[ { "completion_time": 0.04838919639587402, "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": -0.0007964673502207642, "book-upper shelf": 0.6184490044771712, "book-lower shelf": 0.41545091092064035 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.0794076919555664, "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": 0.00046683310688488966, "book-upper shelf": 0.6173188759868535, "book-lower shelf": 0.4145177863545953 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0185634592638215e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.1107177734375, "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": 0.0006489807193102992, "book-upper shelf": 0.6171802760865347, "book-lower shelf": 0.41441958488520225 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.865484758524406e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.14305591583251953, "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": 0.000727097402636101, "book-upper shelf": 0.6171219268604119, "book-lower shelf": 0.4143791021741976 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.047654353161746e-06, "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, "task_success": 0.0 }, { "completion_time": 0.17439723014831543, "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": 0.0007230726339420013, "book-upper shelf": 0.6171280072023041, "book-lower shelf": 0.41438576590290216 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00017675039728244564, "bimanual_gripper_vertical_difference": 2.2006893640735827e-09, "task_success": 0.0 }, { "completion_time": 0.20685863494873047, "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": 8.837517417847884e-05, "book-upper shelf": 0.6176966552662286, "book-lower shelf": 0.414855621720617 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.014889884603963148, "bimanual_gripper_vertical_difference": 4.937181989816963e-05, "task_success": 0.0 }, { "completion_time": 0.23899364471435547, "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": 0.0006290948440158539, "book-upper shelf": 0.6172146569447727, "book-lower shelf": 0.41445897154526595 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1580711565105072, "bimanual_gripper_vertical_difference": 0.0007332268918656761, "task_success": 0.0 }, { "completion_time": 0.2706117630004883, "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": 0.00017377265127238584, "book-upper shelf": 0.617643212099542, "book-lower shelf": 0.41482673538026754 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3759300810851519, "bimanual_gripper_vertical_difference": 0.0027983362305058768, "task_success": 0.0 }, { "completion_time": 0.3023049831390381, "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": 0.000678781630025882, "book-upper shelf": 0.6171899027144633, "book-lower shelf": 0.4144516263899908 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6006948635833316, "bimanual_gripper_vertical_difference": 0.0074203110697295864, "task_success": 0.0 }, { "completion_time": 0.3345320224761963, "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": 0.0006781948840505203, "book-upper shelf": 0.6171829329326247, "book-lower shelf": 0.4144408985185726 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8436223843912488, "bimanual_gripper_vertical_difference": 0.015518272848352343, "task_success": 0.0 }, { "completion_time": 0.36586785316467285, "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": 0.0007032817147402115, "book-upper shelf": 0.6171796934917881, "book-lower shelf": 0.41445097868134784 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0450500009803465, "bimanual_gripper_vertical_difference": 0.027210046002220968, "task_success": 0.0 }, { "completion_time": 0.39760637283325195, "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": 0.0007212496622337472, "book-upper shelf": 0.617168963141614, "book-lower shelf": 0.4144456744282981 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1871380215955936, "bimanual_gripper_vertical_difference": 0.04166903647379869, "task_success": 0.0 }, { "completion_time": 0.4290177822113037, "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": 0.0006648064749832372, "book-upper shelf": 0.6172172490634737, "book-lower shelf": 0.4144840468353605 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3167482135696698, "bimanual_gripper_vertical_difference": 0.056521350171862064, "task_success": 0.0 }, { "completion_time": 0.4619910717010498, "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": 0.0007195370987916894, "book-upper shelf": 0.6171781186466101, "book-lower shelf": 0.41445829074990903 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3566758165935464, "bimanual_gripper_vertical_difference": 0.06968506050028103, "task_success": 0.0 }, { "completion_time": 0.4942781925201416, "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": 0.0007001795731196303, "book-upper shelf": 0.6172022078458158, "book-lower shelf": 0.41448266235322984 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3507996643212048, "bimanual_gripper_vertical_difference": 0.07990473426961768, "task_success": 0.0 }, { "completion_time": 0.5260684490203857, "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": 0.0006754279008015507, "book-upper shelf": 0.6172286592023598, "book-lower shelf": 0.4145073471018457 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3280658703503545, "bimanual_gripper_vertical_difference": 0.08819623551900237, "task_success": 0.0 }, { "completion_time": 0.5586886405944824, "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": 0.0006920778589550869, "book-upper shelf": 0.6172134221661949, "book-lower shelf": 0.4144945486187321 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2986917518104542, "bimanual_gripper_vertical_difference": 0.09586989791988275, "task_success": 0.0 }, { "completion_time": 0.5940859317779541, "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": 0.0006766121256304158, "book-upper shelf": 0.6172301205613852, "book-lower shelf": 0.4145102266053334 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2528684199404165, "bimanual_gripper_vertical_difference": 0.10305251833188801, "task_success": 0.0 }, { "completion_time": 0.6261858940124512, "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": 0.0006763861620792122, "book-upper shelf": 0.617231477089729, "book-lower shelf": 0.4145121123282178 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2278371923110087, "bimanual_gripper_vertical_difference": 0.10971225493579893, "task_success": 0.0 }, { "completion_time": 0.6578636169433594, "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": 0.0007321755262030827, "book-upper shelf": 0.6172001176003111, "book-lower shelf": 0.4144985568063768 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1901376920989364, "bimanual_gripper_vertical_difference": 0.11600588963095568, "task_success": 0.0 }, { "completion_time": 0.6931424140930176, "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": 0.0006784578088933069, "book-upper shelf": 0.617242421637232, "book-lower shelf": 0.41452963972133283 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1535534586014695, "bimanual_gripper_vertical_difference": 0.12214753053803633, "task_success": 0.0 }, { "completion_time": 0.7250082492828369, "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": 0.0007089073881428876, "book-upper shelf": 0.6172243265123919, "book-lower shelf": 0.41452078267904235 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1139167199775948, "bimanual_gripper_vertical_difference": 0.1282512603977584, "task_success": 0.0 }, { "completion_time": 0.7572343349456787, "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": 0.0004286642856476952, "book-upper shelf": 0.6174906456050954, "book-lower shelf": 0.4147508911725985 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0769453098475439, "bimanual_gripper_vertical_difference": 0.13423262353804952, "task_success": 0.0 }, { "completion_time": 0.7896156311035156, "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": 0.0007518035580076354, "book-upper shelf": 0.61720506297013, "book-lower shelf": 0.41451757985510473 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0465937568227501, "bimanual_gripper_vertical_difference": 0.13993901297863445, "task_success": 0.0 }, { "completion_time": 0.8212199211120605, "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": 0.0007946463741562715, "book-upper shelf": 0.6171721068968413, "book-lower shelf": 0.41449395861607014 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0206934200287356, "bimanual_gripper_vertical_difference": 0.14543152595900236, "task_success": 0.0 }, { "completion_time": 0.8532111644744873, "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": -0.00043314878016176284, "book-upper shelf": 0.6181941133659035, "book-lower shelf": 0.41528684818526457 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0022602474837912, "bimanual_gripper_vertical_difference": 0.1507347232967183, "task_success": 0.0 }, { "completion_time": 0.8856613636016846, "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": -1.8232829059439126e-05, "book-upper shelf": 0.6180868552075108, "book-lower shelf": 0.4153731941463621 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.995015463738166, "bimanual_gripper_vertical_difference": 0.15592129413153405, "task_success": 0.0 }, { "completion_time": 0.9166731834411621, "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": 5.425596033892255e-05, "book-upper shelf": 0.6182457622155242, "book-lower shelf": 0.41565255855913086 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9868978465037237, "bimanual_gripper_vertical_difference": 0.16095980799035053, "task_success": 0.0 }, { "completion_time": 0.9478728771209717, "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": 0.0005260519042902256, "book-upper shelf": 0.6181199221901947, "book-lower shelf": 0.41574487496512647 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.974398549104711, "bimanual_gripper_vertical_difference": 0.16573583169573347, "task_success": 0.0 }, { "completion_time": 0.9796664714813232, "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": 0.0014844108196472305, "book-upper shelf": 0.6176259802272214, "book-lower shelf": 0.4155783417717567 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.961502664518511, "bimanual_gripper_vertical_difference": 0.17022460693325056, "task_success": 0.0 }, { "completion_time": 1.0097215175628662, "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": 0.001520076688203309, "book-upper shelf": 0.6186108013842905, "book-lower shelf": 0.4170616188818753 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9552553778245145, "bimanual_gripper_vertical_difference": 0.1744556332042268, "task_success": 0.0 }, { "completion_time": 1.0413134098052979, "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": 0.0011577855538831283, "book-upper shelf": 0.6201985664346386, "book-lower shelf": 0.41920033622834324 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9478093080189178, "bimanual_gripper_vertical_difference": 0.17846149757391816, "task_success": 0.0 }, { "completion_time": 1.0728728771209717, "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": 0.0009342897303724618, "book-upper shelf": 0.6221084689680845, "book-lower shelf": 0.42189044399009246 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9337444952002597, "bimanual_gripper_vertical_difference": 0.18223533620445465, "task_success": 0.0 }, { "completion_time": 1.1046850681304932, "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": 0.0009232166596250257, "book-upper shelf": 0.6229514052322381, "book-lower shelf": 0.42312598586648675 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.917617062633056, "bimanual_gripper_vertical_difference": 0.18578186345822723, "task_success": 0.0 }, { "completion_time": 1.13570237159729, "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": 0.0008366933546144484, "book-upper shelf": 0.6238065789876718, "book-lower shelf": 0.42433381461004877 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8987116409191102, "bimanual_gripper_vertical_difference": 0.18911021076369497, "task_success": 0.0 }, { "completion_time": 1.166949987411499, "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": 0.000928667196748334, "book-upper shelf": 0.6244476497725737, "book-lower shelf": 0.4253289292514174 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8811199502347679, "bimanual_gripper_vertical_difference": 0.19223226643021474, "task_success": 0.0 }, { "completion_time": 1.1984281539916992, "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": 0.0011810531761169418, "book-upper shelf": 0.6250275828806644, "book-lower shelf": 0.42632569426268857 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8617902481321179, "bimanual_gripper_vertical_difference": 0.19516422304060047, "task_success": 0.0 }, { "completion_time": 1.2299144268035889, "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": 0.0010585898366360924, "book-upper shelf": 0.6257244243675587, "book-lower shelf": 0.42727610090624435 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8413415433394786, "bimanual_gripper_vertical_difference": 0.19792652146593423, "task_success": 0.0 }, { "completion_time": 1.261559247970581, "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": 0.0011575637192243748, "book-upper shelf": 0.6260000425674489, "book-lower shelf": 0.42773660603032976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8213904977398611, "bimanual_gripper_vertical_difference": 0.20053291849947483, "task_success": 0.0 }, { "completion_time": 1.2931747436523438, "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": 0.001259868804542874, "book-upper shelf": 0.6263952286337428, "book-lower shelf": 0.4283735676231257 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8037518378623079, "bimanual_gripper_vertical_difference": 0.20298275684696634, "task_success": 0.0 }, { "completion_time": 1.3265013694763184, "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": 0.0016174629126113338, "book-upper shelf": 0.6264916541697193, "book-lower shelf": 0.4287199796434335 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7875027770691797, "bimanual_gripper_vertical_difference": 0.20527815842011504, "task_success": 0.0 }, { "completion_time": 1.358490228652954, "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": 0.001678938986449996, "book-upper shelf": 0.6267736545354095, "book-lower shelf": 0.4291672356009008 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7704485205676976, "bimanual_gripper_vertical_difference": 0.20743859634706177, "task_success": 0.0 }, { "completion_time": 1.3894879817962646, "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": 0.001748005044436285, "book-upper shelf": 0.626852680683313, "book-lower shelf": 0.42932225303806254 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7546584614287691, "bimanual_gripper_vertical_difference": 0.20947506145705388, "task_success": 0.0 }, { "completion_time": 1.4210617542266846, "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": 0.001772335305819328, "book-upper shelf": 0.6269123161327421, "book-lower shelf": 0.4294232728089292 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7402507853549636, "bimanual_gripper_vertical_difference": 0.21139630792899003, "task_success": 0.0 }, { "completion_time": 1.4514577388763428, "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": 0.001688112681318077, "book-upper shelf": 0.6269061207261949, "book-lower shelf": 0.4293659323742862 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7295882935111414, "bimanual_gripper_vertical_difference": 0.2132233355851751, "task_success": 0.0 }, { "completion_time": 1.4834527969360352, "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": 0.0012720861961709184, "book-upper shelf": 0.6268177634450772, "book-lower shelf": 0.4289982004715496 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7219134576555206, "bimanual_gripper_vertical_difference": 0.21497386553301864, "task_success": 0.0 }, { "completion_time": 1.5163192749023438, "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": 0.000671271229117032, "book-upper shelf": 0.6268033377195561, "book-lower shelf": 0.42863212698545683 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7139417088784178, "bimanual_gripper_vertical_difference": 0.21663098821134075, "task_success": 0.0 }, { "completion_time": 1.5479090213775635, "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": 0.0007491110963858683, "book-upper shelf": 0.6267428264408892, "book-lower shelf": 0.42858835593767936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7023090668403452, "bimanual_gripper_vertical_difference": 0.21817543162717815, "task_success": 0.0 }, { "completion_time": 1.580157995223999, "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": 0.000755502710163003, "book-upper shelf": 0.6267366639727312, "book-lower shelf": 0.4285830163085256 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6900640077619011, "bimanual_gripper_vertical_difference": 0.219622296003009, "task_success": 0.0 }, { "completion_time": 1.615190029144287, "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": 0.0007616805501848845, "book-upper shelf": 0.6267307354059152, "book-lower shelf": 0.42857789593047907 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6764595756958578, "bimanual_gripper_vertical_difference": 0.2210253532043988, "task_success": 0.0 }, { "completion_time": 1.6468305587768555, "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": 0.0007673217290716794, "book-upper shelf": 0.6267245451873327, "book-lower shelf": 0.42857208462120194 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6655758886465643, "bimanual_gripper_vertical_difference": 0.22243306868579343, "task_success": 0.0 }, { "completion_time": 1.6790926456451416, "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": 0.0007730275246595752, "book-upper shelf": 0.6267182882168656, "book-lower shelf": 0.42856621283157936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6578174415309749, "bimanual_gripper_vertical_difference": 0.22385211505530347, "task_success": 0.0 }, { "completion_time": 1.7089924812316895, "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": 0.0007794614332562455, "book-upper shelf": 0.6267226654357441, "book-lower shelf": 0.42857631029314847 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6499238199620887, "bimanual_gripper_vertical_difference": 0.22525669186387515, "task_success": 0.0 }, { "completion_time": 1.7412171363830566, "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": 0.0007405265764401925, "book-upper shelf": 0.6271937073124966, "book-lower shelf": 0.4292425041812665 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6411727492641431, "bimanual_gripper_vertical_difference": 0.22659694121802484, "task_success": 0.0 }, { "completion_time": 1.7732245922088623, "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": 0.00072273642060805, "book-upper shelf": 0.6273499765089992, "book-lower shelf": 0.4294606072354409 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6305163827295435, "bimanual_gripper_vertical_difference": 0.2278779031717426, "task_success": 0.0 }, { "completion_time": 1.8040845394134521, "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": 0.000719992857191265, "book-upper shelf": 0.6273660294392894, "book-lower shelf": 0.4294824838894012 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6193446948251842, "bimanual_gripper_vertical_difference": 0.22910153353589185, "task_success": 0.0 }, { "completion_time": 1.8360562324523926, "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": 0.0007221851482599462, "book-upper shelf": 0.6273671030363003, "book-lower shelf": 0.4294853089912207 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6127591592889515, "bimanual_gripper_vertical_difference": 0.23024353799702466, "task_success": 0.0 }, { "completion_time": 1.8685152530670166, "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": 0.0007276329898040501, "book-upper shelf": 0.6273625530640735, "book-lower shelf": 0.42948178592783093 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6125852152871415, "bimanual_gripper_vertical_difference": 0.231271954198826, "task_success": 0.0 }, { "completion_time": 1.900320053100586, "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": 0.0007310606815901233, "book-upper shelf": 0.6273571371927521, "book-lower shelf": 0.4294758398445581 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6268587592406016, "bimanual_gripper_vertical_difference": 0.23220207541511945, "task_success": 0.0 }, { "completion_time": 1.931849718093872, "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": 0.0007367705413189318, "book-upper shelf": 0.6273529300883129, "book-lower shelf": 0.4294729678737783 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6512025466153426, "bimanual_gripper_vertical_difference": 0.2330592977988913, "task_success": 0.0 }, { "completion_time": 1.9658520221710205, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007413299456201505, "book-upper shelf": 0.6273490058974648, "book-lower shelf": 0.4294698496089103 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6838608646138001, "bimanual_gripper_vertical_difference": 0.2338609497030452, "task_success": 0.0 }, { "completion_time": 1.9975926876068115, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000744099070774662, "book-upper shelf": 0.6273439642024228, "book-lower shelf": 0.42946407253628643 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7215266253052041, "bimanual_gripper_vertical_difference": 0.2346067130305531, "task_success": 0.0 }, { "completion_time": 2.0286881923675537, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007499328712746722, "book-upper shelf": 0.6273374234700925, "book-lower shelf": 0.4294578627984188 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7600160169942801, "bimanual_gripper_vertical_difference": 0.23530541573316985, "task_success": 0.0 }, { "completion_time": 2.0596964359283447, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007555941996473248, "book-upper shelf": 0.6273350421234644, "book-lower shelf": 0.4294576300759958 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7965861651524837, "bimanual_gripper_vertical_difference": 0.23597526137303457, "task_success": 0.0 }, { "completion_time": 2.0907037258148193, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007580107196294428, "book-upper shelf": 0.6273302609505061, "book-lower shelf": 0.4294520314004053 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8304552712838567, "bimanual_gripper_vertical_difference": 0.2366388885855076, "task_success": 0.0 }, { "completion_time": 2.122857093811035, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000763410131928266, "book-upper shelf": 0.6273239099532972, "book-lower shelf": 0.4294458497987581 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8607447111414243, "bimanual_gripper_vertical_difference": 0.2373195699723366, "task_success": 0.0 }, { "completion_time": 2.1547839641571045, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007677571324130605, "book-upper shelf": 0.6273218548839403, "book-lower shelf": 0.42944534018393565 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8895083356871109, "bimanual_gripper_vertical_difference": 0.23803845063393497, "task_success": 0.0 }, { "completion_time": 2.1859495639801025, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007705202195905647, "book-upper shelf": 0.6273141669398369, "book-lower shelf": 0.4294356940408745 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9191451212733834, "bimanual_gripper_vertical_difference": 0.23878650041522687, "task_success": 0.0 }, { "completion_time": 2.217205286026001, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007755440669331426, "book-upper shelf": 0.6273098952633241, "book-lower shelf": 0.42943233455556984 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9492591499581835, "bimanual_gripper_vertical_difference": 0.2395491748797066, "task_success": 0.0 }, { "completion_time": 2.249377727508545, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007787930948721655, "book-upper shelf": 0.6273045316259993, "book-lower shelf": 0.4294263623124264 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.979010721335847, "bimanual_gripper_vertical_difference": 0.24034451510099036, "task_success": 0.0 }, { "completion_time": 2.2812881469726562, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007831398783765264, "book-upper shelf": 0.6272988788805767, "book-lower shelf": 0.4294205971640499 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0086533668444386, "bimanual_gripper_vertical_difference": 0.2411907461020524, "task_success": 0.0 }, { "completion_time": 2.3116228580474854, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00023615599549320354, "book-upper shelf": 0.6273719466742903, "book-lower shelf": 0.4292136566854431 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0386674941531828, "bimanual_gripper_vertical_difference": 0.2420844552629861, "task_success": 0.0 }, { "completion_time": 2.342508316040039, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0001308786065621348, "book-upper shelf": 0.6261383536990123, "book-lower shelf": 0.4271970217533687 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0685467406396905, "bimanual_gripper_vertical_difference": 0.2430120911602965, "task_success": 0.0 }, { "completion_time": 2.374579429626465, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0013494163345325605, "book-upper shelf": 0.625041080713055, "book-lower shelf": 0.4248815612594149 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0985053157681512, "bimanual_gripper_vertical_difference": 0.24399088442362393, "task_success": 0.0 }, { "completion_time": 2.4055330753326416, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0014370644832008006, "book-upper shelf": 0.6223947953085573, "book-lower shelf": 0.4209276748038359 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.129280100902213, "bimanual_gripper_vertical_difference": 0.2450062634194367, "task_success": 0.0 }, { "completion_time": 2.4377448558807373, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.005279424974820257, "book-upper shelf": 0.6256901130896158, "book-lower shelf": 0.4235572846581419 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1587704851410146, "bimanual_gripper_vertical_difference": 0.24602805069908723, "task_success": 0.0 }, { "completion_time": 2.4701874256134033, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.006285320953415274, "book-upper shelf": 0.6274106160219478, "book-lower shelf": 0.4255130825161714 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1790013177997134, "bimanual_gripper_vertical_difference": 0.24706499834770257, "task_success": 0.0 }, { "completion_time": 2.5014827251434326, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.005360613424052918, "book-upper shelf": 0.6267887869766097, "book-lower shelf": 0.42513157727550666 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1909194740424438, "bimanual_gripper_vertical_difference": 0.24809832165620418, "task_success": 0.0 }, { "completion_time": 2.5336639881134033, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0020606852445200774, "book-upper shelf": 0.6244911284756495, "book-lower shelf": 0.42365893557220635 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2022966634724603, "bimanual_gripper_vertical_difference": 0.24910053457049733, "task_success": 0.0 }, { "completion_time": 2.5656673908233643, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.007157083138453979, "book-upper shelf": 0.6144714453093894, "book-lower shelf": 0.4142609941518045 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2151251073695466, "bimanual_gripper_vertical_difference": 0.24999127018806405, "task_success": 0.0 }, { "completion_time": 2.598417282104492, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.015996829149999225, "book-upper shelf": 0.6029127517447815, "book-lower shelf": 0.402360451964113 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2277975561891274, "bimanual_gripper_vertical_difference": 0.2506913665623159, "task_success": 0.0 }, { "completion_time": 2.631237506866455, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03131693901764221, "book-upper shelf": 0.5880945925360033, "book-lower shelf": 0.38960208539633967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2402643969461338, "bimanual_gripper_vertical_difference": 0.2511987609857886, "task_success": 0.0 }, { "completion_time": 2.6614158153533936, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.05510950092199984, "book-upper shelf": 0.5665395908182047, "book-lower shelf": 0.37231477303770844 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2534819112785658, "bimanual_gripper_vertical_difference": 0.2515182252913738, "task_success": 0.0 }, { "completion_time": 2.6920204162597656, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.08185608246818155, "book-upper shelf": 0.5421233446630903, "book-lower shelf": 0.35315755285448086 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2646096502837283, "bimanual_gripper_vertical_difference": 0.25164063266817027, "task_success": 0.0 }, { "completion_time": 2.72159743309021, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.10785041897451009, "book-upper shelf": 0.5184967454561074, "book-lower shelf": 0.3353540253833826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.266406520364797, "bimanual_gripper_vertical_difference": 0.25155635035429075, "task_success": 0.0 }, { "completion_time": 2.752095937728882, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.13211382784432923, "book-upper shelf": 0.4965283933156048, "book-lower shelf": 0.3195503220636995 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2657674457906642, "bimanual_gripper_vertical_difference": 0.25126818203048773, "task_success": 0.0 }, { "completion_time": 2.782121419906616, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.15322662904279027, "book-upper shelf": 0.4768931275725914, "book-lower shelf": 0.3056076193657916 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2676452099568984, "bimanual_gripper_vertical_difference": 0.2507919263939326, "task_success": 0.0 }, { "completion_time": 2.811786413192749, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.17189388260777927, "book-upper shelf": 0.45867446516064286, "book-lower shelf": 0.2924789152666843 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2742196475730478, "bimanual_gripper_vertical_difference": 0.25013392844127025, "task_success": 0.0 }, { "completion_time": 2.841984272003174, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.19072007265621016, "book-upper shelf": 0.43994496112450426, "book-lower shelf": 0.27925647167401696 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2870809639587935, "bimanual_gripper_vertical_difference": 0.24928085313693799, "task_success": 0.0 }, { "completion_time": 2.872938632965088, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.21199393299968905, "book-upper shelf": 0.41897089072625227, "book-lower shelf": 0.26541576428450675 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.305908977103037, "bimanual_gripper_vertical_difference": 0.2482197843772721, "task_success": 0.0 }, { "completion_time": 2.9040398597717285, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.23480215639476099, "book-upper shelf": 0.39651921054053285, "book-lower shelf": 0.25173063891244607 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.329165405883105, "bimanual_gripper_vertical_difference": 0.24694665091881582, "task_success": 0.0 }, { "completion_time": 2.9351606369018555, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.25830548411924814, "book-upper shelf": 0.373437216639533, "book-lower shelf": 0.23910332227321449 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3481729794496289, "bimanual_gripper_vertical_difference": 0.24546285454162833, "task_success": 0.0 }, { "completion_time": 2.9667742252349854, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.28232526486563037, "book-upper shelf": 0.35048363511819713, "book-lower shelf": 0.22887193676233045 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3633709827597773, "bimanual_gripper_vertical_difference": 0.24378177880416954, "task_success": 0.0 }, { "completion_time": 2.99713397026062, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.30588238181533856, "book-upper shelf": 0.32864833477968175, "book-lower shelf": 0.22170704797109458 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3762039478076407, "bimanual_gripper_vertical_difference": 0.24192799678070598, "task_success": 0.0 }, { "completion_time": 3.0271735191345215, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.32819909613604825, "book-upper shelf": 0.30858221927643803, "book-lower shelf": 0.217616955134165 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3879645517445822, "bimanual_gripper_vertical_difference": 0.2399322179460776, "task_success": 0.0 }, { "completion_time": 3.057063579559326, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.34877013629056364, "book-upper shelf": 0.2903184457621438, "book-lower shelf": 0.21575254751355716 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3987713634991736, "bimanual_gripper_vertical_difference": 0.23782560818922902, "task_success": 0.0 }, { "completion_time": 3.087960958480835, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.36722805284190263, "book-upper shelf": 0.2736711643850321, "book-lower shelf": 0.21505782712862528 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4088458737718588, "bimanual_gripper_vertical_difference": 0.23563591713956597, "task_success": 0.0 }, { "completion_time": 3.1187665462493896, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3834730377234624, "book-upper shelf": 0.25834091318988595, "book-lower shelf": 0.2146947437818258 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4141172959156447, "bimanual_gripper_vertical_difference": 0.23338506346664742, "task_success": 0.0 }, { "completion_time": 3.1498255729675293, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.39717217683979367, "book-upper shelf": 0.246894583294302, "book-lower shelf": 0.2169259824963035 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4162113778177623, "bimanual_gripper_vertical_difference": 0.2310832298603681, "task_success": 0.0 }, { "completion_time": 3.181043863296509, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.40608726601176415, "book-upper shelf": 0.2430319614513473, "book-lower shelf": 0.22260888697745887 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4204149009753266, "bimanual_gripper_vertical_difference": 0.2287927732888457, "task_success": 0.0 }, { "completion_time": 3.214125156402588, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.41132922398204774, "book-upper shelf": 0.24606094628964584, "book-lower shelf": 0.23155468848606173 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4299978208694706, "bimanual_gripper_vertical_difference": 0.2266038636508038, "task_success": 0.0 }, { "completion_time": 3.2454183101654053, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4159884108400459, "book-upper shelf": 0.2520802571837662, "book-lower shelf": 0.24271476489007424 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4428080905530702, "bimanual_gripper_vertical_difference": 0.2245051383374947, "task_success": 0.0 }, { "completion_time": 3.276405096054077, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.42232180985331913, "book-upper shelf": 0.2562331361680086, "book-lower shelf": 0.2532593600267163 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4519570405196363, "bimanual_gripper_vertical_difference": 0.22250187411611438, "task_success": 0.0 }, { "completion_time": 3.3062126636505127, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4283169521263862, "book-upper shelf": 0.2555219299128688, "book-lower shelf": 0.2583188878935428 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4472978279152622, "bimanual_gripper_vertical_difference": 0.2205765834941943, "task_success": 0.0 }, { "completion_time": 3.336134672164917, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43178644114092724, "book-upper shelf": 0.2488986076399353, "book-lower shelf": 0.25513968315904595 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.443982929656892, "bimanual_gripper_vertical_difference": 0.21870499955495168, "task_success": 0.0 }, { "completion_time": 3.3669395446777344, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4299319126285154, "book-upper shelf": 0.2381365415489484, "book-lower shelf": 0.24277868706803538 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4528226442719976, "bimanual_gripper_vertical_difference": 0.21684951562019514, "task_success": 0.0 }, { "completion_time": 3.3973379135131836, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4208065674892941, "book-upper shelf": 0.22753128086136326, "book-lower shelf": 0.2225065977462943 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4689732421280455, "bimanual_gripper_vertical_difference": 0.2149618315963221, "task_success": 0.0 }, { "completion_time": 3.427673101425171, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.40334897788694624, "book-upper shelf": 0.2216647525736794, "book-lower shelf": 0.19564502248733942 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.488825493031436, "bimanual_gripper_vertical_difference": 0.21298448585935914, "task_success": 0.0 }, { "completion_time": 3.45751953125, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3782557699933474, "book-upper shelf": 0.22353848791399503, "book-lower shelf": 0.1635665542551731 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5071035928087837, "bimanual_gripper_vertical_difference": 0.21117552867555325, "task_success": 0.0 }, { "completion_time": 3.4881246089935303, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3539929155747964, "book-upper shelf": 0.22917446153162677, "book-lower shelf": 0.13174692891941514 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5278755425108808, "bimanual_gripper_vertical_difference": 0.2095536859126221, "task_success": 0.0 }, { "completion_time": 3.5153849124908447, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.360201176062407, "book-upper shelf": 0.21494352262961533, "book-lower shelf": 0.11871939711703967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5507023897298582, "bimanual_gripper_vertical_difference": 0.20789106101817972, "task_success": 0.0 }, { "completion_time": 3.543827533721924, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3660695678013445, "book-upper shelf": 0.2023883987663494, "book-lower shelf": 0.1083721864305422 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5770113982072387, "bimanual_gripper_vertical_difference": 0.206198941908599, "task_success": 0.0 }, { "completion_time": 3.571718215942383, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3677391939935132, "book-upper shelf": 0.19750309352622183, "book-lower shelf": 0.10302012524443759 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.601752855521491, "bimanual_gripper_vertical_difference": 0.2045024195535933, "task_success": 0.0 }, { "completion_time": 3.599856376647949, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": true }, "target_distance": { "book lift distance": 0.36204792191341173, "book-upper shelf": 0.2011343013445654, "book-lower shelf": 0.09621857669382616 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.628803167041693, "bimanual_gripper_vertical_difference": 0.20297052652012537, "task_success": 1.0 } ]