference": 0.22069768083536942, "task_success": 0.0 }, { "completion_time": 3.214604139328003, "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": 0.00018373297646634423, "book-upper shelf": 0.6107696587577279, "book-lower shelf": 0.404527581204017 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6444949299302432, "bimanual_gripper_vertical_difference": 0.22102926183203914, "task_success": 0.0 }, { "completion_time": 3.2453339099884033, "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": 0.000712410898545679, "book-upper shelf": 0.6103151171442666, "book-lower shelf": 0.40416318183709393 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6632200963976531, "bimanual_gripper_vertical_difference": 0.22132256055792718, "task_success": 0.0 }, { "completion_time": 3.2754735946655273, "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": 0.0006793028105429588, "book-upper shelf": 0.6103273651519567, "book-lower shelf": 0.40416150721375593 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6807249535929197, "bimanual_gripper_vertical_difference": 0.22157392475415544, "task_success": 0.0 }, { "completion_time": 3.3059303760528564, "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": 0.0005844361944914445, "book-upper shelf": 0.6104277655700746, "book-lower shelf": 0.40425532918425816 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6913361643132047, "bimanual_gripper_vertical_difference": 0.22177314018208083, "task_success": 0.0 }, { "completion_time": 3.336254835128784, "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": 0.00037427248133126145, "book-upper shelf": 0.6106454013614016, "book-lower shelf": 0.4044559621003514 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6944556571190297, "bimanual_gripper_vertical_difference": 0.2219239041344613, "task_success": 0.0 }, { "completion_time": 3.369255304336548, "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": 0.0006854437580159356, "book-upper shelf": 0.6103504472926408, "book-lower shelf": 0.40420010376033744 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6957122899888813, "bimanual_gripper_vertical_difference": 0.2220215077200812, "task_success": 0.0 }, { "completion_time": 3.399167537689209, "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": 0.0006910508067757837, "book-upper shelf": 0.6103521386569201, "book-lower shelf": 0.404206073338554 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6960489970836063, "bimanual_gripper_vertical_difference": 0.22206327237714257, "task_success": 0.0 }, { "completion_time": 3.429414987564087, "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": 0.0007064095461986053, "book-upper shelf": 0.6103355506289458, "book-lower shelf": 0.4041903812975341 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6940605919729713, "bimanual_gripper_vertical_difference": 0.22206770765463318, "task_success": 0.0 }, { "completion_time": 3.459365129470825, "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": 0.0006861238965912841, "book-upper shelf": 0.6103544367427157, "book-lower shelf": 0.4042065421975496 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6899066429555902, "bimanual_gripper_vertical_difference": 0.2220495384872143, "task_success": 0.0 }, { "completion_time": 3.489804267883301, "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": 0.0005218117901509833, "book-upper shelf": 0.6105051319084276, "book-lower shelf": 0.40433400907378503 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6868324757894042, "bimanual_gripper_vertical_difference": 0.22201280063457107, "task_success": 0.0 }, { "completion_time": 3.5196359157562256, "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": 0.0006521325767747665, "book-upper shelf": 0.6104030840763512, "book-lower shelf": 0.4042592934346692 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6825313179040673, "bimanual_gripper_vertical_difference": 0.22197265579692335, "task_success": 0.0 }, { "completion_time": 3.549774408340454, "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": 6.717030700453819e-05, "book-upper shelf": 0.6109205916293577, "book-lower shelf": 0.40468451401809585 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6767336118562101, "bimanual_gripper_vertical_difference": 0.22194468411743448, "task_success": 0.0 }, { "completion_time": 3.579573154449463, "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": 0.0006490121392911385, "book-upper shelf": 0.6104362947457436, "book-lower shelf": 0.40430753710740297 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6708595741817525, "bimanual_gripper_vertical_difference": 0.22191730305249935, "task_success": 0.0 }, { "completion_time": 3.6094861030578613, "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": 0.0007142103703268177, "book-upper shelf": 0.6103619097429416, "book-lower shelf": 0.4042349346021338 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6650500618869376, "bimanual_gripper_vertical_difference": 0.22188739346617253, "task_success": 0.0 }, { "completion_time": 3.6392970085144043, "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": 0.0005868041287746539, "book-upper shelf": 0.6105076150183728, "book-lower shelf": 0.40437733403302384 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6593545970649748, "bimanual_gripper_vertical_difference": 0.2218560820302054, "task_success": 0.0 }, { "completion_time": 3.669227123260498, "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": 0.0007194356338954266, "book-upper shelf": 0.6103541031727016, "book-lower shelf": 0.4042263300782518 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6537746412186916, "bimanual_gripper_vertical_difference": 0.22182409603343745, "task_success": 0.0 }, { "completion_time": 3.6990368366241455, "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": 0.0005276456632860027, "book-upper shelf": 0.6105726331669714, "book-lower shelf": 0.4044394739270894 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6482487667244226, "bimanual_gripper_vertical_difference": 0.22179189340284952, "task_success": 0.0 }, { "completion_time": 3.7290561199188232, "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": 0.0006439293515676514, "book-upper shelf": 0.610437400741311, "book-lower shelf": 0.4043061115342446 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6428103847053126, "bimanual_gripper_vertical_difference": 0.22175975481156762, "task_success": 0.0 }, { "completion_time": 3.7590606212615967, "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": 0.000551317814422192, "book-upper shelf": 0.6105295780255597, "book-lower shelf": 0.4043888854714478 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6374662268467282, "bimanual_gripper_vertical_difference": 0.22172762161149417, "task_success": 0.0 }, { "completion_time": 3.791273832321167, "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": 0.0002822842730378916, "book-upper shelf": 0.6108330862216506, "book-lower shelf": 0.4046833066790515 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.632949470385703, "bimanual_gripper_vertical_difference": 0.22170221319838743, "task_success": 0.0 }, { "completion_time": 3.8211042881011963, "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": 0.0004511180738436815, "book-upper shelf": 0.610634064609236, "book-lower shelf": 0.4044856271214529 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6308061795195314, "bimanual_gripper_vertical_difference": 0.2216925805089019, "task_success": 0.0 }, { "completion_time": 3.8512096405029297, "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": 0.0005531861102684443, "book-upper shelf": 0.6105673069898782, "book-lower shelf": 0.40444698225593323 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6312404854072703, "bimanual_gripper_vertical_difference": 0.22170651237482986, "task_success": 0.0 }, { "completion_time": 3.8809239864349365, "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": 0.0005501777430509946, "book-upper shelf": 0.6105681725581883, "book-lower shelf": 0.4044464574720266 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6327558917782125, "bimanual_gripper_vertical_difference": 0.22174411330376195, "task_success": 0.0 }, { "completion_time": 3.910997152328491, "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": 0.0006789537331866047, "book-upper shelf": 0.6105144479043847, "book-lower shelf": 0.40444375437978636 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6358559428411773, "bimanual_gripper_vertical_difference": 0.22179470583179645, "task_success": 0.0 }, { "completion_time": 3.940664052963257, "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": 0.0006898614817990589, "book-upper shelf": 0.6104331696015833, "book-lower shelf": 0.4043276955978261 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6417014757378522, "bimanual_gripper_vertical_difference": 0.2218389286406014, "task_success": 0.0 }, { "completion_time": 3.970829486846924, "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": 0.0005941727686401554, "book-upper shelf": 0.6105321505462116, "book-lower shelf": 0.4044188618518049 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6493263769036234, "bimanual_gripper_vertical_difference": 0.22187040213828288, "task_success": 0.0 }, { "completion_time": 4.000470876693726, "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": 0.00020681365288233167, "book-upper shelf": 0.6108771747496875, "book-lower shelf": 0.4047039369773612 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6572284405819955, "bimanual_gripper_vertical_difference": 0.22189579760969577, "task_success": 0.0 }, { "completion_time": 4.030412912368774, "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": 0.0006937953612208281, "book-upper shelf": 0.6105243638013929, "book-lower shelf": 0.40446775756742975 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6638519606077836, "bimanual_gripper_vertical_difference": 0.22191952695309766, "task_success": 0.0 }, { "completion_time": 4.0600903034210205, "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": 0.0006991286914004302, "book-upper shelf": 0.6104425772659781, "book-lower shelf": 0.404347541916728 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6709109837688597, "bimanual_gripper_vertical_difference": 0.22194416956693405, "task_success": 0.0 }, { "completion_time": 4.089876174926758, "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": 0.0007143983012505295, "book-upper shelf": 0.6104612930702632, "book-lower shelf": 0.40438509415078777 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6798616923420373, "bimanual_gripper_vertical_difference": 0.22197341144767957, "task_success": 0.0 }, { "completion_time": 4.119691610336304, "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": 0.000710226798675273, "book-upper shelf": 0.6104623990642928, "book-lower shelf": 0.40438422378873434 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.687982109089666, "bimanual_gripper_vertical_difference": 0.2220135270935169, "task_success": 0.0 }, { "completion_time": 4.149645566940308, "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": 0.0007061809013738651, "book-upper shelf": 0.6104693131799137, "book-lower shelf": 0.404392197884825 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.695897126047145, "bimanual_gripper_vertical_difference": 0.2220705173164596, "task_success": 0.0 }, { "completion_time": 4.1794304847717285, "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": 0.0007044510930334091, "book-upper shelf": 0.6104529773880286, "book-lower shelf": 0.4043664836921546 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7030391906424236, "bimanual_gripper_vertical_difference": 0.22214904811151717, "task_success": 0.0 }, { "completion_time": 4.209614992141724, "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": 0.0002526569734836448, "book-upper shelf": 0.6109286124621576, "book-lower shelf": 0.4048094601697575 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.70726745233232, "bimanual_gripper_vertical_difference": 0.22224808038030192, "task_success": 0.0 }, { "completion_time": 4.239150762557983, "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": 0.0004729946242360006, "book-upper shelf": 0.6107254796568696, "book-lower shelf": 0.404636931453331 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7085338551935569, "bimanual_gripper_vertical_difference": 0.2223669080903034, "task_success": 0.0 }, { "completion_time": 4.269073486328125, "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": 0.00045038885815440466, "book-upper shelf": 0.6107164601123013, "book-lower shelf": 0.4046095614743591 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7091071683543195, "bimanual_gripper_vertical_difference": 0.2225050182579183, "task_success": 0.0 }, { "completion_time": 4.298850059509277, "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": 0.0005348074259976521, "book-upper shelf": 0.6106259454042606, "book-lower shelf": 0.40452431287730783 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7104695292829272, "bimanual_gripper_vertical_difference": 0.22265325894755564, "task_success": 0.0 }, { "completion_time": 4.33141016960144, "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": 0.00037398565769442005, "book-upper shelf": 0.6107948140964004, "book-lower shelf": 0.4046813348246374 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7113825905225117, "bimanual_gripper_vertical_difference": 0.22280008006919177, "task_success": 0.0 }, { "completion_time": 4.361145496368408, "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": 0.0005218611318981159, "book-upper shelf": 0.6106599473805718, "book-lower shelf": 0.40456775753925234 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7131950773288597, "bimanual_gripper_vertical_difference": 0.22293525410767662, "task_success": 0.0 }, { "completion_time": 4.393373012542725, "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": 0.0006307657239136288, "book-upper shelf": 0.6105615786005507, "book-lower shelf": 0.4044855627026832 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7137315972547325, "bimanual_gripper_vertical_difference": 0.2230582423697953, "task_success": 0.0 }, { "completion_time": 4.423862457275391, "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": 0.0006439411983368837, "book-upper shelf": 0.6105495724556199, "book-lower shelf": 0.40447546014537744 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7156137989474336, "bimanual_gripper_vertical_difference": 0.22318373800988628, "task_success": 0.0 }, { "completion_time": 4.453944444656372, "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": 0.0006547792515144701, "book-upper shelf": 0.610535988759093, "book-lower shelf": 0.4044615534304747 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7224354624187951, "bimanual_gripper_vertical_difference": 0.22333038135762176, "task_success": 0.0 }, { "completion_time": 4.48380184173584, "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": 0.0006196351530534105, "book-upper shelf": 0.6105661128991179, "book-lower shelf": 0.40448563156537565 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7321173339775845, "bimanual_gripper_vertical_difference": 0.22351096690271458, "task_success": 0.0 }, { "completion_time": 4.514132261276245, "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": 0.0005676460390815485, "book-upper shelf": 0.6106356413452829, "book-lower shelf": 0.40455893558806916 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7440574389555256, "bimanual_gripper_vertical_difference": 0.22372565733799304, "task_success": 0.0 }, { "completion_time": 4.544188737869263, "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": 0.0006166197634944748, "book-upper shelf": 0.6106429992294852, "book-lower shelf": 0.4045998461461628 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7571290189382256, "bimanual_gripper_vertical_difference": 0.2239621621520799, "task_success": 0.0 }, { "completion_time": 4.574307441711426, "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": 0.0007080216976885767, "book-upper shelf": 0.6105667805475206, "book-lower shelf": 0.40454043973881165 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7637727050092566, "bimanual_gripper_vertical_difference": 0.22420364720725658, "task_success": 0.0 }, { "completion_time": 4.604345798492432, "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": 0.0007025105397179265, "book-upper shelf": 0.6105336859203383, "book-lower shelf": 0.40448713397294217 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7646288900155161, "bimanual_gripper_vertical_difference": 0.2244414366623462, "task_success": 0.0 }, { "completion_time": 4.633650064468384, "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": 0.00045877244034275844, "book-upper shelf": 0.610483995426141, "book-lower shelf": 0.4042637007583994 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7654868253933942, "bimanual_gripper_vertical_difference": 0.2246787804746388, "task_success": 0.0 }, { "completion_time": 4.664428949356079, "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": 0.0005925827981038134, "book-upper shelf": 0.6078305339438296, "book-lower shelf": 0.4003277207293788 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7659622096388812, "bimanual_gripper_vertical_difference": 0.22491031514309828, "task_success": 0.0 }, { "completion_time": 4.695139646530151, "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": 0.005252093842345151, "book-upper shelf": 0.6017101265663567, "book-lower shelf": 0.39389589818991994 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7626655012533604, "bimanual_gripper_vertical_difference": 0.22512356095257402, "task_success": 0.0 }, { "completion_time": 4.725689649581909, "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": 0.010427907951558901, "book-upper shelf": 0.5973261211591466, "book-lower shelf": 0.3904436282865087 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7585571290718581, "bimanual_gripper_vertical_difference": 0.22532487773886448, "task_success": 0.0 }, { "completion_time": 4.756754636764526, "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": 0.01244238015503174, "book-upper shelf": 0.5950094207756638, "book-lower shelf": 0.3881700265303693 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7589990278929494, "bimanual_gripper_vertical_difference": 0.22551689597619656, "task_success": 0.0 }, { "completion_time": 4.787380218505859, "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": 0.01836596986009975, "book-upper shelf": 0.5885688277263992, "book-lower shelf": 0.382060329528605 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7634963137057585, "bimanual_gripper_vertical_difference": 0.2256725618142193, "task_success": 0.0 }, { "completion_time": 4.8183393478393555, "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": 0.02075832060271099, "book-upper shelf": 0.5840871797509511, "book-lower shelf": 0.3766865767427336 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7660986879751696, "bimanual_gripper_vertical_difference": 0.22581054804132167, "task_success": 0.0 }, { "completion_time": 4.8488523960113525, "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": 0.02173450130534238, "book-upper shelf": 0.582703801953809, "book-lower shelf": 0.37517913660817687 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7623966380968736, "bimanual_gripper_vertical_difference": 0.22594205844569373, "task_success": 0.0 }, { "completion_time": 4.8793463706970215, "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": 0.02244863298988975, "book-upper shelf": 0.5829070696976477, "book-lower shelf": 0.3759627505290512 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7581672604475517, "bimanual_gripper_vertical_difference": 0.22606803723422284, "task_success": 0.0 }, { "completion_time": 4.9094154834747314, "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": 0.02457981452304414, "book-upper shelf": 0.5822298646100537, "book-lower shelf": 0.37630898669746865 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.753759247068649, "bimanual_gripper_vertical_difference": 0.2261795487080297, "task_success": 0.0 }, { "completion_time": 4.939889669418335, "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": 0.03192451853997991, "book-upper shelf": 0.5774467502752562, "book-lower shelf": 0.37373585205813875 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7501215323499298, "bimanual_gripper_vertical_difference": 0.22624550652301556, "task_success": 0.0 }, { "completion_time": 4.969935655593872, "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": 0.043269471366022105, "book-upper shelf": 0.5694151729626894, "book-lower shelf": 0.36885525469552355 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7468821232429474, "bimanual_gripper_vertical_difference": 0.2262478465177939, "task_success": 0.0 }, { "completion_time": 5.0016937255859375, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.05529028977075201, "book-upper shelf": 0.5614991937358046, "book-lower shelf": 0.3647212035130138 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7444298640887279, "bimanual_gripper_vertical_difference": 0.22618433871762733, "task_success": 0.0 }, { "completion_time": 5.032065153121948, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.06677852962669861, "book-upper shelf": 0.553983330742352, "book-lower shelf": 0.3609641618919063 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7423816470551301, "bimanual_gripper_vertical_difference": 0.22605977376904604, "task_success": 0.0 }, { "completion_time": 5.062187671661377, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.07753144161444936, "book-upper shelf": 0.5469659573436082, "book-lower shelf": 0.35758163462181364 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7405305677173054, "bimanual_gripper_vertical_difference": 0.22587836354525448, "task_success": 0.0 }, { "completion_time": 5.091916084289551, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.08849576540063253, "book-upper shelf": 0.5400778000417151, "book-lower shelf": 0.3546495146759058 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7393644296776216, "bimanual_gripper_vertical_difference": 0.22563991653368393, "task_success": 0.0 }, { "completion_time": 5.122051239013672, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.10103699558225698, "book-upper shelf": 0.5323570263042057, "book-lower shelf": 0.351670556637888 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7385250927696392, "bimanual_gripper_vertical_difference": 0.22534204158305027, "task_success": 0.0 }, { "completion_time": 5.151947498321533, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.11646030636169602, "book-upper shelf": 0.5220769380544877, "book-lower shelf": 0.3470269666388751 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7379887706956881, "bimanual_gripper_vertical_difference": 0.224970216343112, "task_success": 0.0 }, { "completion_time": 5.182325601577759, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.1352789086372238, "book-upper shelf": 0.5087757688161981, "book-lower shelf": 0.340563342022876 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7394717745402822, "bimanual_gripper_vertical_difference": 0.22450298491082593, "task_success": 0.0 }, { "completion_time": 5.212558031082153, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.15699367813554188, "book-upper shelf": 0.4935164427346142, "book-lower shelf": 0.33374020503874097 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7422400028689895, "bimanual_gripper_vertical_difference": 0.2239270385949027, "task_success": 0.0 }, { "completion_time": 5.243344068527222, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.18041341761006147, "book-upper shelf": 0.4774676144538027, "book-lower shelf": 0.3276162675135405 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7449814423176421, "bimanual_gripper_vertical_difference": 0.22323942905407296, "task_success": 0.0 }, { "completion_time": 5.273467779159546, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.20368263559649302, "book-upper shelf": 0.46201626970062293, "book-lower shelf": 0.3229164841350872 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7471388458006949, "bimanual_gripper_vertical_difference": 0.2224492420759254, "task_success": 0.0 }, { "completion_time": 5.303834438323975, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.22625100663068998, "book-upper shelf": 0.44726671076978686, "book-lower shelf": 0.31933889069587856 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7489632770762602, "bimanual_gripper_vertical_difference": 0.22156821708513166, "task_success": 0.0 }, { "completion_time": 5.336368560791016, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.24805458518423817, "book-upper shelf": 0.433078999576558, "book-lower shelf": 0.31658238841733605 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7492534528503103, "bimanual_gripper_vertical_difference": 0.2206099356598566, "task_success": 0.0 }, { "completion_time": 5.366582155227661, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2684699371665358, "book-upper shelf": 0.4197465326286272, "book-lower shelf": 0.3144959149112543 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7477155716807808, "bimanual_gripper_vertical_difference": 0.21959236081554145, "task_success": 0.0 }, { "completion_time": 5.396664142608643, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2872119562905654, "book-upper shelf": 0.4071923900989417, "book-lower shelf": 0.3126590454357274 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7451152860049769, "bimanual_gripper_vertical_difference": 0.21853037939256093, "task_success": 0.0 }, { "completion_time": 5.426772356033325, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3046567522313258, "book-upper shelf": 0.3954187435922659, "book-lower shelf": 0.31128236163239503 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.742523857801903, "bimanual_gripper_vertical_difference": 0.21743340040891548, "task_success": 0.0 }, { "completion_time": 5.456967353820801, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.32088426832964145, "book-upper shelf": 0.3856307692442122, "book-lower shelf": 0.3118381893727618 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7393333150308137, "bimanual_gripper_vertical_difference": 0.21629973682255976, "task_success": 0.0 }, { "completion_time": 5.487106561660767, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.33584646173237787, "book-upper shelf": 0.37629296873300716, "book-lower shelf": 0.3122442899483579 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7365186281429345, "bimanual_gripper_vertical_difference": 0.21512814290456278, "task_success": 0.0 }, { "completion_time": 5.517042636871338, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3492654798339677, "book-upper shelf": 0.3658420680683771, "book-lower shelf": 0.31040088998708176 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7360000236020611, "bimanual_gripper_vertical_difference": 0.21391988251855767, "task_success": 0.0 }, { "completion_time": 5.5472002029418945, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3612916063779824, "book-upper shelf": 0.35407101174417094, "book-lower shelf": 0.30626269948624735 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7363578215759525, "bimanual_gripper_vertical_difference": 0.21276708556519625, "task_success": 0.0 }, { "completion_time": 5.576974868774414, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3713868970502091, "book-upper shelf": 0.34116633831799353, "book-lower shelf": 0.2996605680104661 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7376700055206545, "bimanual_gripper_vertical_difference": 0.21166122325812395, "task_success": 0.0 }, { "completion_time": 5.608209848403931, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3792490100867839, "book-upper shelf": 0.32740292217919387, "book-lower shelf": 0.2906309629519653 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7392983410853996, "bimanual_gripper_vertical_difference": 0.21059431056575592, "task_success": 0.0 }, { "completion_time": 5.637477397918701, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3849278018414243, "book-upper shelf": 0.312933672911707, "book-lower shelf": 0.2792806613605681 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7403412285441767, "bimanual_gripper_vertical_difference": 0.20955694595507005, "task_success": 0.0 }, { "completion_time": 5.666980743408203, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38977313024969795, "book-upper shelf": 0.30046988842157046, "book-lower shelf": 0.26970064884083145 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7389705698045579, "bimanual_gripper_vertical_difference": 0.20854412137165787, "task_success": 0.0 }, { "completion_time": 5.696472883224487, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.39464637302470396, "book-upper shelf": 0.2900602144748869, "book-lower shelf": 0.26266145997707113 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7357045772757399, "bimanual_gripper_vertical_difference": 0.20755344359290895, "task_success": 0.0 }, { "completion_time": 5.725942373275757, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3996695242420395, "book-upper shelf": 0.2813340444197596, "book-lower shelf": 0.25783446219789313 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.731887952602762, "bimanual_gripper_vertical_difference": 0.206581432032154, "task_success": 0.0 }, { "completion_time": 5.755333423614502, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.40451185106752996, "book-upper shelf": 0.2737474701514534, "book-lower shelf": 0.25426766723531635 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7281353821102353, "bimanual_gripper_vertical_difference": 0.20562585232261035, "task_success": 0.0 }, { "completion_time": 5.784821271896362, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4085482992424284, "book-upper shelf": 0.2677906119002696, "book-lower shelf": 0.25182122608707724 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7246613768382425, "bimanual_gripper_vertical_difference": 0.2046836354917461, "task_success": 0.0 }, { "completion_time": 5.814272880554199, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4114360104930178, "book-upper shelf": 0.2630770237374295, "book-lower shelf": 0.2496671622514066 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7210170534704391, "bimanual_gripper_vertical_difference": 0.2037488394703736, "task_success": 0.0 }, { "completion_time": 5.844031810760498, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4126828898209559, "book-upper shelf": 0.25954769247436327, "book-lower shelf": 0.24719061851233137 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7190917482036724, "bimanual_gripper_vertical_difference": 0.20281665266511098, "task_success": 0.0 }, { "completion_time": 5.873594045639038, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.411975420520004, "book-upper shelf": 0.2571105476601835, "book-lower shelf": 0.24391727629140514 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7183265019668533, "bimanual_gripper_vertical_difference": 0.2018789815952417, "task_success": 0.0 }, { "completion_time": 5.903080224990845, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4106358570870975, "book-upper shelf": 0.2578759282204288, "book-lower shelf": 0.2433724107203693 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7180232796256942, "bimanual_gripper_vertical_difference": 0.20093558697230884, "task_success": 0.0 }, { "completion_time": 5.932666778564453, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4089892574257926, "book-upper shelf": 0.260123443938921, "book-lower shelf": 0.24409726346195718 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7187478795574962, "bimanual_gripper_vertical_difference": 0.19999094264159298, "task_success": 0.0 }, { "completion_time": 5.962064743041992, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4060470230532526, "book-upper shelf": 0.2638934926901375, "book-lower shelf": 0.24517369376378984 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.720177888334726, "bimanual_gripper_vertical_difference": 0.19904501473515843, "task_success": 0.0 }, { "completion_time": 5.991755962371826, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4017329750729409, "book-upper shelf": 0.26893164005762943, "book-lower shelf": 0.24631309086343717 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7209116978298441, "bimanual_gripper_vertical_difference": 0.1980942029584686, "task_success": 0.0 }, { "completion_time": 6.020784616470337, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.39614611632367913, "book-upper shelf": 0.27402460617746055, "book-lower shelf": 0.24634152697554976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7192308524000299, "bimanual_gripper_vertical_difference": 0.19713562923419412, "task_success": 0.0 }, { "completion_time": 6.050225734710693, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.39124179198874887, "book-upper shelf": 0.2768860902418471, "book-lower shelf": 0.24463326752145878 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7158210864548457, "bimanual_gripper_vertical_difference": 0.19617580832927817, "task_success": 0.0 }, { "completion_time": 6.0797858238220215, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38819165974727754, "book-upper shelf": 0.27824564561259335, "book-lower shelf": 0.24310107011766985 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7123454345945188, "bimanual_gripper_vertical_difference": 0.19522027129654998, "task_success": 0.0 }, { "completion_time": 6.109397649765015, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38645821426236193, "book-upper shelf": 0.27869720893004346, "book-lower shelf": 0.24185944271068005 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7088327528286987, "bimanual_gripper_vertical_difference": 0.19427158511828704, "task_success": 0.0 }, { "completion_time": 6.138685464859009, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38528669238313185, "book-upper shelf": 0.27915659164048345, "book-lower shelf": 0.24119565184963418 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.705336656699462, "bimanual_gripper_vertical_difference": 0.19333093348816138, "task_success": 0.0 }, { "completion_time": 6.168301820755005, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38236313602665095, "book-upper shelf": 0.2794676406229815, "book-lower shelf": 0.2385569044186543 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7020440451903818, "bimanual_gripper_vertical_difference": 0.19239806120054712, "task_success": 0.0 } ]