[ { "completion_time": 0.11120295524597168, "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": -0.0007961760845642818, "book-upper shelf": 0.5914462568499556, "book-lower shelf": 0.37407099115218967 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00939034675596323, "bimanual_gripper_vertical_difference": 0.00025109635316455936, "task_success": 0.0 }, { "completion_time": 0.12789177894592285, "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": 0.0007001637368215796, "book-upper shelf": 0.590101264380849, "book-lower shelf": 0.37293002888874965 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.01269829923166307, "bimanual_gripper_vertical_difference": 0.0004351345094589787, "task_success": 0.0 }, { "completion_time": 0.1470804214477539, "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": 0.0007259620325589244, "book-upper shelf": 0.5900837313123339, "book-lower shelf": 0.37291931909366144 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.01704680952835266, "bimanual_gripper_vertical_difference": 0.0006207889405015118, "task_success": 0.0 }, { "completion_time": 0.16407489776611328, "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": 0.0007173069976790236, "book-upper shelf": 0.5900916519490225, "book-lower shelf": 0.3729261376221876 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.019661010332571303, "bimanual_gripper_vertical_difference": 0.0008174091543659556, "task_success": 0.0 }, { "completion_time": 0.18079805374145508, "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": 0.0007126534934424056, "book-upper shelf": 0.5901061685119781, "book-lower shelf": 0.3729460348624283 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.020446814213877708, "bimanual_gripper_vertical_difference": 0.0010297069806182169, "task_success": 0.0 }, { "completion_time": 0.1977701187133789, "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": 0.0006659528671183468, "book-upper shelf": 0.5901432829435577, "book-lower shelf": 0.372973928691726 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.021448651758872648, "bimanual_gripper_vertical_difference": 0.0012478774085249815, "task_success": 0.0 }, { "completion_time": 0.21454119682312012, "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": 0.0006752133720386855, "book-upper shelf": 0.5901502048744464, "book-lower shelf": 0.37299099416652026 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.022572807607993767, "bimanual_gripper_vertical_difference": 0.001464986086659443, "task_success": 0.0 }, { "completion_time": 0.23140192031860352, "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": 0.0007486171841092348, "book-upper shelf": 0.5900953949556447, "book-lower shelf": 0.3729527319527323 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.04357868924900121, "bimanual_gripper_vertical_difference": 0.001599940975758385, "task_success": 0.0 }, { "completion_time": 0.24820232391357422, "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": 0.0007388954571361239, "book-upper shelf": 0.5901052511051283, "book-lower shelf": 0.3729619082970246 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.13615072460013142, "bimanual_gripper_vertical_difference": 0.00148476040275843, "task_success": 0.0 }, { "completion_time": 0.2648806571960449, "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": 0.0007481400338529287, "book-upper shelf": 0.590106561880258, "book-lower shelf": 0.3729700852945769 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.26365433008523703, "bimanual_gripper_vertical_difference": 0.0020295522169152536, "task_success": 0.0 }, { "completion_time": 0.36889100074768066, "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": 0.0007313981770031841, "book-upper shelf": 0.5901295814741082, "book-lower shelf": 0.3729954537979314 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3983796941153368, "bimanual_gripper_vertical_difference": 0.0029014477690057546, "task_success": 0.0 }, { "completion_time": 0.3862631320953369, "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": 0.000732106682170719, "book-upper shelf": 0.5901348397939273, "book-lower shelf": 0.3730042408138169 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5331650919906058, "bimanual_gripper_vertical_difference": 0.0042297357065216685, "task_success": 0.0 }, { "completion_time": 0.40376782417297363, "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": 0.000684115095009763, "book-upper shelf": 0.5901707131381065, "book-lower shelf": 0.37302931750116686 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6530441063682116, "bimanual_gripper_vertical_difference": 0.00747233345825541, "task_success": 0.0 }, { "completion_time": 0.4208869934082031, "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": 0.0007252021721766422, "book-upper shelf": 0.5901551472593015, "book-lower shelf": 0.3730318112938851 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.769050232111422, "bimanual_gripper_vertical_difference": 0.01319526083920026, "task_success": 0.0 }, { "completion_time": 0.4382193088531494, "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": 0.0006564600129593812, "book-upper shelf": 0.590218796541303, "book-lower shelf": 0.3730871347486872 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8911752582667104, "bimanual_gripper_vertical_difference": 0.02179157241980069, "task_success": 0.0 }, { "completion_time": 0.45557498931884766, "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": 0.000673277110725401, "book-upper shelf": 0.5902006567295576, "book-lower shelf": 0.3730695365586658 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9862807431310316, "bimanual_gripper_vertical_difference": 0.03208824230833927, "task_success": 0.0 }, { "completion_time": 0.4764368534088135, "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": 1.4310576014642251e-05, "book-upper shelf": 0.590815105845031, "book-lower shelf": 0.3736068055181914 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0473994277873184, "bimanual_gripper_vertical_difference": 0.04260586555739748, "task_success": 0.0 }, { "completion_time": 0.493882417678833, "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": 0.0007110082194224931, "book-upper shelf": 0.5901784303766645, "book-lower shelf": 0.3730592771536379 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0843021485252786, "bimanual_gripper_vertical_difference": 0.05186071772961402, "task_success": 0.0 }, { "completion_time": 0.512880802154541, "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": 0.0007088444964497009, "book-upper shelf": 0.5901911717307987, "book-lower shelf": 0.37307800558613624 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0838301349192987, "bimanual_gripper_vertical_difference": 0.05892869100289349, "task_success": 0.0 }, { "completion_time": 0.5302975177764893, "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": 0.0003636106199558231, "book-upper shelf": 0.5905225900171563, "book-lower shelf": 0.3733744741698904 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1010250818266023, "bimanual_gripper_vertical_difference": 0.06364160389590273, "task_success": 0.0 }, { "completion_time": 0.6356735229492188, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006353695655285652, "book-upper shelf": 0.5902744921536931, "book-lower shelf": 0.37316132224656956 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1531999539394484, "bimanual_gripper_vertical_difference": 0.0671864966218849, "task_success": 0.0 }, { "completion_time": 0.6534881591796875, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006740467619471557, "book-upper shelf": 0.5902486565201353, "book-lower shelf": 0.37314597605047883 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.216067170583657, "bimanual_gripper_vertical_difference": 0.07016512398133529, "task_success": 0.0 }, { "completion_time": 0.6710543632507324, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006848301688526792, "book-upper shelf": 0.5902340658568286, "book-lower shelf": 0.3731300117994279 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3110220749897572, "bimanual_gripper_vertical_difference": 0.07254285615118998, "task_success": 0.0 }, { "completion_time": 0.6883070468902588, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007118946080389987, "book-upper shelf": 0.590230714396655, "book-lower shelf": 0.3731425696805314 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3480293734293014, "bimanual_gripper_vertical_difference": 0.07462029353415357, "task_success": 0.0 }, { "completion_time": 0.7056102752685547, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007140451013288862, "book-upper shelf": 0.5902312814414309, "book-lower shelf": 0.37314488565839443 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3401812711954286, "bimanual_gripper_vertical_difference": 0.07684420259039478, "task_success": 0.0 }, { "completion_time": 0.7227797508239746, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 6.383561803946503e-05, "book-upper shelf": 0.5908476185166989, "book-lower shelf": 0.37369085183955936 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3347957751967856, "bimanual_gripper_vertical_difference": 0.07970332839084489, "task_success": 0.0 }, { "completion_time": 0.7422032356262207, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006656820745094549, "book-upper shelf": 0.5902866774032929, "book-lower shelf": 0.37320059652731 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3314135836602543, "bimanual_gripper_vertical_difference": 0.08347060735043393, "task_success": 0.0 }, { "completion_time": 0.7593872547149658, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007232908354162237, "book-upper shelf": 0.590245219473129, "book-lower shelf": 0.37317303261844326 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3399993452285095, "bimanual_gripper_vertical_difference": 0.08816636572792722, "task_success": 0.0 }, { "completion_time": 0.7766067981719971, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006737166081599577, "book-upper shelf": 0.5902896034574652, "book-lower shelf": 0.37321052542041094 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3256060883018363, "bimanual_gripper_vertical_difference": 0.0931156659435348, "task_success": 0.0 }, { "completion_time": 0.7940194606781006, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006825607260695365, "book-upper shelf": 0.5902821702724421, "book-lower shelf": 0.37320460361845303 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3279851580967632, "bimanual_gripper_vertical_difference": 0.09760529449727509, "task_success": 0.0 }, { "completion_time": 0.8966684341430664, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00020605655735195239, "book-upper shelf": 0.5907247891295806, "book-lower shelf": 0.37359036073660956 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3168871224204481, "bimanual_gripper_vertical_difference": 0.10148368942047263, "task_success": 0.0 }, { "completion_time": 0.9140574932098389, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006774033683449865, "book-upper shelf": 0.5903062502940547, "book-lower shelf": 0.3732392865386546 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.30873547769335, "bimanual_gripper_vertical_difference": 0.1047205549741051, "task_success": 0.0 }, { "completion_time": 0.9311606884002686, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000713559314450829, "book-upper shelf": 0.5902837184760372, "book-lower shelf": 0.3732275032378679 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3163012799597043, "bimanual_gripper_vertical_difference": 0.10716870677124388, "task_success": 0.0 }, { "completion_time": 0.9483335018157959, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007145310508375191, "book-upper shelf": 0.5902813583764005, "book-lower shelf": 0.37322441165275644 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3314125578996403, "bimanual_gripper_vertical_difference": 0.10856145689487537, "task_success": 0.0 }, { "completion_time": 0.9663910865783691, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000691602213269582, "book-upper shelf": 0.5903150413539157, "book-lower shelf": 0.3732625565865116 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.321663411225848, "bimanual_gripper_vertical_difference": 0.1091199034298286, "task_success": 0.0 }, { "completion_time": 0.9838049411773682, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005843089698265302, "book-upper shelf": 0.5904339402907893, "book-lower shelf": 0.37337981920628777 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3229837821315524, "bimanual_gripper_vertical_difference": 0.10973073391490065, "task_success": 0.0 }, { "completion_time": 1.00114107131958, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005146946069506386, "book-upper shelf": 0.5904962051314184, "book-lower shelf": 0.37343237436636423 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3205140947578484, "bimanual_gripper_vertical_difference": 0.11026082152295927, "task_success": 0.0 }, { "completion_time": 1.0185546875, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006319454695083992, "book-upper shelf": 0.5903949128672992, "book-lower shelf": 0.3733495189189513 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3141300400807108, "bimanual_gripper_vertical_difference": 0.11068601339903185, "task_success": 0.0 }, { "completion_time": 1.0360441207885742, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007308699103574234, "book-upper shelf": 0.5903069524954798, "book-lower shelf": 0.3732756670916419 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3020757688151534, "bimanual_gripper_vertical_difference": 0.11100828085227252, "task_success": 0.0 }, { "completion_time": 1.0534226894378662, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006953319694241733, "book-upper shelf": 0.5903378359119593, "book-lower shelf": 0.37330106526562856 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2872078665933264, "bimanual_gripper_vertical_difference": 0.11123792284857104, "task_success": 0.0 }, { "completion_time": 1.157649278640747, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006862332288855022, "book-upper shelf": 0.5903553390557905, "book-lower shelf": 0.37332274307380087 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2869618296551903, "bimanual_gripper_vertical_difference": 0.11138281887581303, "task_success": 0.0 }, { "completion_time": 1.17531418800354, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 3.8865952368238865e-05, "book-upper shelf": 0.5909585369515475, "book-lower shelf": 0.3738497566212974 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.301126195875987, "bimanual_gripper_vertical_difference": 0.11145150089688226, "task_success": 0.0 }, { "completion_time": 1.1927151679992676, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006994613396543725, "book-upper shelf": 0.5903619153346034, "book-lower shelf": 0.37334186666531805 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3098077449822376, "bimanual_gripper_vertical_difference": 0.11145158797911998, "task_success": 0.0 }, { "completion_time": 1.209914207458496, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006498425856115153, "book-upper shelf": 0.5904149445181285, "book-lower shelf": 0.37339299709900287 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2951458986071955, "bimanual_gripper_vertical_difference": 0.11168211361715752, "task_success": 0.0 }, { "completion_time": 1.2271101474761963, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007130256449054961, "book-upper shelf": 0.5903627251028177, "book-lower shelf": 0.3733520928835585 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2796405590641295, "bimanual_gripper_vertical_difference": 0.11213482039069632, "task_success": 0.0 }, { "completion_time": 1.2442302703857422, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007103020567054141, "book-upper shelf": 0.5903691548667812, "book-lower shelf": 0.3733604637034024 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.269321330444016, "bimanual_gripper_vertical_difference": 0.11257243499670357, "task_success": 0.0 }, { "completion_time": 1.2613236904144287, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00014155345299504685, "book-upper shelf": 0.5909144919450872, "book-lower shelf": 0.37384776765439753 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2726691587190704, "bimanual_gripper_vertical_difference": 0.11302147518575942, "task_success": 0.0 }, { "completion_time": 1.2783656120300293, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007064735686475032, "book-upper shelf": 0.5903855889157134, "book-lower shelf": 0.373383924532265 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2878748801768978, "bimanual_gripper_vertical_difference": 0.11350544452711937, "task_success": 0.0 }, { "completion_time": 1.295527696609497, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006550724660027152, "book-upper shelf": 0.5904407531994058, "book-lower shelf": 0.3734372531838589 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.308856356077228, "bimanual_gripper_vertical_difference": 0.1140428131737688, "task_success": 0.0 }, { "completion_time": 1.312915563583374, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007290568783766549, "book-upper shelf": 0.5903779906828072, "book-lower shelf": 0.3733868028375955 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3092220388832145, "bimanual_gripper_vertical_difference": 0.11466757521829835, "task_success": 0.0 }, { "completion_time": 1.4158999919891357, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007264609558854662, "book-upper shelf": 0.5903953132297098, "book-lower shelf": 0.3734124799363193 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.286362646676659, "bimanual_gripper_vertical_difference": 0.11526849398117882, "task_success": 0.0 }, { "completion_time": 1.4336094856262207, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00046921276070521767, "book-upper shelf": 0.5906252337755179, "book-lower shelf": 0.37360639607419466 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2622099431742877, "bimanual_gripper_vertical_difference": 0.11586642767451129, "task_success": 0.0 }, { "completion_time": 1.4509882926940918, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006187177397837251, "book-upper shelf": 0.5905072779624954, "book-lower shelf": 0.37351846201843175 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2492120342013762, "bimanual_gripper_vertical_difference": 0.11646972201054057, "task_success": 0.0 }, { "completion_time": 1.4684951305389404, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006226186002357137, "book-upper shelf": 0.5904951230658817, "book-lower shelf": 0.3735018172449162 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2490560070825378, "bimanual_gripper_vertical_difference": 0.11734148245006511, "task_success": 0.0 }, { "completion_time": 1.4858348369598389, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007134065896885478, "book-upper shelf": 0.5904283370783646, "book-lower shelf": 0.3734560842871476 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2540913036885746, "bimanual_gripper_vertical_difference": 0.11868855933050661, "task_success": 0.0 }, { "completion_time": 1.5031282901763916, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007285737120532598, "book-upper shelf": 0.5904232606026941, "book-lower shelf": 0.3734580583895255 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2571977134031618, "bimanual_gripper_vertical_difference": 0.12046641104316622, "task_success": 0.0 }, { "completion_time": 1.5203821659088135, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005963740406991214, "book-upper shelf": 0.5905310908545653, "book-lower shelf": 0.37354137957291045 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2581015868062222, "bimanual_gripper_vertical_difference": 0.12244691769324414, "task_success": 0.0 }, { "completion_time": 1.537428617477417, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0002888917024486126, "book-upper shelf": 0.5908298674003671, "book-lower shelf": 0.37381105591269775 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.256065302968611, "bimanual_gripper_vertical_difference": 0.12450892063374899, "task_success": 0.0 }, { "completion_time": 1.5567891597747803, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007050620533394225, "book-upper shelf": 0.5904599135974066, "book-lower shelf": 0.37350050329886764 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2507010189619214, "bimanual_gripper_vertical_difference": 0.1265722514121796, "task_success": 0.0 }, { "completion_time": 1.5740091800689697, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006929689039535392, "book-upper shelf": 0.5904817413109651, "book-lower shelf": 0.37352703777541835 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2416221386198016, "bimanual_gripper_vertical_difference": 0.1285855764664687, "task_success": 0.0 }, { "completion_time": 1.6784510612487793, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007071331443320172, "book-upper shelf": 0.5904776151138569, "book-lower shelf": 0.3735298518972154 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2237794405481928, "bimanual_gripper_vertical_difference": 0.13061969840007978, "task_success": 0.0 }, { "completion_time": 1.6946535110473633, "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": -3.571420835668526e-05, "book-upper shelf": 0.5909754377403529, "book-lower shelf": 0.37382735205202383 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.211446033557088, "bimanual_gripper_vertical_difference": 0.13267315698634735, "task_success": 0.0 }, { "completion_time": 1.7107255458831787, "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": -0.0021102946735294115, "book-upper shelf": 0.5924880749865135, "book-lower shelf": 0.3748538555001806 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1996585218613485, "bimanual_gripper_vertical_difference": 0.13472112889382287, "task_success": 0.0 }, { "completion_time": 1.7269811630249023, "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": -4.953309804545114e-06, "book-upper shelf": 0.5899983210303997, "book-lower shelf": 0.37230107192025863 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.189133410284475, "bimanual_gripper_vertical_difference": 0.1366940404287728, "task_success": 0.0 }, { "completion_time": 1.743304967880249, "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": -0.0008613678280109394, "book-upper shelf": 0.5904955236139263, "book-lower shelf": 0.37252287367872755 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.177136374246564, "bimanual_gripper_vertical_difference": 0.13865388987457533, "task_success": 0.0 }, { "completion_time": 1.759502649307251, "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": -0.0015674186385957745, "book-upper shelf": 0.5910059557241025, "book-lower shelf": 0.37286548913283407 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1628269667787607, "bimanual_gripper_vertical_difference": 0.14059055043387994, "task_success": 0.0 }, { "completion_time": 1.7754933834075928, "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": -0.001962720937769502, "book-upper shelf": 0.5915873430073624, "book-lower shelf": 0.3735258372250074 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1491479548112717, "bimanual_gripper_vertical_difference": 0.14251144665103596, "task_success": 0.0 }, { "completion_time": 1.7918822765350342, "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": 0.0004861468511533351, "book-upper shelf": 0.5895575163876978, "book-lower shelf": 0.3719273809995913 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1410001347194112, "bimanual_gripper_vertical_difference": 0.1443721809647541, "task_success": 0.0 }, { "completion_time": 1.8093843460083008, "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": 0.0005710343625919823, "book-upper shelf": 0.5895118285054354, "book-lower shelf": 0.3719111592984503 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1320926865278371, "bimanual_gripper_vertical_difference": 0.14621634205503006, "task_success": 0.0 }, { "completion_time": 1.8267879486083984, "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": 0.0006878092179510853, "book-upper shelf": 0.5894702782564519, "book-lower shelf": 0.37192261182673764 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1223241795319645, "bimanual_gripper_vertical_difference": 0.14804663439610655, "task_success": 0.0 }, { "completion_time": 1.9301092624664307, "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": 0.0007209145927693505, "book-upper shelf": 0.5894501412825084, "book-lower shelf": 0.3719126134457445 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1161001662573198, "bimanual_gripper_vertical_difference": 0.14980819710715618, "task_success": 0.0 }, { "completion_time": 1.9475510120391846, "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": 0.0007224483752709121, "book-upper shelf": 0.5894508871279792, "book-lower shelf": 0.37191481098395035 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.113631456007739, "bimanual_gripper_vertical_difference": 0.1515418035219507, "task_success": 0.0 }, { "completion_time": 1.9635334014892578, "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": -0.001958167204452965, "book-upper shelf": 0.5918382987649348, "book-lower shelf": 0.3739261705725754 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1080758361840353, "bimanual_gripper_vertical_difference": 0.15336174272752476, "task_success": 0.0 }, { "completion_time": 1.9794487953186035, "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": -0.004023862922407639, "book-upper shelf": 0.5936382664557666, "book-lower shelf": 0.3754162339334348 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0996203850067456, "bimanual_gripper_vertical_difference": 0.15519139249328837, "task_success": 0.0 }, { "completion_time": 1.9954571723937988, "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": -0.0029929783097779605, "book-upper shelf": 0.5926085959796827, "book-lower shelf": 0.374464370074746 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0885272024426065, "bimanual_gripper_vertical_difference": 0.15698555393086985, "task_success": 0.0 }, { "completion_time": 2.0115103721618652, "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": -0.003561427186658417, "book-upper shelf": 0.5931370049898053, "book-lower shelf": 0.3749269134991145 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0746345842770275, "bimanual_gripper_vertical_difference": 0.1587750751753135, "task_success": 0.0 }, { "completion_time": 2.0275204181671143, "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": -0.003374362964661981, "book-upper shelf": 0.5930369887525045, "book-lower shelf": 0.3748915490941914 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0632650600207632, "bimanual_gripper_vertical_difference": 0.16055371408756755, "task_success": 0.0 }, { "completion_time": 2.0436923503875732, "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": -0.0035287987195421477, "book-upper shelf": 0.5936366736445556, "book-lower shelf": 0.3757382758810487 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0553485093121413, "bimanual_gripper_vertical_difference": 0.1623224063106726, "task_success": 0.0 }, { "completion_time": 2.059608221054077, "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": -0.0014073530326550454, "book-upper shelf": 0.5917943607449379, "book-lower shelf": 0.37421921784146756 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0504914522341575, "bimanual_gripper_vertical_difference": 0.16404342438438338, "task_success": 0.0 }, { "completion_time": 2.0755581855773926, "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": -0.002611740107791194, "book-upper shelf": 0.5931212605792002, "book-lower shelf": 0.3755252147721337 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0450355584245845, "bimanual_gripper_vertical_difference": 0.1657645448656198, "task_success": 0.0 }, { "completion_time": 2.1784305572509766, "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": -0.004635211727791688, "book-upper shelf": 0.5951751335691505, "book-lower shelf": 0.3774431589003836 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0411179861473034, "bimanual_gripper_vertical_difference": 0.1674862103066924, "task_success": 0.0 }, { "completion_time": 2.194500207901001, "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": -0.002576757312547251, "book-upper shelf": 0.5934862134781915, "book-lower shelf": 0.3761242747347703 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0416295780092257, "bimanual_gripper_vertical_difference": 0.16915593034508788, "task_success": 0.0 }, { "completion_time": 2.210517406463623, "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": -0.0024023470783809397, "book-upper shelf": 0.5936297862646726, "book-lower shelf": 0.3764648667755489 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0430756506235066, "bimanual_gripper_vertical_difference": 0.17078401681863606, "task_success": 0.0 }, { "completion_time": 2.22646164894104, "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": -0.0023642213628314313, "book-upper shelf": 0.5930899216507969, "book-lower shelf": 0.3756379945479665 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0373555933804153, "bimanual_gripper_vertical_difference": 0.17237387863504394, "task_success": 0.0 }, { "completion_time": 2.2424213886260986, "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": -0.004459052764415827, "book-upper shelf": 0.5945717231111282, "book-lower shelf": 0.3766061364161408 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.031660519370427, "bimanual_gripper_vertical_difference": 0.17396230226119874, "task_success": 0.0 }, { "completion_time": 2.258444309234619, "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": -0.0033239191690908054, "book-upper shelf": 0.5930260919959666, "book-lower shelf": 0.37490744242904045 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0264085633879618, "bimanual_gripper_vertical_difference": 0.1755158508768897, "task_success": 0.0 }, { "completion_time": 2.274286985397339, "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": -0.0031291939041627748, "book-upper shelf": 0.593116194013557, "book-lower shelf": 0.3751777667430386 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0175513511896987, "bimanual_gripper_vertical_difference": 0.17706009805611903, "task_success": 0.0 }, { "completion_time": 2.2901792526245117, "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": -0.0039356378448547336, "book-upper shelf": 0.5936701517348675, "book-lower shelf": 0.3755245035951666 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.006671487788206, "bimanual_gripper_vertical_difference": 0.17859319764008233, "task_success": 0.0 }, { "completion_time": 2.306260824203491, "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": -0.004161678278066128, "book-upper shelf": 0.5938145947974325, "book-lower shelf": 0.375604663340138 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9994274766027882, "bimanual_gripper_vertical_difference": 0.18011396535697866, "task_success": 0.0 }, { "completion_time": 2.3222177028656006, "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": -0.002947418806348634, "book-upper shelf": 0.5927020946140862, "book-lower shelf": 0.37464226291730923 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9960108812546254, "bimanual_gripper_vertical_difference": 0.18159891357611496, "task_success": 0.0 }, { "completion_time": 2.4265122413635254, "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": -0.0034398877021349916, "book-upper shelf": 0.5930206666574609, "book-lower shelf": 0.3748226873864095 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9886112484546766, "bimanual_gripper_vertical_difference": 0.18306841207642208, "task_success": 0.0 }, { "completion_time": 2.4424920082092285, "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": -0.003363000060607857, "book-upper shelf": 0.5926083439213506, "book-lower shelf": 0.3742205880238265 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9823024090589665, "bimanual_gripper_vertical_difference": 0.18452354773824897, "task_success": 0.0 }, { "completion_time": 2.458735704421997, "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": -0.0029770255207866025, "book-upper shelf": 0.592183016601487, "book-lower shelf": 0.3738010132792888 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.97185524595611, "bimanual_gripper_vertical_difference": 0.185947232203537, "task_success": 0.0 }, { "completion_time": 2.4745469093322754, "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": -0.002238415491826795, "book-upper shelf": 0.5913550556573736, "book-lower shelf": 0.3729758742021223 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9648603313599232, "bimanual_gripper_vertical_difference": 0.1873308249423481, "task_success": 0.0 }, { "completion_time": 2.4903223514556885, "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": -0.0019385105418693316, "book-upper shelf": 0.5907655236992333, "book-lower shelf": 0.3722388924725555 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9554012644137179, "bimanual_gripper_vertical_difference": 0.18867952061913573, "task_success": 0.0 }, { "completion_time": 2.50604248046875, "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": -0.0017055737206692623, "book-upper shelf": 0.5900548420052613, "book-lower shelf": 0.37126448172260246 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9518547091739246, "bimanual_gripper_vertical_difference": 0.19000173185809557, "task_success": 0.0 }, { "completion_time": 2.521872043609619, "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": -0.001295349848536853, "book-upper shelf": 0.5896494402024712, "book-lower shelf": 0.37089226992665747 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.951118730801714, "bimanual_gripper_vertical_difference": 0.19129981532587212, "task_success": 0.0 }, { "completion_time": 2.5377273559570312, "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": -0.0008937402856186161, "book-upper shelf": 0.589494378373967, "book-lower shelf": 0.37091239979754004 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9489531812211025, "bimanual_gripper_vertical_difference": 0.1925778352635304, "task_success": 0.0 }, { "completion_time": 2.5550456047058105, "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": 0.0005860826379482376, "book-upper shelf": 0.5882846808050234, "book-lower shelf": 0.3699729593577693 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9428909381162165, "bimanual_gripper_vertical_difference": 0.19381499568704075, "task_success": 0.0 }, { "completion_time": 2.5724987983703613, "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": 1.5926294219537063e-05, "book-upper shelf": 0.5888087227937394, "book-lower shelf": 0.3704268666461105 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9388747792767336, "bimanual_gripper_vertical_difference": 0.1950406640698804, "task_success": 0.0 }, { "completion_time": 2.6754209995269775, "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": -0.0007221842446468729, "book-upper shelf": 0.5896013854473522, "book-lower shelf": 0.3711962589826004 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9328630447077091, "bimanual_gripper_vertical_difference": 0.19626260499368564, "task_success": 0.0 }, { "completion_time": 2.6914687156677246, "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": 0.0013332153240233069, "book-upper shelf": 0.5879119634428466, "book-lower shelf": 0.3698777193015321 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9359963062091731, "bimanual_gripper_vertical_difference": 0.1974402644044558, "task_success": 0.0 }, { "completion_time": 2.707411527633667, "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": -0.001300031510893529, "book-upper shelf": 0.5899030601798959, "book-lower shelf": 0.3712922413480311 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9410001792094307, "bimanual_gripper_vertical_difference": 0.1986066892154366, "task_success": 0.0 }, { "completion_time": 2.7233426570892334, "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": -0.001920747936648759, "book-upper shelf": 0.5900644207048176, "book-lower shelf": 0.3711369785593964 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9428500890777258, "bimanual_gripper_vertical_difference": 0.199749846654472, "task_success": 0.0 }, { "completion_time": 2.739661455154419, "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": -0.0017630167702981092, "book-upper shelf": 0.5893717780666781, "book-lower shelf": 0.37013970844351773 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9371423243575807, "bimanual_gripper_vertical_difference": 0.20087642294910257, "task_success": 0.0 }, { "completion_time": 2.759565830230713, "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": -0.0011991794219720076, "book-upper shelf": 0.5882346938385882, "book-lower shelf": 0.36870317020889615 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9368340207881707, "bimanual_gripper_vertical_difference": 0.20198727952788365, "task_success": 0.0 }, { "completion_time": 2.775367259979248, "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": -0.0011405085104631008, "book-upper shelf": 0.5879449515353646, "book-lower shelf": 0.36827996308914285 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9372298388232201, "bimanual_gripper_vertical_difference": 0.20310111740981815, "task_success": 0.0 }, { "completion_time": 2.791166067123413, "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": -0.0013033390309796777, "book-upper shelf": 0.5879288404891645, "book-lower shelf": 0.3681453527702196 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9346652720896645, "bimanual_gripper_vertical_difference": 0.2042188019382215, "task_success": 0.0 }, { "completion_time": 2.8070404529571533, "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": -0.0015163675939026122, "book-upper shelf": 0.5880731009071662, "book-lower shelf": 0.36823327576738457 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9301300908679848, "bimanual_gripper_vertical_difference": 0.20533464858485337, "task_success": 0.0 }, { "completion_time": 2.822965383529663, "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": 0.0007920516524484444, "book-upper shelf": 0.5859711938412826, "book-lower shelf": 0.36642160749444114 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9267261320490786, "bimanual_gripper_vertical_difference": 0.2064266815418399, "task_success": 0.0 }, { "completion_time": 2.9248883724212646, "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": -0.0020266106640289827, "book-upper shelf": 0.5881147037724196, "book-lower shelf": 0.367958433747386 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9260902429253496, "bimanual_gripper_vertical_difference": 0.20753871086273531, "task_success": 0.0 }, { "completion_time": 2.940769672393799, "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": -0.0009911103108328767, "book-upper shelf": 0.5867498166857896, "book-lower shelf": 0.36646934892438526 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9309473900254767, "bimanual_gripper_vertical_difference": 0.20864645771543328, "task_success": 0.0 }, { "completion_time": 2.956584930419922, "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": -0.0011296151191224624, "book-upper shelf": 0.5866758978568881, "book-lower shelf": 0.36625788558576744 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9386342367728898, "bimanual_gripper_vertical_difference": 0.2097760248975192, "task_success": 0.0 }, { "completion_time": 2.972496747970581, "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": 0.0006540250872675291, "book-upper shelf": 0.5850522384022813, "book-lower shelf": 0.3648571020340519 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.943639314343861, "bimanual_gripper_vertical_difference": 0.21090612823929794, "task_success": 0.0 }, { "completion_time": 2.988354206085205, "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": 0.00018361882613882052, "book-upper shelf": 0.5857348393859286, "book-lower shelf": 0.365634016132077 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9451207406015725, "bimanual_gripper_vertical_difference": 0.21204617147014967, "task_success": 0.0 }, { "completion_time": 3.004189968109131, "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": -0.0012864122621322194, "book-upper shelf": 0.587147393470897, "book-lower shelf": 0.3669074495487164 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9425604224313948, "bimanual_gripper_vertical_difference": 0.2131893809628362, "task_success": 0.0 }, { "completion_time": 3.0201728343963623, "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": 0.001766255291255403, "book-upper shelf": 0.5845345276367644, "book-lower shelf": 0.3647778981892723 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9355415649935713, "bimanual_gripper_vertical_difference": 0.21431445668460983, "task_success": 0.0 }, { "completion_time": 3.035895824432373, "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": 0.0005971910172501982, "book-upper shelf": 0.5855203492102201, "book-lower shelf": 0.3655689738567948 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9305738230065982, "bimanual_gripper_vertical_difference": 0.21542653164476208, "task_success": 0.0 }, { "completion_time": 3.053457498550415, "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": -0.0012107562750399703, "book-upper shelf": 0.5870910380268137, "book-lower shelf": 0.36686803975930404 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9277874862832866, "bimanual_gripper_vertical_difference": 0.21652523237261387, "task_success": 0.0 }, { "completion_time": 3.06929349899292, "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": -0.0003850110920970984, "book-upper shelf": 0.5859339268548542, "book-lower shelf": 0.3655700706012154 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9267698738485383, "bimanual_gripper_vertical_difference": 0.21759902119161645, "task_success": 0.0 }, { "completion_time": 3.1725142002105713, "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": -0.000878429533645475, "book-upper shelf": 0.5859357324487632, "book-lower shelf": 0.36524048040862145 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.923731286332415, "bimanual_gripper_vertical_difference": 0.21866891253374643, "task_success": 0.0 }, { "completion_time": 3.188292980194092, "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": -0.0005366358777498803, "book-upper shelf": 0.5853450070722863, "book-lower shelf": 0.3645230027841338 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9194784451013539, "bimanual_gripper_vertical_difference": 0.21974302913191388, "task_success": 0.0 }, { "completion_time": 3.208238363265991, "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": 0.0002473799505056107, "book-upper shelf": 0.5846247120648347, "book-lower shelf": 0.36389611815039297 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9127390823170005, "bimanual_gripper_vertical_difference": 0.22081053307701107, "task_success": 0.0 }, { "completion_time": 3.224151849746704, "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": -8.91328262827562e-05, "book-upper shelf": 0.5850043397171243, "book-lower shelf": 0.36427831752570466 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9079715304607147, "bimanual_gripper_vertical_difference": 0.22187215703336477, "task_success": 0.0 }, { "completion_time": 3.24015212059021, "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": 0.0002661790573940115, "book-upper shelf": 0.5848728365412981, "book-lower shelf": 0.3643073199814458 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.904933483029553, "bimanual_gripper_vertical_difference": 0.22291880754889476, "task_success": 0.0 }, { "completion_time": 3.256312847137451, "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": 0.0007337843391689303, "book-upper shelf": 0.5845020404911953, "book-lower shelf": 0.3640281527945953 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9036113141254554, "bimanual_gripper_vertical_difference": 0.22394381140795888, "task_success": 0.0 }, { "completion_time": 3.272345542907715, "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": 0.0008002320166300425, "book-upper shelf": 0.5844544791466614, "book-lower shelf": 0.3639967321858251 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9043962449453766, "bimanual_gripper_vertical_difference": 0.224951979332404, "task_success": 0.0 }, { "completion_time": 3.288217544555664, "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": -0.0008531267247481322, "book-upper shelf": 0.5859207332170464, "book-lower shelf": 0.3652334759447249 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9011851787565197, "bimanual_gripper_vertical_difference": 0.2259590446171289, "task_success": 0.0 }, { "completion_time": 3.3041749000549316, "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": -0.0011575320411190138, "book-upper shelf": 0.5860072524788685, "book-lower shelf": 0.3651670602576284 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8968585649523833, "bimanual_gripper_vertical_difference": 0.22696398664218975, "task_success": 0.0 }, { "completion_time": 3.3202226161956787, "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": 0.0006186382031115878, "book-upper shelf": 0.5842584681059446, "book-lower shelf": 0.3635589560547366 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8925359892105629, "bimanual_gripper_vertical_difference": 0.227953026328762, "task_success": 0.0 }, { "completion_time": 3.4250423908233643, "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": -0.0001369743199303164, "book-upper shelf": 0.5846841940457601, "book-lower shelf": 0.363731580090233 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8874830505402455, "bimanual_gripper_vertical_difference": 0.22894120658038764, "task_success": 0.0 }, { "completion_time": 3.4416677951812744, "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": -0.0006510586488616132, "book-upper shelf": 0.5846489060707282, "book-lower shelf": 0.3633266273348305 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8885402421909843, "bimanual_gripper_vertical_difference": 0.22993298098801618, "task_success": 0.0 }, { "completion_time": 3.457667350769043, "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": -0.001180835383287837, "book-upper shelf": 0.584370944387039, "book-lower shelf": 0.36251952616699346 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8943431824375155, "bimanual_gripper_vertical_difference": 0.23093772786557343, "task_success": 0.0 }, { "completion_time": 3.473722219467163, "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": 0.0005341852510138967, "book-upper shelf": 0.5821042771220444, "book-lower shelf": 0.36002910654795506 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8989807773726736, "bimanual_gripper_vertical_difference": 0.23194151054724768, "task_success": 0.0 }, { "completion_time": 3.4896814823150635, "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": 0.0012360081515142562, "book-upper shelf": 0.5810473826903692, "book-lower shelf": 0.35879972371201385 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.900504115407829, "bimanual_gripper_vertical_difference": 0.23295424608541002, "task_success": 0.0 }, { "completion_time": 3.5055465698242188, "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": 0.0017219560407910617, "book-upper shelf": 0.5805123677035464, "book-lower shelf": 0.3582667929054895 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9000457344558687, "bimanual_gripper_vertical_difference": 0.2339714035353429, "task_success": 0.0 }, { "completion_time": 3.52144455909729, "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": 0.0022752758559456687, "book-upper shelf": 0.5800668498151712, "book-lower shelf": 0.3579252972881959 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8981095075678455, "bimanual_gripper_vertical_difference": 0.23498416919393678, "task_success": 0.0 }, { "completion_time": 3.537238836288452, "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": 0.0012056816301418971, "book-upper shelf": 0.5809984820266295, "book-lower shelf": 0.35869971093704794 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.895965735733769, "bimanual_gripper_vertical_difference": 0.23598636910867402, "task_success": 0.0 }, { "completion_time": 3.5532336235046387, "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": 0.00020596422018814842, "book-upper shelf": 0.5818695350835691, "book-lower shelf": 0.35942466739228573 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8931131785067492, "bimanual_gripper_vertical_difference": 0.2369759614334024, "task_success": 0.0 }, { "completion_time": 3.5692856311798096, "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": -0.0003259727115665356, "book-upper shelf": 0.5823270009198844, "book-lower shelf": 0.35980094403794943 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8882252111700742, "bimanual_gripper_vertical_difference": 0.2379546877382608, "task_success": 0.0 }, { "completion_time": 3.6730899810791016, "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": 0.0003820709459946281, "book-upper shelf": 0.5816169293897125, "book-lower shelf": 0.35913634177193227 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8826175232028661, "bimanual_gripper_vertical_difference": 0.23891187837263997, "task_success": 0.0 }, { "completion_time": 3.689208745956421, "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": -0.0013047627971820575, "book-upper shelf": 0.5834168116565606, "book-lower shelf": 0.36089493523353583 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8789027386163272, "bimanual_gripper_vertical_difference": 0.23986215552147733, "task_success": 0.0 }, { "completion_time": 3.705134391784668, "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": -0.0008226793737481364, "book-upper shelf": 0.5831540576331318, "book-lower shelf": 0.36079916168003434 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8769977507510776, "bimanual_gripper_vertical_difference": 0.24078541169540424, "task_success": 0.0 }, { "completion_time": 3.7211856842041016, "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": -0.00033658343512377176, "book-upper shelf": 0.5830497304059328, "book-lower shelf": 0.36096225038898433 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.876224825146082, "bimanual_gripper_vertical_difference": 0.24168193614946334, "task_success": 0.0 }, { "completion_time": 3.737231492996216, "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": -0.0005082494032299101, "book-upper shelf": 0.5835694977984184, "book-lower shelf": 0.36168436506759566 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8749369067828735, "bimanual_gripper_vertical_difference": 0.24255468480456885, "task_success": 0.0 }, { "completion_time": 3.753284215927124, "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": -0.0005408119832891467, "book-upper shelf": 0.5836287458296868, "book-lower shelf": 0.3617577900887164 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8731556160817825, "bimanual_gripper_vertical_difference": 0.2433992914612149, "task_success": 0.0 }, { "completion_time": 3.769524335861206, "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": -0.00023874687709479758, "book-upper shelf": 0.5829306956413062, "book-lower shelf": 0.36083671322801325 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8742568180801322, "bimanual_gripper_vertical_difference": 0.2442110421288908, "task_success": 0.0 }, { "completion_time": 3.7860569953918457, "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": -0.0001853873477918322, "book-upper shelf": 0.5824874591481812, "book-lower shelf": 0.36015670847200193 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.877726681890485, "bimanual_gripper_vertical_difference": 0.24499750009118848, "task_success": 0.0 }, { "completion_time": 3.802506446838379, "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": 0.0005017045962016908, "book-upper shelf": 0.581475877014779, "book-lower shelf": 0.3589899282286652 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8805648366913154, "bimanual_gripper_vertical_difference": 0.2457530437234115, "task_success": 0.0 }, { "completion_time": 3.8187367916107178, "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": -0.0009928433297416994, "book-upper shelf": 0.5826402843684715, "book-lower shelf": 0.3598517526205321 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8841021394652648, "bimanual_gripper_vertical_difference": 0.24649210511686764, "task_success": 0.0 }, { "completion_time": 3.921051502227783, "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": -0.00035808165315798224, "book-upper shelf": 0.5819466406310867, "book-lower shelf": 0.359163004531104 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.889173051671141, "bimanual_gripper_vertical_difference": 0.2472034096711575, "task_success": 0.0 }, { "completion_time": 3.937657117843628, "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": 0.000449334623421227, "book-upper shelf": 0.5812182599904784, "book-lower shelf": 0.3585365381280397 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8945502354743946, "bimanual_gripper_vertical_difference": 0.24788951767666276, "task_success": 0.0 }, { "completion_time": 3.9540040493011475, "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": 0.0008920858094386697, "book-upper shelf": 0.581041108098508, "book-lower shelf": 0.3585534626075582 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9014943665641949, "bimanual_gripper_vertical_difference": 0.24855156244857873, "task_success": 0.0 }, { "completion_time": 3.9704830646514893, "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": 0.000923249948835636, "book-upper shelf": 0.5813951311331209, "book-lower shelf": 0.3591482445080817 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.909099983450097, "bimanual_gripper_vertical_difference": 0.24920268832071846, "task_success": 0.0 }, { "completion_time": 3.988685131072998, "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": -0.000991355234534086, "book-upper shelf": 0.583273272304528, "book-lower shelf": 0.36087674612311976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9166523391816402, "bimanual_gripper_vertical_difference": 0.24984889018592743, "task_success": 0.0 }, { "completion_time": 4.004709720611572, "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": 0.000734723708375018, "book-upper shelf": 0.5817802256305551, "book-lower shelf": 0.35964225866238037 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9260782910223393, "bimanual_gripper_vertical_difference": 0.2504762659294204, "task_success": 0.0 }, { "completion_time": 4.020875453948975, "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": -0.0008701191102679084, "book-upper shelf": 0.5830692496477407, "book-lower shelf": 0.36062968308448234 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9389545537360844, "bimanual_gripper_vertical_difference": 0.25109968064428306, "task_success": 0.0 }, { "completion_time": 4.037006139755249, "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": 0.0005748488859302903, "book-upper shelf": 0.5814049994542313, "book-lower shelf": 0.35892529350170305 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9508620844977929, "bimanual_gripper_vertical_difference": 0.2516981840566396, "task_success": 0.0 }, { "completion_time": 4.05316686630249, "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": -0.00016664390291620812, "book-upper shelf": 0.5816486026045099, "book-lower shelf": 0.358811289835854 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9576797694463118, "bimanual_gripper_vertical_difference": 0.25228987964641, "task_success": 0.0 }, { "completion_time": 4.069391250610352, "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": -0.0003025721411523685, "book-upper shelf": 0.5815059072612653, "book-lower shelf": 0.3584865787179117 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.955744287647821, "bimanual_gripper_vertical_difference": 0.2528808943020418, "task_success": 0.0 }, { "completion_time": 4.1720075607299805, "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": 0.0007921785312345886, "book-upper shelf": 0.5800936418702773, "book-lower shelf": 0.35694712528161926 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9557233566055808, "bimanual_gripper_vertical_difference": 0.25346961863814554, "task_success": 0.0 }, { "completion_time": 4.188338756561279, "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": 0.0011159282876057608, "book-upper shelf": 0.5796213920516349, "book-lower shelf": 0.35640286979697544 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9608393498347347, "bimanual_gripper_vertical_difference": 0.2540589727024189, "task_success": 0.0 }, { "completion_time": 4.204881191253662, "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": 0.0007600084909689109, "book-upper shelf": 0.5797462218600961, "book-lower shelf": 0.3563600097278792 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9666999839035949, "bimanual_gripper_vertical_difference": 0.2546500315245351, "task_success": 0.0 }, { "completion_time": 4.221211671829224, "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": 0.0003408630869254914, "book-upper shelf": 0.5799225526939431, "book-lower shelf": 0.35635731189568143 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9727017133867155, "bimanual_gripper_vertical_difference": 0.2552438631818869, "task_success": 0.0 }, { "completion_time": 4.237382173538208, "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": -1.4091636225677107e-05, "book-upper shelf": 0.580130969552413, "book-lower shelf": 0.35645127436898 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.979155137686256, "bimanual_gripper_vertical_difference": 0.25584810821458265, "task_success": 0.0 }, { "completion_time": 4.25372838973999, "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": -0.00038116733920023904, "book-upper shelf": 0.5804545629448615, "book-lower shelf": 0.3567244067616452 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9816984020927897, "bimanual_gripper_vertical_difference": 0.2564610619683534, "task_success": 0.0 }, { "completion_time": 4.269942283630371, "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": 0.0003095048967705072, "book-upper shelf": 0.5798649900907177, "book-lower shelf": 0.35624195571361195 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.981067487487765, "bimanual_gripper_vertical_difference": 0.25708022505681155, "task_success": 0.0 }, { "completion_time": 4.285965919494629, "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": -0.0011000200054620546, "book-upper shelf": 0.581250211559404, "book-lower shelf": 0.35752288343420957 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9781618755246193, "bimanual_gripper_vertical_difference": 0.25771536549707796, "task_success": 0.0 }, { "completion_time": 4.30188775062561, "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": 0.00033961492237977176, "book-upper shelf": 0.5799831634715804, "book-lower shelf": 0.35645507693162365 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9736685459496609, "bimanual_gripper_vertical_difference": 0.2583469859753403, "task_success": 0.0 }, { "completion_time": 4.3179731369018555, "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": 0.0004191225516955166, "book-upper shelf": 0.5799639342872266, "book-lower shelf": 0.3564787098351202 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9703858982360204, "bimanual_gripper_vertical_difference": 0.2589790585145326, "task_success": 0.0 }, { "completion_time": 4.423234224319458, "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": -7.347828267767476e-05, "book-upper shelf": 0.5803817225044964, "book-lower shelf": 0.35681825629969693 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9664720989252484, "bimanual_gripper_vertical_difference": 0.25961630057344, "task_success": 0.0 }, { "completion_time": 4.439378499984741, "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": -0.0010427771266366959, "book-upper shelf": 0.581148209088262, "book-lower shelf": 0.3573964660196935 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9701554283320466, "bimanual_gripper_vertical_difference": 0.26026339751830885, "task_success": 0.0 }, { "completion_time": 4.456167697906494, "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": -0.0005929073744511681, "book-upper shelf": 0.5807103013045842, "book-lower shelf": 0.356994377262558 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9711418829120032, "bimanual_gripper_vertical_difference": 0.26090657665655714, "task_success": 0.0 }, { "completion_time": 4.472182750701904, "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": 0.0005368508595072763, "book-upper shelf": 0.5795228192002296, "book-lower shelf": 0.355842069984175 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9716677733410521, "bimanual_gripper_vertical_difference": 0.26154903827650855, "task_success": 0.0 }, { "completion_time": 4.48834490776062, "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": -2.887579895771708e-05, "book-upper shelf": 0.5797938221207345, "book-lower shelf": 0.35589206913599053 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9737136916405372, "bimanual_gripper_vertical_difference": 0.26219428153806534, "task_success": 0.0 }, { "completion_time": 4.5043933391571045, "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": 0.0009610834564032222, "book-upper shelf": 0.5786268110723731, "book-lower shelf": 0.3546755991472773 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9745791749752837, "bimanual_gripper_vertical_difference": 0.2628414188972028, "task_success": 0.0 }, { "completion_time": 4.520509958267212, "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": 0.0002926350027789848, "book-upper shelf": 0.5788703315366375, "book-lower shelf": 0.35460890771638925 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9732113351266642, "bimanual_gripper_vertical_difference": 0.26348958863069394, "task_success": 0.0 }, { "completion_time": 4.537028789520264, "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": 0.0010106427907932147, "book-upper shelf": 0.5780984457228598, "book-lower shelf": 0.35384744252296974 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9702887610939985, "bimanual_gripper_vertical_difference": 0.26413523594895844, "task_success": 0.0 }, { "completion_time": 4.553613901138306, "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": 0.0018630585928116616, "book-upper shelf": 0.577273639792841, "book-lower shelf": 0.35309322705662766 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.966109964667409, "bimanual_gripper_vertical_difference": 0.2647727953299947, "task_success": 0.0 }, { "completion_time": 4.56968092918396, "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": 0.00171261858808347, "book-upper shelf": 0.5775041662164885, "book-lower shelf": 0.35336517883180535 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9626726978164708, "bimanual_gripper_vertical_difference": 0.26541904192941834, "task_success": 0.0 }, { "completion_time": 4.672883033752441, "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": 0.0013801425782172805, "book-upper shelf": 0.5779575510854779, "book-lower shelf": 0.353874399553679 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9593658825466244, "bimanual_gripper_vertical_difference": 0.26606398468228865, "task_success": 0.0 }, { "completion_time": 4.6891772747039795, "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": 0.001739530029292724, "book-upper shelf": 0.577779362573901, "book-lower shelf": 0.35383348056526276 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9573814118096048, "bimanual_gripper_vertical_difference": 0.26669809530065264, "task_success": 0.0 }, { "completion_time": 4.705218315124512, "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": 0.0021145678322304073, "book-upper shelf": 0.5775853222600634, "book-lower shelf": 0.353777659001404 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9558780247827037, "bimanual_gripper_vertical_difference": 0.2673213901666063, "task_success": 0.0 }, { "completion_time": 4.721315622329712, "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": 0.0028140514152206197, "book-upper shelf": 0.5770557953144954, "book-lower shelf": 0.353400168525625 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9574520969071834, "bimanual_gripper_vertical_difference": 0.267930009412971, "task_success": 0.0 }, { "completion_time": 4.7373573780059814, "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": 0.002526360398065086, "book-upper shelf": 0.5776684575631466, "book-lower shelf": 0.35419974820743627 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.960412231840018, "bimanual_gripper_vertical_difference": 0.26853068620787784, "task_success": 0.0 }, { "completion_time": 4.753479480743408, "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": 0.0025386772123044965, "book-upper shelf": 0.5779073393225704, "book-lower shelf": 0.35459776229536055 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.96480269280322, "bimanual_gripper_vertical_difference": 0.269115144300589, "task_success": 0.0 }, { "completion_time": 4.771717548370361, "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": 0.00378747308139904, "book-upper shelf": 0.5768045635316689, "book-lower shelf": 0.3536681413659562 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.970944009995848, "bimanual_gripper_vertical_difference": 0.2696803792771844, "task_success": 0.0 }, { "completion_time": 4.787804126739502, "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": 0.005581835538648439, "book-upper shelf": 0.5750085363537886, "book-lower shelf": 0.351988778764375 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9788140822493542, "bimanual_gripper_vertical_difference": 0.2702212195683765, "task_success": 0.0 }, { "completion_time": 4.803701639175415, "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": 0.008734663226936834, "book-upper shelf": 0.5721000477103805, "book-lower shelf": 0.3494457870371585 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.988478539604012, "bimanual_gripper_vertical_difference": 0.27074000541026133, "task_success": 0.0 }, { "completion_time": 4.819765329360962, "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": 0.013455462355041359, "book-upper shelf": 0.5681474412655673, "book-lower shelf": 0.34630935019089976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9984583328470149, "bimanual_gripper_vertical_difference": 0.2712385414833805, "task_success": 0.0 }, { "completion_time": 4.921138763427734, "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": 0.01635354370986808, "book-upper shelf": 0.5656484878271245, "book-lower shelf": 0.3442731807068516 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9974688483411879, "bimanual_gripper_vertical_difference": 0.2717306714033471, "task_success": 0.0 }, { "completion_time": 4.937274932861328, "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": 0.020803113040717913, "book-upper shelf": 0.561729003871491, "book-lower shelf": 0.34102269041112543 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9967858428405818, "bimanual_gripper_vertical_difference": 0.272224694240594, "task_success": 0.0 }, { "completion_time": 4.9537036418914795, "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": 0.0269529552977954, "book-upper shelf": 0.556459923250242, "book-lower shelf": 0.33679836338811053 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0026654247743376, "bimanual_gripper_vertical_difference": 0.27273588281788513, "task_success": 0.0 }, { "completion_time": 4.969956159591675, "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": 0.03531953212194139, "book-upper shelf": 0.5504373718112106, "book-lower shelf": 0.33299686549748986 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0094321243634023, "bimanual_gripper_vertical_difference": 0.2732886409021735, "task_success": 0.0 }, { "completion_time": 4.98578667640686, "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": 0.038971811687747326, "book-upper shelf": 0.5470608826209705, "book-lower shelf": 0.3301208665121871 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0126694512675267, "bimanual_gripper_vertical_difference": 0.27385182715541095, "task_success": 0.0 }, { "completion_time": 5.001632928848267, "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": 0.03502763474742965, "book-upper shelf": 0.5490946116329574, "book-lower shelf": 0.33055522958701555 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0125447298804164, "bimanual_gripper_vertical_difference": 0.2744354970114688, "task_success": 0.0 }, { "completion_time": 5.0176613330841064, "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": 0.035617868327154745, "book-upper shelf": 0.5480751186200747, "book-lower shelf": 0.3293005670493833 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0101216892873897, "bimanual_gripper_vertical_difference": 0.2750328121269382, "task_success": 0.0 }, { "completion_time": 5.033712148666382, "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": 0.03560834958014458, "book-upper shelf": 0.5479308534815067, "book-lower shelf": 0.32905327911852594 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0055932427999088, "bimanual_gripper_vertical_difference": 0.27564461515942035, "task_success": 0.0 }, { "completion_time": 5.049865484237671, "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": 0.03537423404578843, "book-upper shelf": 0.5479370883029303, "book-lower shelf": 0.32888843525571054 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0023292193169868, "bimanual_gripper_vertical_difference": 0.27625726066670114, "task_success": 0.0 }, { "completion_time": 5.0674262046813965, "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": 0.0334850188181981, "book-upper shelf": 0.5486727792738939, "book-lower shelf": 0.32870050925809446 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0009026461462385, "bimanual_gripper_vertical_difference": 0.2768642390375781, "task_success": 0.0 } ]