[ { "completion_time": 0.11205530166625977, "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": -0.0007961852110769385, "book-upper shelf": 0.5908541540550474, "book-lower shelf": 0.3731341026353828 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.01761922980704124, "bimanual_gripper_vertical_difference": 5.9334611467454224e-05, "task_success": 0.0 }, { "completion_time": 0.1286482810974121, "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": 0.0007001833926596479, "book-upper shelf": 0.5894735010344875, "book-lower shelf": 0.37193591158217076 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.04587003668197282, "bimanual_gripper_vertical_difference": 8.834835833482213e-05, "task_success": 0.0 }, { "completion_time": 0.14517927169799805, "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": 0.000725962484880216, "book-upper shelf": 0.5894517357858502, "book-lower shelf": 0.3719184825166539 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.06459315149707585, "bimanual_gripper_vertical_difference": 0.00019156689383229933, "task_success": 0.0 }, { "completion_time": 0.16178321838378906, "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": 0.0007173804831746011, "book-upper shelf": 0.5894616865714984, "book-lower shelf": 0.3719285718327166 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.07179717965486304, "bimanual_gripper_vertical_difference": 0.00030918249671335607, "task_success": 0.0 }, { "completion_time": 0.17844939231872559, "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": 0.0007189433735533823, "book-upper shelf": 0.5894619032245385, "book-lower shelf": 0.3719299498672691 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.06784010813566566, "bimanual_gripper_vertical_difference": 0.0003948699693676172, "task_success": 0.0 }, { "completion_time": 0.19524478912353516, "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": 0.0007485588628715067, "book-upper shelf": 0.5894439649090792, "book-lower shelf": 0.3719211262762452 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1670828204910729, "bimanual_gripper_vertical_difference": 0.0006967058582155369, "task_success": 0.0 }, { "completion_time": 0.21468567848205566, "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": 0.0007042344401747558, "book-upper shelf": 0.5894861033732656, "book-lower shelf": 0.37195856612147665 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.39102420841942287, "bimanual_gripper_vertical_difference": 0.0015308205929200267, "task_success": 0.0 }, { "completion_time": 0.23154735565185547, "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": 0.0007215840338505863, "book-upper shelf": 0.589469981504683, "book-lower shelf": 0.37194450089155184 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6014070190586016, "bimanual_gripper_vertical_difference": 0.0040215166779255795, "task_success": 0.0 }, { "completion_time": 0.24841690063476562, "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": 0.0007189749744899165, "book-upper shelf": 0.5894778835117903, "book-lower shelf": 0.3719552970003185 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8225403467841299, "bimanual_gripper_vertical_difference": 0.009555876561346328, "task_success": 0.0 }, { "completion_time": 0.2654104232788086, "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": 0.0006633256863519676, "book-upper shelf": 0.5895202813989797, "book-lower shelf": 0.37198565228501435 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0533022294242678, "bimanual_gripper_vertical_difference": 0.018932496797630916, "task_success": 0.0 }, { "completion_time": 0.3675377368927002, "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": 0.0007091169447068779, "book-upper shelf": 0.5894915189587083, "book-lower shelf": 0.37197038074898514 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2783245486421793, "bimanual_gripper_vertical_difference": 0.03252450530130036, "task_success": 0.0 }, { "completion_time": 0.3853275775909424, "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": 0.0007044803448916781, "book-upper shelf": 0.5894985508975524, "book-lower shelf": 0.3719784556221507 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4961034352292424, "bimanual_gripper_vertical_difference": 0.05030303801150221, "task_success": 0.0 }, { "completion_time": 0.40255141258239746, "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": 0.0006835622351690773, "book-upper shelf": 0.5895158308968101, "book-lower shelf": 0.3719919941229564 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5782617055968444, "bimanual_gripper_vertical_difference": 0.06954176379593417, "task_success": 0.0 }, { "completion_time": 0.41994428634643555, "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": 0.0007033808096824634, "book-upper shelf": 0.589507355869791, "book-lower shelf": 0.37199168148657047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6031588047955991, "bimanual_gripper_vertical_difference": 0.0860078576488955, "task_success": 0.0 }, { "completion_time": 0.43753647804260254, "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": 0.0007577084849369475, "book-upper shelf": 0.589469423742025, "book-lower shelf": 0.37196753038536257 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.542575411596878, "bimanual_gripper_vertical_difference": 0.10026328217590783, "task_success": 0.0 }, { "completion_time": 0.45479393005371094, "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": 0.0007503218467779238, "book-upper shelf": 0.589479681336753, "book-lower shelf": 0.3719788963007948 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5420052943909421, "bimanual_gripper_vertical_difference": 0.11278052836837338, "task_success": 0.0 }, { "completion_time": 0.4722766876220703, "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": 0.0007077663926386979, "book-upper shelf": 0.5895111824159609, "book-lower shelf": 0.37200064831180024 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4801147685733125, "bimanual_gripper_vertical_difference": 0.12392637557872951, "task_success": 0.0 }, { "completion_time": 0.48960423469543457, "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": 0.0007292130831850763, "book-upper shelf": 0.5894973945128783, "book-lower shelf": 0.3719929941694366 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.47148927025855, "bimanual_gripper_vertical_difference": 0.1338931103002009, "task_success": 0.0 }, { "completion_time": 0.5068185329437256, "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": 0.0007285720199410317, "book-upper shelf": 0.5895086130968923, "book-lower shelf": 0.37201034770218167 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4979457301632715, "bimanual_gripper_vertical_difference": 0.1428258680088457, "task_success": 0.0 }, { "completion_time": 0.5240991115570068, "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": 4.8273152963851373e-05, "book-upper shelf": 0.5901512901120646, "book-lower shelf": 0.37257861710885454 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.543693588573619, "bimanual_gripper_vertical_difference": 0.15086187844470275, "task_success": 0.0 }, { "completion_time": 0.6287062168121338, "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": 0.0006867718769018039, "book-upper shelf": 0.5895436996918113, "book-lower shelf": 0.37203828196570493 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.596387516582637, "bimanual_gripper_vertical_difference": 0.158207196180366, "task_success": 0.0 }, { "completion_time": 0.6463208198547363, "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": 0.0006991500422053321, "book-upper shelf": 0.5895413297654801, "book-lower shelf": 0.3720427186907774 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.606147834615898, "bimanual_gripper_vertical_difference": 0.16495169826665695, "task_success": 0.0 }, { "completion_time": 0.6639320850372314, "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": 0.0006900544626333716, "book-upper shelf": 0.5895507790538896, "book-lower shelf": 0.3720516724785319 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.567079073895002, "bimanual_gripper_vertical_difference": 0.1711547275842489, "task_success": 0.0 }, { "completion_time": 0.6814441680908203, "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": 0.0007178989915181955, "book-upper shelf": 0.5895369149970594, "book-lower shelf": 0.37204813142050874 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5253685842230873, "bimanual_gripper_vertical_difference": 0.17686977980108542, "task_success": 0.0 }, { "completion_time": 0.699547290802002, "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": 0.0006029688723321325, "book-upper shelf": 0.5896568447313281, "book-lower shelf": 0.3721621086981934 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5017514361706998, "bimanual_gripper_vertical_difference": 0.18216399635613637, "task_success": 0.0 }, { "completion_time": 0.7168042659759521, "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": 0.000477752963363276, "book-upper shelf": 0.5897649879757751, "book-lower shelf": 0.37225061327017067 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4815896012234886, "bimanual_gripper_vertical_difference": 0.1870950399616136, "task_success": 0.0 }, { "completion_time": 0.7341935634613037, "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": 0.0006443048447081212, "book-upper shelf": 0.5896154594431924, "book-lower shelf": 0.3721238859924694 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4610218824122778, "bimanual_gripper_vertical_difference": 0.1917102826040082, "task_success": 0.0 }, { "completion_time": 0.7513937950134277, "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": 0.0007211942659733905, "book-upper shelf": 0.5895436147540267, "book-lower shelf": 0.37206092834962934 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4361575468911576, "bimanual_gripper_vertical_difference": 0.19604784203212727, "task_success": 0.0 }, { "completion_time": 0.7688961029052734, "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": 0.0006842912566115134, "book-upper shelf": 0.5895706425393358, "book-lower shelf": 0.37207933342833066 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4013928950712407, "bimanual_gripper_vertical_difference": 0.20013463326897488, "task_success": 0.0 }, { "completion_time": 0.7863340377807617, "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": 0.0006977887384262971, "book-upper shelf": 0.5895713818902089, "book-lower shelf": 0.3720894368281106 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3742765393654193, "bimanual_gripper_vertical_difference": 0.2039856334236113, "task_success": 0.0 }, { "completion_time": 0.8912060260772705, "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": 3.265717307798788e-05, "book-upper shelf": 0.5901984910253736, "book-lower shelf": 0.3726430590057506 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.363150449715765, "bimanual_gripper_vertical_difference": 0.2076019624619691, "task_success": 0.0 }, { "completion_time": 0.9087605476379395, "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": 0.0006792330441376393, "book-upper shelf": 0.5895928322254799, "book-lower shelf": 0.37211114564758946 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3836342981135203, "bimanual_gripper_vertical_difference": 0.21100811464719754, "task_success": 0.0 }, { "completion_time": 0.9261505603790283, "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": 0.0007056652197707791, "book-upper shelf": 0.5895794393413383, "book-lower shelf": 0.37210741557029703 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3940903403573461, "bimanual_gripper_vertical_difference": 0.21423567611619274, "task_success": 0.0 }, { "completion_time": 0.9435110092163086, "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": 0.0006944149532364108, "book-upper shelf": 0.5895854523275493, "book-lower shelf": 0.37210949844218966 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3910031086963084, "bimanual_gripper_vertical_difference": 0.2172971082930858, "task_success": 0.0 }, { "completion_time": 0.9608283042907715, "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": 0.0006943225913561557, "book-upper shelf": 0.5895887946280733, "book-lower shelf": 0.37211473298163517 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.383725417775147, "bimanual_gripper_vertical_difference": 0.2202130959355599, "task_success": 0.0 }, { "completion_time": 0.9781875610351562, "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": 0.00017559915998621722, "book-upper shelf": 0.5900699052507927, "book-lower shelf": 0.3725338581666157 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3789618385691191, "bimanual_gripper_vertical_difference": 0.22299752004211004, "task_success": 0.0 }, { "completion_time": 0.9960999488830566, "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": 0.0006919592763232618, "book-upper shelf": 0.5895998505828949, "book-lower shelf": 0.3721306863776433 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3768561981452065, "bimanual_gripper_vertical_difference": 0.2256304668288412, "task_success": 0.0 }, { "completion_time": 1.0136313438415527, "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": 0.000703519772262573, "book-upper shelf": 0.5896004500550177, "book-lower shelf": 0.37213928522505585 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.372234885284712, "bimanual_gripper_vertical_difference": 0.2281091745868473, "task_success": 0.0 }, { "completion_time": 1.0317552089691162, "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": 0.0007198754168999955, "book-upper shelf": 0.5895803194945637, "book-lower shelf": 0.37211821290448927 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.360374385000054, "bimanual_gripper_vertical_difference": 0.2304574287142753, "task_success": 0.0 }, { "completion_time": 1.0492699146270752, "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": 0.0007099251843960541, "book-upper shelf": 0.5895988124138879, "book-lower shelf": 0.37214092874581906 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3381801560014543, "bimanual_gripper_vertical_difference": 0.23270443773923563, "task_success": 0.0 }, { "completion_time": 1.1540045738220215, "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": 0.0005276915193751508, "book-upper shelf": 0.5897705137750717, "book-lower shelf": 0.3722923974489877 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3235758388736465, "bimanual_gripper_vertical_difference": 0.2348662646071895, "task_success": 0.0 }, { "completion_time": 1.1714468002319336, "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": 0.0005706280304570432, "book-upper shelf": 0.5897373630848078, "book-lower shelf": 0.3722682793132642 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3155366063459129, "bimanual_gripper_vertical_difference": 0.2369495719352107, "task_success": 0.0 }, { "completion_time": 1.188835859298706, "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": 0.0006022989571918824, "book-upper shelf": 0.5897003555006722, "book-lower shelf": 0.3722306005557436 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3111688566539121, "bimanual_gripper_vertical_difference": 0.2389607574550563, "task_success": 0.0 }, { "completion_time": 1.2062103748321533, "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": 0.0007412033863928302, "book-upper shelf": 0.589586266031938, "book-lower shelf": 0.37214174623650387 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2964385962752532, "bimanual_gripper_vertical_difference": 0.24091707358622283, "task_success": 0.0 }, { "completion_time": 1.2238526344299316, "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": 0.0007081593368301053, "book-upper shelf": 0.5896172592942241, "book-lower shelf": 0.37216898596462117 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2855606702159847, "bimanual_gripper_vertical_difference": 0.24279477926276047, "task_success": 0.0 }, { "completion_time": 1.2411348819732666, "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": 0.000643787185910738, "book-upper shelf": 0.5896656531492083, "book-lower shelf": 0.37220306835723127 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2846237571067058, "bimanual_gripper_vertical_difference": 0.2445813852081931, "task_success": 0.0 }, { "completion_time": 1.2583792209625244, "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": 0.00017947904008297488, "book-upper shelf": 0.5901015755599995, "book-lower shelf": 0.37258658392804184 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2826396551937376, "bimanual_gripper_vertical_difference": 0.24628067937934991, "task_success": 0.0 }, { "completion_time": 1.2759206295013428, "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": 0.0007170214322053114, "book-upper shelf": 0.5896228005174928, "book-lower shelf": 0.3721836276426605 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.276579619902127, "bimanual_gripper_vertical_difference": 0.24790238827288102, "task_success": 0.0 }, { "completion_time": 1.2926833629608154, "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": 0.0006721431941527634, "book-upper shelf": 0.5896676256025042, "book-lower shelf": 0.37222495105859965 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.265198644936539, "bimanual_gripper_vertical_difference": 0.24946912605733354, "task_success": 0.0 }, { "completion_time": 1.310379981994629, "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": 0.0007754357136335877, "book-upper shelf": 0.5896175946809801, "book-lower shelf": 0.37221402427281863 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.246883108595961, "bimanual_gripper_vertical_difference": 0.25099749678509253, "task_success": 0.0 }, { "completion_time": 1.4122018814086914, "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": 0.000722298321670034, "book-upper shelf": 0.5896409390132349, "book-lower shelf": 0.3722158531816983 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2246796546142567, "bimanual_gripper_vertical_difference": 0.2524933389881404, "task_success": 0.0 }, { "completion_time": 1.431114673614502, "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": 0.0004593950209231812, "book-upper shelf": 0.5899448188540776, "book-lower shelf": 0.3725233240509763 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.205112729189611, "bimanual_gripper_vertical_difference": 0.25394794098715096, "task_success": 0.0 }, { "completion_time": 1.447936773300171, "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": 0.0006874626424099306, "book-upper shelf": 0.5897675636553151, "book-lower shelf": 0.37239337898126584 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1856690239519507, "bimanual_gripper_vertical_difference": 0.2553652576698769, "task_success": 0.0 }, { "completion_time": 1.4645695686340332, "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": -0.00013888121802396736, "book-upper shelf": 0.5904220731856175, "book-lower shelf": 0.3728838170809187 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1766616770462226, "bimanual_gripper_vertical_difference": 0.2567387033318243, "task_success": 0.0 }, { "completion_time": 1.4810125827789307, "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": 5.220673568484546e-05, "book-upper shelf": 0.5900273429370815, "book-lower shelf": 0.3723848589994109 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1739480401725293, "bimanual_gripper_vertical_difference": 0.25807986397677135, "task_success": 0.0 }, { "completion_time": 1.4976763725280762, "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": 0.0001603389017345025, "book-upper shelf": 0.5899080854579936, "book-lower shelf": 0.3722673995562619 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1734643098342876, "bimanual_gripper_vertical_difference": 0.2593861231437397, "task_success": 0.0 }, { "completion_time": 1.514392614364624, "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": 0.0006880111582527881, "book-upper shelf": 0.5894495372958432, "book-lower shelf": 0.37188987174171373 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1595048586617385, "bimanual_gripper_vertical_difference": 0.26066895112580946, "task_success": 0.0 }, { "completion_time": 1.5322844982147217, "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": 0.0007467348651726269, "book-upper shelf": 0.589381458752176, "book-lower shelf": 0.3718208467744015 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1489045339485888, "bimanual_gripper_vertical_difference": 0.26192990682723677, "task_success": 0.0 }, { "completion_time": 1.5486164093017578, "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": 1.8996042119856504e-05, "book-upper shelf": 0.5900976009609472, "book-lower shelf": 0.3724742163593017 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1536840809265763, "bimanual_gripper_vertical_difference": 0.263171415438614, "task_success": 0.0 }, { "completion_time": 1.5647635459899902, "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": 0.0008808621116322968, "book-upper shelf": 0.5894364487537218, "book-lower shelf": 0.37199679603049624 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.172345517657462, "bimanual_gripper_vertical_difference": 0.2643844790000394, "task_success": 0.0 }, { "completion_time": 1.6697163581848145, "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": 0.0007514598837434772, "book-upper shelf": 0.5897034755408289, "book-lower shelf": 0.372334196758118 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1880761181788808, "bimanual_gripper_vertical_difference": 0.26556231107603273, "task_success": 0.0 }, { "completion_time": 1.6888375282287598, "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": 0.0006376505642784469, "book-upper shelf": 0.5899104344370703, "book-lower shelf": 0.37258668826069546 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1913522280903315, "bimanual_gripper_vertical_difference": 0.266700600363327, "task_success": 0.0 }, { "completion_time": 1.7059013843536377, "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": 0.0004856503752711516, "book-upper shelf": 0.5900777686102724, "book-lower shelf": 0.3727511772302203 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1859370543085324, "bimanual_gripper_vertical_difference": 0.2677850939967106, "task_success": 0.0 }, { "completion_time": 1.7228071689605713, "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": 0.0007082917654730458, "book-upper shelf": 0.5898694116642285, "book-lower shelf": 0.37256842282712316 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1767900623710235, "bimanual_gripper_vertical_difference": 0.268805327264472, "task_success": 0.0 }, { "completion_time": 1.7397065162658691, "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": 0.00011886976413688632, "book-upper shelf": 0.5904057900237398, "book-lower shelf": 0.37302820657486474 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1717607175275166, "bimanual_gripper_vertical_difference": 0.26974017855848487, "task_success": 0.0 }, { "completion_time": 1.756582498550415, "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": 0.0007182333686223119, "book-upper shelf": 0.5898587106122322, "book-lower shelf": 0.3725580506422745 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1742061659003908, "bimanual_gripper_vertical_difference": 0.27058967140253704, "task_success": 0.0 }, { "completion_time": 1.7737071514129639, "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": 0.0007140389099159483, "book-upper shelf": 0.5898624201609179, "book-lower shelf": 0.37256115171895837 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.185560261726898, "bimanual_gripper_vertical_difference": 0.27136595782836265, "task_success": 0.0 }, { "completion_time": 1.790719747543335, "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": 0.0006931621837054092, "book-upper shelf": 0.589875544178991, "book-lower shelf": 0.3725681332705787 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2036050773416964, "bimanual_gripper_vertical_difference": 0.2720739319870508, "task_success": 0.0 }, { "completion_time": 1.8076841831207275, "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": 0.0007569999248694392, "book-upper shelf": 0.5898344463003143, "book-lower shelf": 0.3725452552995736 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2288007169805528, "bimanual_gripper_vertical_difference": 0.27274358874203475, "task_success": 0.0 }, { "completion_time": 1.8246095180511475, "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": 0.0007462076914608318, "book-upper shelf": 0.5898464109233951, "book-lower shelf": 0.3725570654915929 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2578205143031878, "bimanual_gripper_vertical_difference": 0.2734427156031764, "task_success": 0.0 }, { "completion_time": 1.926649808883667, "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": 0.0007315532079532616, "book-upper shelf": 0.589862443224506, "book-lower shelf": 0.37257276322202265 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2845596685786063, "bimanual_gripper_vertical_difference": 0.27418737986834724, "task_success": 0.0 }, { "completion_time": 1.9434757232666016, "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": 0.0006922878785909914, "book-upper shelf": 0.5898955147324526, "book-lower shelf": 0.37259917345342497 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.309825649279359, "bimanual_gripper_vertical_difference": 0.27496097489122434, "task_success": 0.0 }, { "completion_time": 1.9604156017303467, "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": 0.0007018641525976532, "book-upper shelf": 0.5898878610697863, "book-lower shelf": 0.37259338457670105 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.334295784347828, "bimanual_gripper_vertical_difference": 0.2757536823568254, "task_success": 0.0 }, { "completion_time": 1.977457046508789, "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": 0.00021239065864098183, "book-upper shelf": 0.5903109102428725, "book-lower shelf": 0.37293976876040424 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.357779642337786, "bimanual_gripper_vertical_difference": 0.276578074555798, "task_success": 0.0 }, { "completion_time": 1.9943397045135498, "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": 0.0006773373922647208, "book-upper shelf": 0.5899129498190095, "book-lower shelf": 0.37261689676382276 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3807799845992537, "bimanual_gripper_vertical_difference": 0.2774472966083847, "task_success": 0.0 }, { "completion_time": 2.0114521980285645, "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": 0.0007493785861659719, "book-upper shelf": 0.589845156456417, "book-lower shelf": 0.3725571750358397 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4032633917170148, "bimanual_gripper_vertical_difference": 0.2783688184680814, "task_success": 0.0 }, { "completion_time": 2.0284423828125, "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": 0.000730266406546165, "book-upper shelf": 0.5898629921724092, "book-lower shelf": 0.37257278190622856 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4247187340452199, "bimanual_gripper_vertical_difference": 0.27934368494981543, "task_success": 0.0 }, { "completion_time": 2.0454323291778564, "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": 0.0006918350917819449, "book-upper shelf": 0.5899024674148895, "book-lower shelf": 0.3726098815705529 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.444641127455182, "bimanual_gripper_vertical_difference": 0.2803707278821232, "task_success": 0.0 }, { "completion_time": 2.0626678466796875, "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": 0.0004474044293865109, "book-upper shelf": 0.5901278784065037, "book-lower shelf": 0.37280523839531965 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.463804412053239, "bimanual_gripper_vertical_difference": 0.28145486823922294, "task_success": 0.0 }, { "completion_time": 2.07967472076416, "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": 0.000490671255148345, "book-upper shelf": 0.5900791234471109, "book-lower shelf": 0.37275663854428853 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4836574669999338, "bimanual_gripper_vertical_difference": 0.2826065884023267, "task_success": 0.0 }, { "completion_time": 2.1834774017333984, "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": 0.0007220601337885046, "book-upper shelf": 0.5898753246584668, "book-lower shelf": 0.3725868834844832 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5017389504173666, "bimanual_gripper_vertical_difference": 0.28381642338157914, "task_success": 0.0 }, { "completion_time": 2.200662851333618, "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": 0.0007361811801978035, "book-upper shelf": 0.5898634441506523, "book-lower shelf": 0.3725774063980612 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.51397576741603, "bimanual_gripper_vertical_difference": 0.285077033342174, "task_success": 0.0 }, { "completion_time": 2.21791410446167, "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": 0.0006385413801107687, "book-upper shelf": 0.5899612762518288, "book-lower shelf": 0.37266776862278 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5239826235748566, "bimanual_gripper_vertical_difference": 0.28638831154805944, "task_success": 0.0 }, { "completion_time": 2.2349021434783936, "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": 0.0007181485489419215, "book-upper shelf": 0.5898870960821668, "book-lower shelf": 0.3726029347281723 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.53377791145039, "bimanual_gripper_vertical_difference": 0.28775611048751554, "task_success": 0.0 }, { "completion_time": 2.2525382041931152, "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": 0.00016803572108625708, "book-upper shelf": 0.590382147239808, "book-lower shelf": 0.37302323997551873 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.543520511724083, "bimanual_gripper_vertical_difference": 0.2891977792375231, "task_success": 0.0 }, { "completion_time": 2.2698161602020264, "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": 0.0007069825111218897, "book-upper shelf": 0.5898876849974225, "book-lower shelf": 0.37259648822835373 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5518609570862063, "bimanual_gripper_vertical_difference": 0.29071790780030926, "task_success": 0.0 }, { "completion_time": 2.28700590133667, "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": 0.000732093691681146, "book-upper shelf": 0.5898749095388807, "book-lower shelf": 0.3725928569267313 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5579944772075895, "bimanual_gripper_vertical_difference": 0.29228192412139403, "task_success": 0.0 }, { "completion_time": 2.3044331073760986, "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": 0.0007511070766469397, "book-upper shelf": 0.5898611836845198, "book-lower shelf": 0.37258369165655714 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5648778665465521, "bimanual_gripper_vertical_difference": 0.29383797390508737, "task_success": 0.0 }, { "completion_time": 2.3214852809906006, "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": 0.0004465753678748463, "book-upper shelf": 0.5901301665149467, "book-lower shelf": 0.3728083127587796 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.573281127442891, "bimanual_gripper_vertical_difference": 0.2953867152869083, "task_success": 0.0 }, { "completion_time": 2.3383867740631104, "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": 0.0007656289023760809, "book-upper shelf": 0.5898569242606367, "book-lower shelf": 0.3725865451703911 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5874702057592243, "bimanual_gripper_vertical_difference": 0.2968497693484624, "task_success": 0.0 }, { "completion_time": 2.4406378269195557, "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": 0.00011189898282693012, "book-upper shelf": 0.590458405492497, "book-lower shelf": 0.3731068772649433 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5953639820963788, "bimanual_gripper_vertical_difference": 0.29817862309851323, "task_success": 0.0 }, { "completion_time": 2.459378957748413, "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": 0.0006980717865514574, "book-upper shelf": 0.5899174354586064, "book-lower shelf": 0.3726376989788311 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.600199966001595, "bimanual_gripper_vertical_difference": 0.2993409179018446, "task_success": 0.0 }, { "completion_time": 2.4766621589660645, "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": 0.00011286616417094386, "book-upper shelf": 0.59044601223279, "book-lower shelf": 0.37308790237115874 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6075462326463261, "bimanual_gripper_vertical_difference": 0.30034613733016535, "task_success": 0.0 }, { "completion_time": 2.495596170425415, "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": 0.00041549597381695946, "book-upper shelf": 0.590143862202147, "book-lower shelf": 0.3728094656502002 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6206720353505084, "bimanual_gripper_vertical_difference": 0.30114314336992487, "task_success": 0.0 }, { "completion_time": 2.5124692916870117, "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": 0.00041430366427208654, "book-upper shelf": 0.5901784293258134, "book-lower shelf": 0.37286339438482197 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6390023446913211, "bimanual_gripper_vertical_difference": 0.30163388731374685, "task_success": 0.0 }, { "completion_time": 2.5290825366973877, "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": 0.00019785602532929047, "book-upper shelf": 0.5903469817406156, "book-lower shelf": 0.3729872673984893 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6628598368575622, "bimanual_gripper_vertical_difference": 0.3017423018085467, "task_success": 0.0 }, { "completion_time": 2.5457189083099365, "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": 0.0005737595260789652, "book-upper shelf": 0.5900066741191735, "book-lower shelf": 0.37269683655059377 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6888354160334522, "bimanual_gripper_vertical_difference": 0.30148496706649963, "task_success": 0.0 }, { "completion_time": 2.5625486373901367, "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": 0.00010863800429350423, "book-upper shelf": 0.5904517399313247, "book-lower shelf": 0.3730941765355086 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7133931811524084, "bimanual_gripper_vertical_difference": 0.30093526740030246, "task_success": 0.0 }, { "completion_time": 2.579289674758911, "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": 0.0006984079403933308, "book-upper shelf": 0.5899073431052875, "book-lower shelf": 0.3726219438394326 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7338199482675432, "bimanual_gripper_vertical_difference": 0.3001164199476847, "task_success": 0.0 }, { "completion_time": 2.5959975719451904, "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": 0.00011243505570035506, "book-upper shelf": 0.5904366877652805, "book-lower shelf": 0.3730728608381702 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7526116929827422, "bimanual_gripper_vertical_difference": 0.2990760549774448, "task_success": 0.0 }, { "completion_time": 2.700995445251465, "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": 0.00041553018115569884, "book-upper shelf": 0.5901340344686737, "book-lower shelf": 0.3727939311029604 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7616669463834151, "bimanual_gripper_vertical_difference": 0.29781650715869457, "task_success": 0.0 }, { "completion_time": 2.717517614364624, "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": 0.00041423726477962663, "book-upper shelf": 0.5901687267139655, "book-lower shelf": 0.3728479927845132 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7721850280262226, "bimanual_gripper_vertical_difference": 0.29629647717825813, "task_success": 0.0 }, { "completion_time": 2.7343075275421143, "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": 0.0001977616201209731, "book-upper shelf": 0.5903373195000218, "book-lower shelf": 0.37297191193944285 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7843181741644274, "bimanual_gripper_vertical_difference": 0.29456634314733865, "task_success": 0.0 }, { "completion_time": 2.75111722946167, "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": 0.0005740604420094719, "book-upper shelf": 0.589996698644997, "book-lower shelf": 0.37268124324641894 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7969476482675875, "bimanual_gripper_vertical_difference": 0.2926913345575522, "task_success": 0.0 }, { "completion_time": 2.7680704593658447, "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": 0.00010830694106678251, "book-upper shelf": 0.59044237098274, "book-lower shelf": 0.373079130743619 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8088117260391712, "bimanual_gripper_vertical_difference": 0.2907148301917353, "task_success": 0.0 }, { "completion_time": 2.7847959995269775, "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": 0.0006986454857567104, "book-upper shelf": 0.5898974387991311, "book-lower shelf": 0.3726064208546688 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8214411586885217, "bimanual_gripper_vertical_difference": 0.2886890268279187, "task_success": 0.0 }, { "completion_time": 2.8015990257263184, "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": 0.00011202705117374645, "book-upper shelf": 0.5904274520079859, "book-lower shelf": 0.3730579745797631 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8333223868639108, "bimanual_gripper_vertical_difference": 0.2866624558198264, "task_success": 0.0 }, { "completion_time": 2.8205621242523193, "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": 0.0004155689065370449, "book-upper shelf": 0.5901243157862858, "book-lower shelf": 0.3727785717842041 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8425812487773636, "bimanual_gripper_vertical_difference": 0.28466260491203665, "task_success": 0.0 }, { "completion_time": 2.837587833404541, "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": 0.00041417349676886595, "book-upper shelf": 0.590159132885126, "book-lower shelf": 0.37283276473162075 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.850939535537573, "bimanual_gripper_vertical_difference": 0.28269346517889, "task_success": 0.0 }, { "completion_time": 2.854409694671631, "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": 0.00019767044900087516, "book-upper shelf": 0.5903277648735117, "book-lower shelf": 0.3729567285686515 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8567957855606687, "bimanual_gripper_vertical_difference": 0.2807112988316736, "task_success": 0.0 }, { "completion_time": 2.9562463760375977, "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": 0.0005743510129976315, "book-upper shelf": 0.5899868418655048, "book-lower shelf": 0.3726658306335798 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8639286435777913, "bimanual_gripper_vertical_difference": 0.2787148610783273, "task_success": 0.0 }, { "completion_time": 2.973147392272949, "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": 0.00010798695304592432, "book-upper shelf": 0.5904330999699073, "book-lower shelf": 0.37306424688874834 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8721694576969163, "bimanual_gripper_vertical_difference": 0.2767327351761282, "task_success": 0.0 }, { "completion_time": 2.990166187286377, "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": 0.0006988766800701818, "book-upper shelf": 0.5898876491787636, "book-lower shelf": 0.3725910748604148 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8797572576932073, "bimanual_gripper_vertical_difference": 0.27475877130547344, "task_success": 0.0 }, { "completion_time": 3.0069289207458496, "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": 0.00011163316466566986, "book-upper shelf": 0.5904183095685978, "book-lower shelf": 0.3730432449694578 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8897539536406007, "bimanual_gripper_vertical_difference": 0.27282619034011435, "task_success": 0.0 }, { "completion_time": 3.0265491008758545, "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": 0.0004156091345692836, "book-upper shelf": 0.5901147046890275, "book-lower shelf": 0.3727633833945491 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.888529192913053, "bimanual_gripper_vertical_difference": 0.2709491510209624, "task_success": 0.0 }, { "completion_time": 3.043473482131958, "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": 0.0004141122459858648, "book-upper shelf": 0.5901496441331465, "book-lower shelf": 0.37281770429692823 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8790948858143324, "bimanual_gripper_vertical_difference": 0.26913131788839445, "task_success": 0.0 }, { "completion_time": 3.0602872371673584, "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": 0.00019758127987590246, "book-upper shelf": 0.5903183152101467, "book-lower shelf": 0.3729417122893137 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8740781878140147, "bimanual_gripper_vertical_difference": 0.26739214338837625, "task_success": 0.0 }, { "completion_time": 3.07717227935791, "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": 0.0005746329089026947, "book-upper shelf": 0.5899770986166413, "book-lower shelf": 0.3726505916527331 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8747851543655454, "bimanual_gripper_vertical_difference": 0.2657477094756648, "task_success": 0.0 }, { "completion_time": 3.093989133834839, "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": 0.00010767670594591383, "book-upper shelf": 0.5904239243689556, "book-lower shelf": 0.37304952010778475 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8789538403070853, "bimanual_gripper_vertical_difference": 0.264166804890902, "task_success": 0.0 }, { "completion_time": 3.111156702041626, "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": 0.0006991248615660917, "book-upper shelf": 0.589877949930049, "book-lower shelf": 0.3725758827979155 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.882215584991854, "bimanual_gripper_vertical_difference": 0.2626255693179152, "task_success": 0.0 }, { "completion_time": 3.214963912963867, "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": 0.00011125341985351866, "book-upper shelf": 0.5904092566770429, "book-lower shelf": 0.3730286660675134 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8780577220754957, "bimanual_gripper_vertical_difference": 0.2611393328560728, "task_success": 0.0 }, { "completion_time": 3.2319257259368896, "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": 0.00041564552139383704, "book-upper shelf": 0.590105201810245, "book-lower shelf": 0.3727483634192578 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8712623032711064, "bimanual_gripper_vertical_difference": 0.2597310085939827, "task_success": 0.0 }, { "completion_time": 3.2488129138946533, "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": 0.0004140536899612801, "book-upper shelf": 0.590140256438733, "book-lower shelf": 0.37280280524750836 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.866865732498422, "bimanual_gripper_vertical_difference": 0.2584035185235591, "task_success": 0.0 }, { "completion_time": 3.2672200202941895, "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": 0.0001974916236788804, "book-upper shelf": 0.5903089687562927, "book-lower shelf": 0.3729268586943864 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8646412034875726, "bimanual_gripper_vertical_difference": 0.2571238409474779, "task_success": 0.0 }, { "completion_time": 3.28426194190979, "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": 0.0005749120197300339, "book-upper shelf": 0.5899674603676657, "book-lower shelf": 0.37263551670207407 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8643024095769232, "bimanual_gripper_vertical_difference": 0.2558343162728917, "task_success": 0.0 }, { "completion_time": 3.3013181686401367, "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": 0.00010737800771121186, "book-upper shelf": 0.5904148388113285, "book-lower shelf": 0.3730349431086477 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8651798027933795, "bimanual_gripper_vertical_difference": 0.254544553936051, "task_success": 0.0 }, { "completion_time": 3.318265676498413, "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": 0.0006993734331715018, "book-upper shelf": 0.589868351783233, "book-lower shelf": 0.3725608506989474 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8657423216949194, "bimanual_gripper_vertical_difference": 0.25325802549036847, "task_success": 0.0 }, { "completion_time": 3.3375141620635986, "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": 0.00011088650159196689, "book-upper shelf": 0.590400291119438, "book-lower shelf": 0.3730142335128643 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.863239673256472, "bimanual_gripper_vertical_difference": 0.25199700232969424, "task_success": 0.0 }, { "completion_time": 3.354854106903076, "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": 0.0004156791477557542, "book-upper shelf": 0.5900958042498154, "book-lower shelf": 0.37273350799299426 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8617638661785885, "bimanual_gripper_vertical_difference": 0.2507652319261223, "task_success": 0.0 }, { "completion_time": 3.37225079536438, "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": 0.000413997358824747, "book-upper shelf": 0.5901309687993932, "book-lower shelf": 0.37278806569776396 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8620995831086413, "bimanual_gripper_vertical_difference": 0.2495739952658502, "task_success": 0.0 }, { "completion_time": 3.474256753921509, "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": 0.00019740486634034493, "book-upper shelf": 0.5902997202457334, "book-lower shelf": 0.37291216169506325 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8611919368386052, "bimanual_gripper_vertical_difference": 0.2484335082173313, "task_success": 0.0 }, { "completion_time": 3.491079092025757, "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": 0.0005751819893788923, "book-upper shelf": 0.5899579297935675, "book-lower shelf": 0.37262060582852075 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8633012041542867, "bimanual_gripper_vertical_difference": 0.24736607422391543, "task_success": 0.0 }, { "completion_time": 3.5080766677856445, "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": 0.00010708881869370135, "book-upper shelf": 0.5904058429432051, "book-lower shelf": 0.37302051399596003 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8624317406853756, "bimanual_gripper_vertical_difference": 0.24635229003015535, "task_success": 0.0 }, { "completion_time": 3.5250682830810547, "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": 0.00069961504797178, "book-upper shelf": 0.5898588589802795, "book-lower shelf": 0.3725459804356782 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8627351847487017, "bimanual_gripper_vertical_difference": 0.2453855561130124, "task_success": 0.0 }, { "completion_time": 3.5419554710388184, "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": 0.00011053159612872676, "book-upper shelf": 0.5903914113754211, "book-lower shelf": 0.3729999443725685 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8639411754468744, "bimanual_gripper_vertical_difference": 0.24445381004265662, "task_success": 0.0 }, { "completion_time": 3.5588643550872803, "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": 0.00041570905609589204, "book-upper shelf": 0.5900865056190419, "book-lower shelf": 0.37271880638033367 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8659336404328852, "bimanual_gripper_vertical_difference": 0.2435438085701181, "task_success": 0.0 }, { "completion_time": 3.575676202774048, "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": 0.00041394288562157655, "book-upper shelf": 0.5901217732644746, "book-lower shelf": 0.3727734728304161 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8698992179841651, "bimanual_gripper_vertical_difference": 0.24263987840011816, "task_success": 0.0 }, { "completion_time": 3.592437744140625, "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": 0.00019732094139401912, "book-upper shelf": 0.590290564347523, "book-lower shelf": 0.37289761281988826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8748486027335407, "bimanual_gripper_vertical_difference": 0.24173337702424477, "task_success": 0.0 }, { "completion_time": 3.6094300746917725, "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": 0.0005754437664690082, "book-upper shelf": 0.5899485009756341, "book-lower shelf": 0.37260585029925036 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.880793851748544, "bimanual_gripper_vertical_difference": 0.24082030177796718, "task_success": 0.0 }, { "completion_time": 3.626190423965454, "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": 0.0001068082223064648, "book-upper shelf": 0.5903969326019787, "book-lower shelf": 0.3730062255867433 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8866258010230674, "bimanual_gripper_vertical_difference": 0.23990585700972425, "task_success": 0.0 }, { "completion_time": 3.7296109199523926, "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": 0.0006998503392997568, "book-upper shelf": 0.5898494658810468, "book-lower shelf": 0.3725312635076873 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.89177860969708, "bimanual_gripper_vertical_difference": 0.2390167690055043, "task_success": 0.0 }, { "completion_time": 3.74643874168396, "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": 0.00011018759544312307, "book-upper shelf": 0.5903826135898731, "book-lower shelf": 0.3729857918234282 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8964526534064794, "bimanual_gripper_vertical_difference": 0.2381542901558569, "task_success": 0.0 }, { "completion_time": 3.763319730758667, "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": 0.00041574257810705895, "book-upper shelf": 0.5900772995069842, "book-lower shelf": 0.37270425328571 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9011707432710643, "bimanual_gripper_vertical_difference": 0.23732429947661404, "task_success": 0.0 }, { "completion_time": 3.780214786529541, "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": 0.0004138904332705584, "book-upper shelf": 0.5901126707063116, "book-lower shelf": 0.3727590281444792 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9055781050780851, "bimanual_gripper_vertical_difference": 0.23654253158413413, "task_success": 0.0 }, { "completion_time": 3.7970468997955322, "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": 0.00019723964544138273, "book-upper shelf": 0.5902814994638153, "book-lower shelf": 0.37288320941564596 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9098785345328224, "bimanual_gripper_vertical_difference": 0.2358265080491048, "task_success": 0.0 }, { "completion_time": 3.8148021697998047, "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": 0.0005756971516401865, "book-upper shelf": 0.5899391720420673, "book-lower shelf": 0.37259124702955204 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9131642851436108, "bimanual_gripper_vertical_difference": 0.23517652825178503, "task_success": 0.0 }, { "completion_time": 3.8318212032318115, "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": 0.00010653637081459166, "book-upper shelf": 0.5903881056442609, "book-lower shelf": 0.37299207459890515 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9156274068555939, "bimanual_gripper_vertical_difference": 0.23458388503318292, "task_success": 0.0 }, { "completion_time": 3.8488547801971436, "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": 0.0007000791342197665, "book-upper shelf": 0.5898401706277115, "book-lower shelf": 0.3725166968696352 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9178925703172665, "bimanual_gripper_vertical_difference": 0.23404505109865076, "task_success": 0.0 }, { "completion_time": 3.8659791946411133, "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": 0.00010985459821255539, "book-upper shelf": 0.590373895676283, "book-lower shelf": 0.3729717726376154 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9139491054607851, "bimanual_gripper_vertical_difference": 0.23355807151933644, "task_success": 0.0 }, { "completion_time": 3.88259220123291, "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": 0.0004157770099193492, "book-upper shelf": 0.590068184592878, "book-lower shelf": 0.3726898448421747 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9088919939151707, "bimanual_gripper_vertical_difference": 0.23312056584864707, "task_success": 0.0 }, { "completion_time": 3.9848382472991943, "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": 0.00041383987525156485, "book-upper shelf": 0.5901036572650257, "book-lower shelf": 0.3727447254561 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9013850337163452, "bimanual_gripper_vertical_difference": 0.23273472189450867, "task_success": 0.0 }, { "completion_time": 4.001987457275391, "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": 0.00019716097893784923, "book-upper shelf": 0.5902725225715091, "book-lower shelf": 0.37286894670711773 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8959997165607803, "bimanual_gripper_vertical_difference": 0.23239508740909168, "task_success": 0.0 }, { "completion_time": 4.019593000411987, "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": 0.000575942413356012, "book-upper shelf": 0.5899299398407559, "book-lower shelf": 0.37257679121626236 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8935687635271528, "bimanual_gripper_vertical_difference": 0.23210310354694913, "task_success": 0.0 }, { "completion_time": 4.036504745483398, "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": 0.00010627302700383368, "book-upper shelf": 0.5903793594006147, "book-lower shelf": 0.3729780566601701 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8928956571755124, "bimanual_gripper_vertical_difference": 0.23186151009906616, "task_success": 0.0 }, { "completion_time": 4.053756952285767, "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": 0.000700301535223713, "book-upper shelf": 0.5898309702122526, "book-lower shelf": 0.3725022758365875 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8937875411695833, "bimanual_gripper_vertical_difference": 0.23167019279225334, "task_success": 0.0 }, { "completion_time": 4.070635557174683, "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": 0.00010953230307986228, "book-upper shelf": 0.5903652550705126, "book-lower shelf": 0.3729578825667695 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8955798586184909, "bimanual_gripper_vertical_difference": 0.23153809837245987, "task_success": 0.0 }, { "completion_time": 4.087636232376099, "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": 0.0004158121841493223, "book-upper shelf": 0.5900591581180585, "book-lower shelf": 0.3726755765814162 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8954869096427922, "bimanual_gripper_vertical_difference": 0.23147867961564467, "task_success": 0.0 }, { "completion_time": 4.104979991912842, "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": 0.0004137911442668729, "book-upper shelf": 0.5900947301416212, "book-lower shelf": 0.3727305602994257 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8894605547162842, "bimanual_gripper_vertical_difference": 0.2314919039347103, "task_success": 0.0 }, { "completion_time": 4.121888160705566, "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": 0.00019708486823410976, "book-upper shelf": 0.5902636308940189, "book-lower shelf": 0.3728548202598666 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.882988080564709, "bimanual_gripper_vertical_difference": 0.2315725264026586, "task_success": 0.0 }, { "completion_time": 4.1411988735198975, "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": 0.0005761797754257891, "book-upper shelf": 0.5899208013516332, "book-lower shelf": 0.3725624782352519 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8757740787310737, "bimanual_gripper_vertical_difference": 0.23172608757525234, "task_success": 0.0 }, { "completion_time": 4.2448225021362305, "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": 0.00010601797145926017, "book-upper shelf": 0.5903706912884712, "book-lower shelf": 0.37296416754701994 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8670777339512088, "bimanual_gripper_vertical_difference": 0.2319336611566127, "task_success": 0.0 }, { "completion_time": 4.262079477310181, "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": 0.0007005176500275434, "book-upper shelf": 0.5898218617274267, "book-lower shelf": 0.3724879958861124 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8578988450294691, "bimanual_gripper_vertical_difference": 0.23217418204677837, "task_success": 0.0 }, { "completion_time": 4.279894590377808, "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": 0.00010922041369221258, "book-upper shelf": 0.590356689306315, "book-lower shelf": 0.3729441175203077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8484693653563533, "bimanual_gripper_vertical_difference": 0.23242619107643936, "task_success": 0.0 }, { "completion_time": 4.2968909740448, "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": 0.0004158479472340382, "book-upper shelf": 0.5900502174160952, "book-lower shelf": 0.37266144418977826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8390963756869676, "bimanual_gripper_vertical_difference": 0.23267845989152053, "task_success": 0.0 }, { "completion_time": 4.313837289810181, "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": 0.00041374417534056906, "book-upper shelf": 0.5900858866374962, "book-lower shelf": 0.37271652836857583 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.829942433963962, "bimanual_gripper_vertical_difference": 0.23292473513507433, "task_success": 0.0 }, { "completion_time": 4.330784559249878, "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": 0.0001970112409949154, "book-upper shelf": 0.5902548217554604, "book-lower shelf": 0.37284082579924543 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8221780259799287, "bimanual_gripper_vertical_difference": 0.2331680842992775, "task_success": 0.0 }, { "completion_time": 4.3490753173828125, "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": 0.0005764086679148628, "book-upper shelf": 0.5899117542853631, "book-lower shelf": 0.37254830409435513 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8163360860371176, "bimanual_gripper_vertical_difference": 0.23342490629695312, "task_success": 0.0 }, { "completion_time": 4.3664000034332275, "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": 0.00010577060700756036, "book-upper shelf": 0.5903620991950328, "book-lower shelf": 0.37295040352968656 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8095794382027723, "bimanual_gripper_vertical_difference": 0.23370752233393657, "task_success": 0.0 }, { "completion_time": 4.3833348751068115, "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": 0.0007007281725227577, "book-upper shelf": 0.589812841924706, "book-lower shelf": 0.372473852342343 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8024372306933085, "bimanual_gripper_vertical_difference": 0.23401223970833376, "task_success": 0.0 }, { "completion_time": 4.400469064712524, "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": 0.00010891844836347087, "book-upper shelf": 0.5903481962224401, "book-lower shelf": 0.3729304737676327 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.796329914170217, "bimanual_gripper_vertical_difference": 0.2343379514462407, "task_success": 0.0 }, { "completion_time": 4.506818056106567, "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": 0.0004158935185590851, "book-upper shelf": 0.5900413520242446, "book-lower shelf": 0.37264743720174365 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.786976104153424, "bimanual_gripper_vertical_difference": 0.23470004338856618, "task_success": 0.0 }, { "completion_time": 4.524058103561401, "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": 0.0004136989758252163, "book-upper shelf": 0.5900771241640079, "book-lower shelf": 0.37270262557906425 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7774316226232125, "bimanual_gripper_vertical_difference": 0.23507097444925745, "task_success": 0.0 }, { "completion_time": 4.541190147399902, "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": 0.00019693996410163894, "book-upper shelf": 0.5902460929943812, "book-lower shelf": 0.37282695982441866 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7686839104904832, "bimanual_gripper_vertical_difference": 0.23543556292154863, "task_success": 0.0 }, { "completion_time": 4.558509826660156, "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": 0.0005766240104240206, "book-upper shelf": 0.5899028001880613, "book-lower shelf": 0.37253426789314253 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7619932127414841, "bimanual_gripper_vertical_difference": 0.2357903284833801, "task_success": 0.0 }, { "completion_time": 4.575403690338135, "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": 0.0007397833745479421, "book-upper shelf": 0.5897658719691975, "book-lower shelf": 0.37242529271416014 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7546200000592986, "bimanual_gripper_vertical_difference": 0.2361437024159355, "task_success": 0.0 }, { "completion_time": 4.592554092407227, "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": 0.0006159607711405668, "book-upper shelf": 0.5898617100152256, "book-lower shelf": 0.3724952018681849 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7478126217800707, "bimanual_gripper_vertical_difference": 0.23650446879545806, "task_success": 0.0 }, { "completion_time": 4.6097023487091064, "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": 0.0005678866739237121, "book-upper shelf": 0.5899257430806717, "book-lower shelf": 0.3725648221892358 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7420423688971474, "bimanual_gripper_vertical_difference": 0.23688230293585488, "task_success": 0.0 }, { "completion_time": 4.6267712116241455, "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": 0.0007297807964113945, "book-upper shelf": 0.5897815311432514, "book-lower shelf": 0.37244347708306846 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.737072966458858, "bimanual_gripper_vertical_difference": 0.2372813794713588, "task_success": 0.0 }, { "completion_time": 4.644170045852661, "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": 0.0007384625161208636, "book-upper shelf": 0.5897836550609654, "book-lower shelf": 0.3724525798460535 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7312161272225577, "bimanual_gripper_vertical_difference": 0.2377045149039278, "task_success": 0.0 }, { "completion_time": 4.660894870758057, "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": 0.0006826168978635305, "book-upper shelf": 0.5898204438260648, "book-lower shelf": 0.3724739175263661 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7241883191239502, "bimanual_gripper_vertical_difference": 0.23816271228302957, "task_success": 0.0 }, { "completion_time": 4.767136812210083, "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": 0.0007399553731539665, "book-upper shelf": 0.589783753575628, "book-lower shelf": 0.3724537227577547 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7150621809380957, "bimanual_gripper_vertical_difference": 0.23866402188979283, "task_success": 0.0 }, { "completion_time": 4.784101963043213, "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": 0.0007304070651086292, "book-upper shelf": 0.5897956573890077, "book-lower shelf": 0.3724662602505079 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7067745374764312, "bimanual_gripper_vertical_difference": 0.2392003908546, "task_success": 0.0 }, { "completion_time": 4.801342487335205, "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": 0.0005010852596338822, "book-upper shelf": 0.590017458226825, "book-lower shelf": 0.3726658946558794 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6985738940863793, "bimanual_gripper_vertical_difference": 0.23975228277267532, "task_success": 0.0 }, { "completion_time": 4.818488597869873, "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": 0.0007232320322261288, "book-upper shelf": 0.5898086884193435, "book-lower shelf": 0.37248215143826535 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6909038885699474, "bimanual_gripper_vertical_difference": 0.24029675089000846, "task_success": 0.0 }, { "completion_time": 4.835677146911621, "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": 0.0007273746747595844, "book-upper shelf": 0.5898055598412986, "book-lower shelf": 0.37247993592830064 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.684977526347634, "bimanual_gripper_vertical_difference": 0.2408359961309239, "task_success": 0.0 }, { "completion_time": 4.852949380874634, "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": 0.000721643971168251, "book-upper shelf": 0.5898135163254081, "book-lower shelf": 0.37248874641337665 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6810663096770408, "bimanual_gripper_vertical_difference": 0.24139077791262642, "task_success": 0.0 }, { "completion_time": 4.870138883590698, "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": 0.0007335678175058868, "book-upper shelf": 0.5898125094704045, "book-lower shelf": 0.3724950340479156 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6778737259686896, "bimanual_gripper_vertical_difference": 0.24197914914124888, "task_success": 0.0 }, { "completion_time": 4.888013601303101, "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": 0.0006752569716671486, "book-upper shelf": 0.5898609439859966, "book-lower shelf": 0.3725331825846742 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6724622655611894, "bimanual_gripper_vertical_difference": 0.24259142148315796, "task_success": 0.0 }, { "completion_time": 4.904989719390869, "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": 0.0007018915602116094, "book-upper shelf": 0.5898368810955388, "book-lower shelf": 0.3725126862138069 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.663963490745236, "bimanual_gripper_vertical_difference": 0.24321532722487468, "task_success": 0.0 }, { "completion_time": 4.922377824783325, "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": 0.0007280874456093711, "book-upper shelf": 0.5898243800348043, "book-lower shelf": 0.3725102072922148 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6588462936979493, "bimanual_gripper_vertical_difference": 0.24382840788246266, "task_success": 0.0 }, { "completion_time": 5.0245490074157715, "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": 0.0007494927943216823, "book-upper shelf": 0.5898088662756736, "book-lower shelf": 0.3724997920197969 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6529452700846, "bimanual_gripper_vertical_difference": 0.24441112867975887, "task_success": 0.0 }, { "completion_time": 5.044544219970703, "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": 0.0004691078477481181, "book-upper shelf": 0.5900521545430397, "book-lower shelf": 0.37269969926424734 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6468093022579007, "bimanual_gripper_vertical_difference": 0.2449643638927325, "task_success": 0.0 }, { "completion_time": 5.062110424041748, "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": 0.0005114569331848839, "book-upper shelf": 0.5900319902681922, "book-lower shelf": 0.37269575406448635 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.641071154649364, "bimanual_gripper_vertical_difference": 0.24548297908907918, "task_success": 0.0 }, { "completion_time": 5.079321384429932, "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": 0.00031832988231206283, "book-upper shelf": 0.5902256730004752, "book-lower shelf": 0.3728747983046517 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6354001161663472, "bimanual_gripper_vertical_difference": 0.24596168488299253, "task_success": 0.0 }, { "completion_time": 5.096333980560303, "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": 0.0007135991522257967, "book-upper shelf": 0.5898452924078873, "book-lower shelf": 0.37253374272558654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.629173058689158, "bimanual_gripper_vertical_difference": 0.24640314544332606, "task_success": 0.0 }, { "completion_time": 5.1136345863342285, "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": 0.0006076823040946921, "book-upper shelf": 0.5899431719499549, "book-lower shelf": 0.37261871648109757 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6225976805161024, "bimanual_gripper_vertical_difference": 0.24681255168413185, "task_success": 0.0 }, { "completion_time": 5.130992412567139, "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": 0.0004466828695240954, "book-upper shelf": 0.5900994571900909, "book-lower shelf": 0.37275977109435554 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6159730329191626, "bimanual_gripper_vertical_difference": 0.24719319329166584, "task_success": 0.0 }, { "completion_time": 5.147870779037476, "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": 0.00032026098917581347, "book-upper shelf": 0.5902283442368369, "book-lower shelf": 0.3728803017806138 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6084840246644256, "bimanual_gripper_vertical_difference": 0.24754645194207664, "task_success": 0.0 }, { "completion_time": 5.164957761764526, "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": 0.0006830096911007999, "book-upper shelf": 0.5898720773505354, "book-lower shelf": 0.3725559345267867 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.601547047658434, "bimanual_gripper_vertical_difference": 0.2478830105302258, "task_success": 0.0 }, { "completion_time": 5.182059288024902, "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": 0.000744334083612963, "book-upper shelf": 0.589831790417737, "book-lower shelf": 0.37253267896616415 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5955085097484711, "bimanual_gripper_vertical_difference": 0.24821063102500474, "task_success": 0.0 } ]