[ { "completion_time": 0.04734396934509277, "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": -0.0007961981803222828, "book-upper shelf": 0.619759584788871, "book-lower shelf": 0.4173995253188195 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0523028866060713e-06, "bimanual_gripper_vertical_difference": 1.0968115304876846e-10, "task_success": 0.0 }, { "completion_time": 0.07934403419494629, "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": 0.0007001779480027004, "book-upper shelf": 0.6184131604863419, "book-lower shelf": 0.41628373531053214 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.4833217231456928e-06, "bimanual_gripper_vertical_difference": 2.6583035772631547e-10, "task_success": 0.0 }, { "completion_time": 0.1113426685333252, "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": 0.000725933823261582, "book-upper shelf": 0.6183887309101808, "book-lower shelf": 0.4162626781478599 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6657723350988844e-06, "bimanual_gripper_vertical_difference": 3.803352447799095e-10, "task_success": 0.0 }, { "completion_time": 0.14317607879638672, "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": 0.0007173404939934125, "book-upper shelf": 0.6184001484049676, "book-lower shelf": 0.4162745565902659 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.544120815792597e-05, "bimanual_gripper_vertical_difference": 1.046285336148145e-09, "task_success": 0.0 }, { "completion_time": 0.17594027519226074, "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": 0.0007188702367475486, "book-upper shelf": 0.6183965028669919, "book-lower shelf": 0.4162700457600566 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0363748346642617e-05, "bimanual_gripper_vertical_difference": 1.6975951311337667e-09, "task_success": 0.0 }, { "completion_time": 0.2078385353088379, "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": 0.0007484209873908076, "book-upper shelf": 0.6183814609638609, "book-lower shelf": 0.4162651796269699 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.328550081832428e-05, "bimanual_gripper_vertical_difference": 2.210106801274018e-09, "task_success": 0.0 }, { "completion_time": 0.24219226837158203, "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": 0.0007040869373158287, "book-upper shelf": 0.6184153710646957, "book-lower shelf": 0.41628933132167956 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00066728937721359, "bimanual_gripper_vertical_difference": 2.2928670390902947e-09, "task_success": 0.0 }, { "completion_time": 0.27370548248291016, "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": 0.0007214052582882324, "book-upper shelf": 0.6183985601846789, "book-lower shelf": 0.416274601493765 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007110126227172586, "bimanual_gripper_vertical_difference": 3.1859272442424924e-09, "task_success": 0.0 }, { "completion_time": 0.30553317070007324, "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": 0.0007185210015286936, "book-upper shelf": 0.6184019333554001, "book-lower shelf": 0.41627790649488905 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.013119012957651032, "bimanual_gripper_vertical_difference": 7.64269431932332e-05, "task_success": 0.0 }, { "completion_time": 0.33734869956970215, "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": 0.0006627338091659274, "book-upper shelf": 0.6184423885568157, "book-lower shelf": 0.4163050081600209 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.11736726697582753, "bimanual_gripper_vertical_difference": 0.0003988021396577945, "task_success": 0.0 }, { "completion_time": 0.36894917488098145, "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": 0.0007490479797168659, "book-upper shelf": 0.6183850582916111, "book-lower shelf": 0.4162708944746966 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2692848692719819, "bimanual_gripper_vertical_difference": 0.0012997552985818193, "task_success": 0.0 }, { "completion_time": 0.40076684951782227, "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": 0.0006794278529932418, "book-upper shelf": 0.6184313383120902, "book-lower shelf": 0.41629846629984396 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.44017374953163274, "bimanual_gripper_vertical_difference": 0.0038642086036215773, "task_success": 0.0 }, { "completion_time": 0.432279109954834, "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": 0.000542600160831741, "book-upper shelf": 0.6185595579659167, "book-lower shelf": 0.41640801960488394 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.625254708877317, "bimanual_gripper_vertical_difference": 0.00908347426643179, "task_success": 0.0 }, { "completion_time": 0.46416449546813965, "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": 0.0005494341757794619, "book-upper shelf": 0.6185519443980999, "book-lower shelf": 0.4164007509234275 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.789404779317091, "bimanual_gripper_vertical_difference": 0.017494292173268478, "task_success": 0.0 }, { "completion_time": 0.49657464027404785, "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": 0.000731426498402743, "book-upper shelf": 0.6184024421432023, "book-lower shelf": 0.4162862957372829 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9336994262023857, "bimanual_gripper_vertical_difference": 0.02906206562065156, "task_success": 0.0 }, { "completion_time": 0.5284392833709717, "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": 0.0006649704555030667, "book-upper shelf": 0.6184512198155143, "book-lower shelf": 0.41631945016181937 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.073500046683873, "bimanual_gripper_vertical_difference": 0.04304512984130652, "task_success": 0.0 }, { "completion_time": 0.5612940788269043, "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": 1.3331716743891775e-05, "book-upper shelf": 0.6190194808250818, "book-lower shelf": 0.4167783480898926 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1776965749848405, "bimanual_gripper_vertical_difference": 0.05757432869431794, "task_success": 0.0 }, { "completion_time": 0.5937473773956299, "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": 0.0007305030267518164, "book-upper shelf": 0.6184170258037374, "book-lower shelf": 0.4163074135903885 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2656459380920297, "bimanual_gripper_vertical_difference": 0.07040816796617014, "task_success": 0.0 }, { "completion_time": 0.6257524490356445, "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": 0.00072768417725666, "book-upper shelf": 0.6184102809573224, "book-lower shelf": 0.41629572692697936 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3687573179611048, "bimanual_gripper_vertical_difference": 0.08061758709566809, "task_success": 0.0 }, { "completion_time": 0.6574404239654541, "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": 0.0006974528194908514, "book-upper shelf": 0.6184311596647497, "book-lower shelf": 0.41630886187557636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4448558571492816, "bimanual_gripper_vertical_difference": 0.08808363505097248, "task_success": 0.0 }, { "completion_time": 0.6911478042602539, "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": 0.0006771441292295899, "book-upper shelf": 0.6184499768929964, "book-lower shelf": 0.4163248036525118 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4650856870769124, "bimanual_gripper_vertical_difference": 0.09337682035801183, "task_success": 0.0 }, { "completion_time": 0.7226123809814453, "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": 0.0005312477201138144, "book-upper shelf": 0.6185764815858411, "book-lower shelf": 0.4164264462086563 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4237744822895904, "bimanual_gripper_vertical_difference": 0.09815273368274342, "task_success": 0.0 }, { "completion_time": 0.7538223266601562, "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": 0.0005704121117513505, "book-upper shelf": 0.6185527256649059, "book-lower shelf": 0.4164143158717698 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4217879602280603, "bimanual_gripper_vertical_difference": 0.1037937719772827, "task_success": 0.0 }, { "completion_time": 0.7853903770446777, "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": 0.0006022249593969908, "book-upper shelf": 0.6185154838976783, "book-lower shelf": 0.41637780691751025 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4232363373419383, "bimanual_gripper_vertical_difference": 0.11062303015475917, "task_success": 0.0 }, { "completion_time": 0.8166406154632568, "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": 0.0007411485371534576, "book-upper shelf": 0.6184043490116331, "book-lower shelf": 0.4162948787391761 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.393810956159677, "bimanual_gripper_vertical_difference": 0.11775470602370117, "task_success": 0.0 }, { "completion_time": 0.8478589057922363, "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": 0.0007080989543158944, "book-upper shelf": 0.6184333508687877, "book-lower shelf": 0.41631841346225607 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3526653257412846, "bimanual_gripper_vertical_difference": 0.12465397916153384, "task_success": 0.0 }, { "completion_time": 0.8797194957733154, "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": 0.0006436364173127984, "book-upper shelf": 0.6184754720516187, "book-lower shelf": 0.4163428597611974 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3321918919012092, "bimanual_gripper_vertical_difference": 0.131015773623248, "task_success": 0.0 }, { "completion_time": 0.9114649295806885, "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": 0.00017950285262047228, "book-upper shelf": 0.6188842776276273, "book-lower shelf": 0.4166757178741379 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3181052778824367, "bimanual_gripper_vertical_difference": 0.13691962045714517, "task_success": 0.0 }, { "completion_time": 0.9429335594177246, "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": 0.0011105224575564954, "book-upper shelf": 0.6187807979474141, "book-lower shelf": 0.41707200970945274 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2995720222081528, "bimanual_gripper_vertical_difference": 0.14239721319097146, "task_success": 0.0 }, { "completion_time": 0.9736366271972656, "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": 0.00114938906451445, "book-upper shelf": 0.6196008684935991, "book-lower shelf": 0.4183106040649908 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2767773207530295, "bimanual_gripper_vertical_difference": 0.14750222807203972, "task_success": 0.0 }, { "completion_time": 1.005580186843872, "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": 0.0013484713327444053, "book-upper shelf": 0.6198822261903333, "book-lower shelf": 0.41884428806495705 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2490277817983777, "bimanual_gripper_vertical_difference": 0.15225921519892013, "task_success": 0.0 }, { "completion_time": 1.036741018295288, "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": 0.001513424144246378, "book-upper shelf": 0.6198650956816271, "book-lower shelf": 0.41891589985841465 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2175201897795125, "bimanual_gripper_vertical_difference": 0.1566726836645815, "task_success": 0.0 }, { "completion_time": 1.067650556564331, "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": 0.0018495183352340572, "book-upper shelf": 0.6195643594053124, "book-lower shelf": 0.418668483813954 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1841188954399502, "bimanual_gripper_vertical_difference": 0.16075908941280873, "task_success": 0.0 }, { "completion_time": 1.0993330478668213, "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": -8.973805744405539e-05, "book-upper shelf": 0.6212092074464272, "book-lower shelf": 0.4199633275675663 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1581299075055098, "bimanual_gripper_vertical_difference": 0.1644969114258836, "task_success": 0.0 }, { "completion_time": 1.130685567855835, "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": 0.0007381799400378863, "book-upper shelf": 0.6204500941821496, "book-lower shelf": 0.4193260600928061 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1411837168804062, "bimanual_gripper_vertical_difference": 0.1678794374728995, "task_success": 0.0 }, { "completion_time": 1.162170171737671, "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": 0.0006962927503991745, "book-upper shelf": 0.6204907215430097, "book-lower shelf": 0.4193615784460856 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1331774298218749, "bimanual_gripper_vertical_difference": 0.17093600913395904, "task_success": 0.0 }, { "completion_time": 1.1937427520751953, "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": 0.000706995905953467, "book-upper shelf": 0.620461885993038, "book-lower shelf": 0.41932519682795805 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.119322735465521, "bimanual_gripper_vertical_difference": 0.17375839232242757, "task_success": 0.0 }, { "completion_time": 1.2253694534301758, "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": 0.0007083729720557264, "book-upper shelf": 0.6204570647223033, "book-lower shelf": 0.41931887153428377 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1013007060500635, "bimanual_gripper_vertical_difference": 0.17650374412727285, "task_success": 0.0 }, { "completion_time": 1.2596492767333984, "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": 0.0007404233276409045, "book-upper shelf": 0.6204249547249591, "book-lower shelf": 0.41929017935554774 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0843952131630101, "bimanual_gripper_vertical_difference": 0.17928588011563057, "task_success": 0.0 }, { "completion_time": 1.291360855102539, "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": 0.0006324949301591554, "book-upper shelf": 0.6205028319210931, "book-lower shelf": 0.41934203836655815 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0691787423013541, "bimanual_gripper_vertical_difference": 0.18211039846560043, "task_success": 0.0 }, { "completion_time": 1.3259029388427734, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007838789469636342, "book-upper shelf": 0.6203867170817392, "book-lower shelf": 0.41925911857666687 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0580607650091274, "bimanual_gripper_vertical_difference": 0.18489253695663926, "task_success": 0.0 }, { "completion_time": 1.3590342998504639, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006606970249471988, "book-upper shelf": 0.6204666617490673, "book-lower shelf": 0.4193050765050444 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0580563553977145, "bimanual_gripper_vertical_difference": 0.1875027589428035, "task_success": 0.0 }, { "completion_time": 1.3920631408691406, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006699838728647656, "book-upper shelf": 0.6204612758300028, "book-lower shelf": 0.41930256015639916 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0671360181899519, "bimanual_gripper_vertical_difference": 0.18996446733946099, "task_success": 0.0 }, { "completion_time": 1.4249582290649414, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006360339981834606, "book-upper shelf": 0.6204753713377658, "book-lower shelf": 0.4193034819436947 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0788762149113678, "bimanual_gripper_vertical_difference": 0.1922910704679678, "task_success": 0.0 }, { "completion_time": 1.4587562084197998, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007512791673619512, "book-upper shelf": 0.6203890688875786, "book-lower shelf": 0.41924345291488424 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0840652187094857, "bimanual_gripper_vertical_difference": 0.1945041250255247, "task_success": 0.0 }, { "completion_time": 1.4916975498199463, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004747919173475612, "book-upper shelf": 0.6206162373681315, "book-lower shelf": 0.41941725519561285 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0789918015273974, "bimanual_gripper_vertical_difference": 0.19661288737279686, "task_success": 0.0 }, { "completion_time": 1.5232694149017334, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009875832592788347, "book-upper shelf": 0.6202373102250383, "book-lower shelf": 0.4191576850801886 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0678560296820099, "bimanual_gripper_vertical_difference": 0.19860995587637076, "task_success": 0.0 }, { "completion_time": 1.554619312286377, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007811711745332461, "book-upper shelf": 0.6205433784422152, "book-lower shelf": 0.4194893095946232 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0501567248935564, "bimanual_gripper_vertical_difference": 0.20050020782480726, "task_success": 0.0 }, { "completion_time": 1.5873298645019531, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007432766092537735, "book-upper shelf": 0.6205692196394088, "book-lower shelf": 0.41950529379369184 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0407438221611331, "bimanual_gripper_vertical_difference": 0.20230344058709518, "task_success": 0.0 }, { "completion_time": 1.6197772026062012, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005773706428944259, "book-upper shelf": 0.6206900929280823, "book-lower shelf": 0.41958673265868945 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0455873158295725, "bimanual_gripper_vertical_difference": 0.20405046292514786, "task_success": 0.0 }, { "completion_time": 1.6511542797088623, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006004945402268147, "book-upper shelf": 0.6207253985873918, "book-lower shelf": 0.4196525260007551 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0446380269555384, "bimanual_gripper_vertical_difference": 0.20574404658632203, "task_success": 0.0 }, { "completion_time": 1.6827592849731445, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005683005847616496, "book-upper shelf": 0.6207898336073254, "book-lower shelf": 0.41972894315762505 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0445082877996785, "bimanual_gripper_vertical_difference": 0.20735858837163376, "task_success": 0.0 }, { "completion_time": 1.7140719890594482, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006131744385529103, "book-upper shelf": 0.6208503500754496, "book-lower shelf": 0.4198447612297461 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0419735935502499, "bimanual_gripper_vertical_difference": 0.20888115324804485, "task_success": 0.0 }, { "completion_time": 1.744957447052002, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007836685118736142, "book-upper shelf": 0.6210762178915761, "book-lower shelf": 0.4202785916269949 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0337270749223724, "bimanual_gripper_vertical_difference": 0.21032055655336593, "task_success": 0.0 }, { "completion_time": 1.775362491607666, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0012301831861020185, "book-upper shelf": 0.6217684917581354, "book-lower shelf": 0.4215618218523413 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0234127309832408, "bimanual_gripper_vertical_difference": 0.21169847602757097, "task_success": 0.0 }, { "completion_time": 1.8053460121154785, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008313031500144508, "book-upper shelf": 0.6233628415027146, "book-lower shelf": 0.42367808061463624 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0221943359961945, "bimanual_gripper_vertical_difference": 0.21304560502514502, "task_success": 0.0 }, { "completion_time": 1.8366906642913818, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010445966661428718, "book-upper shelf": 0.6246175330903446, "book-lower shelf": 0.42564537218511467 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0253877801463294, "bimanual_gripper_vertical_difference": 0.21434384167980805, "task_success": 0.0 }, { "completion_time": 1.8670625686645508, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008411168683322146, "book-upper shelf": 0.6263935124299935, "book-lower shelf": 0.4281302944279025 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.029514476346861, "bimanual_gripper_vertical_difference": 0.21559397179911635, "task_success": 0.0 }, { "completion_time": 1.8973193168640137, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010538691309552872, "book-upper shelf": 0.6279647556467051, "book-lower shelf": 0.43054758247892805 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.025077477184217, "bimanual_gripper_vertical_difference": 0.21679173361107512, "task_success": 0.0 }, { "completion_time": 1.9276177883148193, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0011348127910099093, "book-upper shelf": 0.6288152918867703, "book-lower shelf": 0.4318333225446697 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.016445633921072, "bimanual_gripper_vertical_difference": 0.2179300671809524, "task_success": 0.0 }, { "completion_time": 1.960686206817627, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009482996480427719, "book-upper shelf": 0.6291382598965921, "book-lower shelf": 0.4321972337000733 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0106387439169888, "bimanual_gripper_vertical_difference": 0.21899845892736042, "task_success": 0.0 }, { "completion_time": 1.9916930198669434, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007394343920340551, "book-upper shelf": 0.6292060864275533, "book-lower shelf": 0.43217698024614765 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0109899145645864, "bimanual_gripper_vertical_difference": 0.21996944546815597, "task_success": 0.0 }, { "completion_time": 2.022488832473755, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006549799750699137, "book-upper shelf": 0.6292715113491038, "book-lower shelf": 0.432224118340531 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.014514168679478, "bimanual_gripper_vertical_difference": 0.22080633128608684, "task_success": 0.0 }, { "completion_time": 2.0529751777648926, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.001052839952465856, "book-upper shelf": 0.6291364077627075, "book-lower shelf": 0.43225409101319234 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.017654124194069, "bimanual_gripper_vertical_difference": 0.22149566358802755, "task_success": 0.0 }, { "completion_time": 2.0838394165039062, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008703454846191727, "book-upper shelf": 0.6291266939453909, "book-lower shelf": 0.43213598237042555 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0278038236547054, "bimanual_gripper_vertical_difference": 0.22207967234971698, "task_success": 0.0 }, { "completion_time": 2.114652395248413, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009351650580685655, "book-upper shelf": 0.6291868092916247, "book-lower shelf": 0.43226042105430096 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.045889864529554, "bimanual_gripper_vertical_difference": 0.22256804286619747, "task_success": 0.0 }, { "completion_time": 2.145402669906616, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009359374717582414, "book-upper shelf": 0.6291794632562641, "book-lower shelf": 0.43225016828455626 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.072804128992989, "bimanual_gripper_vertical_difference": 0.22295487564621022, "task_success": 0.0 }, { "completion_time": 2.175844669342041, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007519129133168878, "book-upper shelf": 0.629179991983648, "book-lower shelf": 0.43214609846386015 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1021120195024992, "bimanual_gripper_vertical_difference": 0.22325037053884314, "task_success": 0.0 }, { "completion_time": 2.2063353061676025, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007398177840151066, "book-upper shelf": 0.6291801796342386, "book-lower shelf": 0.43213948014866077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1281019029145272, "bimanual_gripper_vertical_difference": 0.22355944901876174, "task_success": 0.0 }, { "completion_time": 2.2365939617156982, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007378890763551915, "book-upper shelf": 0.629183991712728, "book-lower shelf": 0.43214393145578167 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1583680268647338, "bimanual_gripper_vertical_difference": 0.22401715668133987, "task_success": 0.0 }, { "completion_time": 2.269855499267578, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007267190642787913, "book-upper shelf": 0.6291845392762074, "book-lower shelf": 0.4321383642518636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1884712508523498, "bimanual_gripper_vertical_difference": 0.22465899565693584, "task_success": 0.0 }, { "completion_time": 2.3004491329193115, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007246029505028062, "book-upper shelf": 0.6291875949778665, "book-lower shelf": 0.4321416075638495 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.213346313917789, "bimanual_gripper_vertical_difference": 0.22537802489177355, "task_success": 0.0 }, { "completion_time": 2.3311097621917725, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007709257225607669, "book-upper shelf": 0.6291563915993837, "book-lower shelf": 0.4321225706362031 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2343117155767842, "bimanual_gripper_vertical_difference": 0.2261499611899271, "task_success": 0.0 }, { "completion_time": 2.3618884086608887, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007717723817383115, "book-upper shelf": 0.6291574657307923, "book-lower shelf": 0.43212461696250004 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2530934230143023, "bimanual_gripper_vertical_difference": 0.22699335191502296, "task_success": 0.0 }, { "completion_time": 2.392782211303711, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007570335237698789, "book-upper shelf": 0.6291587755548795, "book-lower shelf": 0.432118125756511 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.272418355632281, "bimanual_gripper_vertical_difference": 0.22791197534481147, "task_success": 0.0 }, { "completion_time": 2.4232280254364014, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007563158097600997, "book-upper shelf": 0.6291609538131678, "book-lower shelf": 0.4321208883107092 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2921052107392348, "bimanual_gripper_vertical_difference": 0.22889394226197918, "task_success": 0.0 }, { "completion_time": 2.454406976699829, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000752117631669047, "book-upper shelf": 0.6291630935491787, "book-lower shelf": 0.4321216115897441 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3114490517758757, "bimanual_gripper_vertical_difference": 0.22991808388268156, "task_success": 0.0 }, { "completion_time": 2.4856998920440674, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007520954971563798, "book-upper shelf": 0.6291667535233594, "book-lower shelf": 0.43212692783200646 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3304824536394841, "bimanual_gripper_vertical_difference": 0.2309796422955405, "task_success": 0.0 }, { "completion_time": 2.516878128051758, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007476310572422928, "book-upper shelf": 0.629168490134672, "book-lower shelf": 0.43212691247284835 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3501881226059782, "bimanual_gripper_vertical_difference": 0.23208357377005218, "task_success": 0.0 }, { "completion_time": 2.548370361328125, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007465396715501393, "book-upper shelf": 0.6291706326310094, "book-lower shelf": 0.4321294100352295 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.370253453432983, "bimanual_gripper_vertical_difference": 0.23322906136944704, "task_success": 0.0 }, { "completion_time": 2.582320213317871, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00018415691540940582, "book-upper shelf": 0.6292915155900914, "book-lower shelf": 0.43198496300004163 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.388115828944856, "bimanual_gripper_vertical_difference": 0.23441885633969128, "task_success": 0.0 }, { "completion_time": 2.6136999130249023, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0008068553825316682, "book-upper shelf": 0.6265025073615028, "book-lower shelf": 0.4273412739131758 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4026576153637338, "bimanual_gripper_vertical_difference": 0.23563498964723134, "task_success": 0.0 }, { "completion_time": 2.645749568939209, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0015811814969556304, "book-upper shelf": 0.6198259317465638, "book-lower shelf": 0.4188977764127576 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4103470461736818, "bimanual_gripper_vertical_difference": 0.23675274789815456, "task_success": 0.0 }, { "completion_time": 2.6784346103668213, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.003475257037251711, "book-upper shelf": 0.6200987624105758, "book-lower shelf": 0.4204121478487934 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4031622187042263, "bimanual_gripper_vertical_difference": 0.2378072725905239, "task_success": 0.0 }, { "completion_time": 2.71039080619812, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.00011674105437176063, "book-upper shelf": 0.61825991860446, "book-lower shelf": 0.4155723118933601 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3970917303834807, "bimanual_gripper_vertical_difference": 0.23885867264038313, "task_success": 0.0 }, { "completion_time": 2.7430355548858643, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010631779054338653, "book-upper shelf": 0.617025740890202, "book-lower shelf": 0.41443556250774055 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3955871283212908, "bimanual_gripper_vertical_difference": 0.2398838996700368, "task_success": 0.0 }, { "completion_time": 2.7754321098327637, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00481409874138905, "book-upper shelf": 0.6147178897376729, "book-lower shelf": 0.41323273766113455 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3998290262832034, "bimanual_gripper_vertical_difference": 0.24087811598619482, "task_success": 0.0 }, { "completion_time": 2.806560516357422, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.01594275439221604, "book-upper shelf": 0.6043543560476755, "book-lower shelf": 0.4044844937048796 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4134060913418391, "bimanual_gripper_vertical_difference": 0.24174439108386234, "task_success": 0.0 }, { "completion_time": 2.837026834487915, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.031699114334954315, "book-upper shelf": 0.5861561761701969, "book-lower shelf": 0.3869131689050256 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4362298454908407, "bimanual_gripper_vertical_difference": 0.24236238395630313, "task_success": 0.0 }, { "completion_time": 2.8672139644622803, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.06077578035975828, "book-upper shelf": 0.5583753826586475, "book-lower shelf": 0.36362701978743567 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4660024749195517, "bimanual_gripper_vertical_difference": 0.24264576062426207, "task_success": 0.0 }, { "completion_time": 2.8981261253356934, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.10043452249151807, "book-upper shelf": 0.5224403616927299, "book-lower shelf": 0.3360288984645976 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.492718537892, "bimanual_gripper_vertical_difference": 0.24263514799223349, "task_success": 0.0 }, { "completion_time": 2.9297091960906982, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.13210438909897326, "book-upper shelf": 0.4965175885215547, "book-lower shelf": 0.319526259583713 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5173428979758656, "bimanual_gripper_vertical_difference": 0.24235043614148763, "task_success": 0.0 }, { "completion_time": 2.9618186950683594, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.15983458533507044, "book-upper shelf": 0.4754754895696813, "book-lower shelf": 0.308706966456149 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5385041862067754, "bimanual_gripper_vertical_difference": 0.2418186977033526, "task_success": 0.0 }, { "completion_time": 2.9936342239379883, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.18508232412820025, "book-upper shelf": 0.4566235611387318, "book-lower shelf": 0.3002688386826545 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5537613027426638, "bimanual_gripper_vertical_difference": 0.2410727937321605, "task_success": 0.0 }, { "completion_time": 3.0265324115753174, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.20940613571887112, "book-upper shelf": 0.43868924591122543, "book-lower shelf": 0.29339872931722444 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5673067477861324, "bimanual_gripper_vertical_difference": 0.24013808728564554, "task_success": 0.0 }, { "completion_time": 3.059180974960327, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.233208333547133, "book-upper shelf": 0.42214182533183664, "book-lower shelf": 0.2890669003441683 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5806773522172808, "bimanual_gripper_vertical_difference": 0.23904278292334044, "task_success": 0.0 }, { "completion_time": 3.090952157974243, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2553765477498987, "book-upper shelf": 0.4076991853690408, "book-lower shelf": 0.2872130132662036 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5942001522543399, "bimanual_gripper_vertical_difference": 0.237821143121164, "task_success": 0.0 }, { "completion_time": 3.122377634048462, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2760738833260217, "book-upper shelf": 0.39894882460222475, "book-lower shelf": 0.29261793651644996 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6001951651016046, "bimanual_gripper_vertical_difference": 0.2364958085003638, "task_success": 0.0 }, { "completion_time": 3.153862953186035, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.29295776003110674, "book-upper shelf": 0.39116514034377453, "book-lower shelf": 0.29629330772717494 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5993783218975455, "bimanual_gripper_vertical_difference": 0.23509833026099458, "task_success": 0.0 }, { "completion_time": 3.184900999069214, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3074843517765412, "book-upper shelf": 0.3827546909545787, "book-lower shelf": 0.2973791026953566 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5959337119221308, "bimanual_gripper_vertical_difference": 0.23365116580341563, "task_success": 0.0 }, { "completion_time": 3.217510461807251, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.31938707161582547, "book-upper shelf": 0.3747892559088194, "book-lower shelf": 0.29708863658524687 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.590756783005387, "bimanual_gripper_vertical_difference": 0.23216937286136238, "task_success": 0.0 }, { "completion_time": 3.248555898666382, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.32866867009339373, "book-upper shelf": 0.36676367437612883, "book-lower shelf": 0.294755810197068 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.586607021827288, "bimanual_gripper_vertical_difference": 0.23066053734858644, "task_success": 0.0 }, { "completion_time": 3.279653549194336, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.335753964143081, "book-upper shelf": 0.3578006640508791, "book-lower shelf": 0.28961329915071404 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5861244919016613, "bimanual_gripper_vertical_difference": 0.22912548352844722, "task_success": 0.0 }, { "completion_time": 3.3134682178497314, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.34069016589324075, "book-upper shelf": 0.3474921276721632, "book-lower shelf": 0.28113370340472355 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5890267328728478, "bimanual_gripper_vertical_difference": 0.22756412217221422, "task_success": 0.0 }, { "completion_time": 3.3448486328125, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.34391361548690325, "book-upper shelf": 0.3362971719939804, "book-lower shelf": 0.27012692578820624 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.592254216336063, "bimanual_gripper_vertical_difference": 0.22597718673488942, "task_success": 0.0 }, { "completion_time": 3.3774664402008057, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3451438190702404, "book-upper shelf": 0.3244557859990353, "book-lower shelf": 0.2564178990751163 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5969003090460063, "bimanual_gripper_vertical_difference": 0.22437081175982143, "task_success": 0.0 }, { "completion_time": 3.4099605083465576, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3441919005073283, "book-upper shelf": 0.3124131565773167, "book-lower shelf": 0.2400245612541164 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6045044457351787, "bimanual_gripper_vertical_difference": 0.22275718350848395, "task_success": 0.0 }, { "completion_time": 3.4390506744384766, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3455626977774128, "book-upper shelf": 0.3080064931379773, "book-lower shelf": 0.23569653907486054 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6217257372857259, "bimanual_gripper_vertical_difference": 0.22110401467782553, "task_success": 0.0 }, { "completion_time": 3.4690613746643066, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3481231575255911, "book-upper shelf": 0.30393537600232046, "book-lower shelf": 0.23307181275830963 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.639376199076613, "bimanual_gripper_vertical_difference": 0.21937785184067582, "task_success": 0.0 }, { "completion_time": 3.498947858810425, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.35161830300997077, "book-upper shelf": 0.2996525290123652, "book-lower shelf": 0.2312111148929953 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6556855504115962, "bimanual_gripper_vertical_difference": 0.21755784876875117, "task_success": 0.0 }, { "completion_time": 3.5304830074310303, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.35863859108722107, "book-upper shelf": 0.29342103465935393, "book-lower shelf": 0.23069457285061806 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6715523693584724, "bimanual_gripper_vertical_difference": 0.2156139902511678, "task_success": 0.0 }, { "completion_time": 3.5620715618133545, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3747259504449606, "book-upper shelf": 0.2821176673018147, "book-lower shelf": 0.23374490510659063 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6871828770527109, "bimanual_gripper_vertical_difference": 0.2138596596693594, "task_success": 0.0 }, { "completion_time": 3.593256711959839, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.39744473521402146, "book-upper shelf": 0.2660730364171286, "book-lower shelf": 0.23880751391283053 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7021126674337232, "bimanual_gripper_vertical_difference": 0.2123524932047137, "task_success": 0.0 }, { "completion_time": 3.622603416442871, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.4124225356332255, "book-upper shelf": 0.25558970985258006, "book-lower shelf": 0.24276755461720678 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7148533227412146, "bimanual_gripper_vertical_difference": 0.21101418583093237, "task_success": 0.0 }, { "completion_time": 3.6528096199035645, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.4143062499197384, "book-upper shelf": 0.24887664042579102, "book-lower shelf": 0.23764932787651308 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7288564593236384, "bimanual_gripper_vertical_difference": 0.20977024316143209, "task_success": 0.0 }, { "completion_time": 3.680939197540283, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.4075988254290642, "book-upper shelf": 0.23957060924685486, "book-lower shelf": 0.22051899356446084 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7439426245745553, "bimanual_gripper_vertical_difference": 0.20859876066405783, "task_success": 0.0 }, { "completion_time": 3.711094856262207, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3882438215921079, "book-upper shelf": 0.24330253391088028, "book-lower shelf": 0.202235756229875 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7592781991835922, "bimanual_gripper_vertical_difference": 0.20747136215786996, "task_success": 0.0 }, { "completion_time": 3.73860239982605, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": true }, "target_distance": { "book lift distance": 0.38909869251400553, "book-upper shelf": 0.2393683163403316, "book-lower shelf": 0.19854810536121872 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.775804454930263, "bimanual_gripper_vertical_difference": 0.20638516567818704, "task_success": 1.0 } ]