[ { "completion_time": 0.053940534591674805, "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": -0.0005696651009180487, "book-upper shelf": 0.5962448982566955, "book-lower shelf": 0.3817590283287775 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.08806014060974121, "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": 0.0006253338518632523, "book-upper shelf": 0.5951878961925742, "book-lower shelf": 0.3808793588795111 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0185634592638215e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.12055325508117676, "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": 0.00029917309823912497, "book-upper shelf": 0.595485352077501, "book-lower shelf": 0.38113336369628054 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.865484758524406e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.15268516540527344, "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": 0.0006341586514416742, "book-upper shelf": 0.5951710268925249, "book-lower shelf": 0.3808587025015573 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0476543531608785e-06, "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, "task_success": 0.0 }, { "completion_time": 0.18584966659545898, "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": 0.0005334936632236387, "book-upper shelf": 0.5952653464475323, "book-lower shelf": 0.38094101935448615 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00017675039728244426, "bimanual_gripper_vertical_difference": 2.2006893640735827e-09, "task_success": 0.0 }, { "completion_time": 0.2184453010559082, "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": 0.0005161276157590322, "book-upper shelf": 0.5952668086446096, "book-lower shelf": 0.38093207939135093 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00019642507390926506, "bimanual_gripper_vertical_difference": 2.7687085587165447e-09, "task_success": 0.0 }, { "completion_time": 0.2523484230041504, "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": 0.000576705176002168, "book-upper shelf": 0.595216873685914, "book-lower shelf": 0.3808932052103136 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.000188988036689934, "bimanual_gripper_vertical_difference": 3.305395037043825e-09, "task_success": 0.0 }, { "completion_time": 0.2848935127258301, "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": 0.0005470583389368677, "book-upper shelf": 0.5952277339971932, "book-lower shelf": 0.3808910116942998 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.008249689530256534, "bimanual_gripper_vertical_difference": 3.5114127784618976e-06, "task_success": 0.0 }, { "completion_time": 0.31786346435546875, "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": 0.0005450517718997849, "book-upper shelf": 0.595243768146615, "book-lower shelf": 0.3809147711149042 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.02955048419593976, "bimanual_gripper_vertical_difference": 0.00017987655487473731, "task_success": 0.0 }, { "completion_time": 0.34980177879333496, "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": 0.0005298289843935766, "book-upper shelf": 0.5952398401599467, "book-lower shelf": 0.3808987925789312 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.137054035599589, "bimanual_gripper_vertical_difference": 0.0011993856290848592, "task_success": 0.0 }, { "completion_time": 0.38222479820251465, "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": 0.0005564722850516235, "book-upper shelf": 0.5952072228353281, "book-lower shelf": 0.3808650436613621 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2813783967651368, "bimanual_gripper_vertical_difference": 0.00342345386806234, "task_success": 0.0 }, { "completion_time": 0.4148857593536377, "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": 0.0005115155802550841, "book-upper shelf": 0.5952393087699718, "book-lower shelf": 0.38088612359018215 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4405894489032094, "bimanual_gripper_vertical_difference": 0.007399160904805783, "task_success": 0.0 }, { "completion_time": 0.4465055465698242, "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": 0.0005764442536813075, "book-upper shelf": 0.5951855591977765, "book-lower shelf": 0.3808440999166536 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6106639531214405, "bimanual_gripper_vertical_difference": 0.01383053386507151, "task_success": 0.0 }, { "completion_time": 0.4787716865539551, "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": 0.0005141472407707015, "book-upper shelf": 0.5952334588195486, "book-lower shelf": 0.380878682651186 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7733850073122628, "bimanual_gripper_vertical_difference": 0.023165326937998165, "task_success": 0.0 }, { "completion_time": 0.5108251571655273, "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": 0.0005342111832726815, "book-upper shelf": 0.5952117170290321, "book-lower shelf": 0.3808576754864346 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9040949698503927, "bimanual_gripper_vertical_difference": 0.03502608525882465, "task_success": 0.0 }, { "completion_time": 0.5439331531524658, "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": 0.0005772025546221249, "book-upper shelf": 0.5951775652426601, "book-lower shelf": 0.3808320970680313 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0005532890146913, "bimanual_gripper_vertical_difference": 0.04797335708469973, "task_success": 0.0 }, { "completion_time": 0.5763294696807861, "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": 0.0005148665216010428, "book-upper shelf": 0.5952179025166495, "book-lower shelf": 0.3808548359755766 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0872739003500695, "bimanual_gripper_vertical_difference": 0.0606446028117339, "task_success": 0.0 }, { "completion_time": 0.6080336570739746, "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": 0.0005516352371182087, "book-upper shelf": 0.5951823875874795, "book-lower shelf": 0.38082310310419815 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.168328124086723, "bimanual_gripper_vertical_difference": 0.07211965788553247, "task_success": 0.0 }, { "completion_time": 0.641972541809082, "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": 0.0005362421702586051, "book-upper shelf": 0.595197611726408, "book-lower shelf": 0.3808369441803676 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2461040149142841, "bimanual_gripper_vertical_difference": 0.08183832684402124, "task_success": 0.0 }, { "completion_time": 0.6750226020812988, "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": 0.0005670486230699989, "book-upper shelf": 0.5951522530095525, "book-lower shelf": 0.38078597131173153 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3129442613646345, "bimanual_gripper_vertical_difference": 0.08977193696375542, "task_success": 0.0 }, { "completion_time": 0.7088029384613037, "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": 0.0005248486818566489, "book-upper shelf": 0.595187366428123, "book-lower shelf": 0.3808135652522306 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3213416450023383, "bimanual_gripper_vertical_difference": 0.09709452154003276, "task_success": 0.0 }, { "completion_time": 0.7413427829742432, "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": 0.0005885719499050257, "book-upper shelf": 0.5951343659754025, "book-lower shelf": 0.38077193228058703 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2864181091782507, "bimanual_gripper_vertical_difference": 0.10426178956556305, "task_success": 0.0 }, { "completion_time": 0.7722775936126709, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006656322600727682, "book-upper shelf": 0.5956317479231834, "book-lower shelf": 0.3815985827167447 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2432502390042612, "bimanual_gripper_vertical_difference": 0.11095641117484177, "task_success": 0.0 }, { "completion_time": 0.8022699356079102, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -7.972408815781762e-06, "book-upper shelf": 0.5972390856771653, "book-lower shelf": 0.38367057228757423 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.214446280758968, "bimanual_gripper_vertical_difference": 0.11714031553149311, "task_success": 0.0 }, { "completion_time": 0.8323323726654053, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005122598905203946, "book-upper shelf": 0.5976099802970006, "book-lower shelf": 0.38458088814288793 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.196681641533326, "bimanual_gripper_vertical_difference": 0.12281763160298938, "task_success": 0.0 }, { "completion_time": 0.8624575138092041, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008970748383205773, "book-upper shelf": 0.5995483600901155, "book-lower shelf": 0.3878305160524912 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1799959445331338, "bimanual_gripper_vertical_difference": 0.12808875120483, "task_success": 0.0 }, { "completion_time": 0.8922479152679443, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004992803202183982, "book-upper shelf": 0.6024011410306908, "book-lower shelf": 0.3919764200814748 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.158491757745641, "bimanual_gripper_vertical_difference": 0.1329736384284723, "task_success": 0.0 }, { "completion_time": 0.9246134757995605, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010398382683383112, "book-upper shelf": 0.6035562761115414, "book-lower shelf": 0.3940872433603693 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1401597016232665, "bimanual_gripper_vertical_difference": 0.1374534981257433, "task_success": 0.0 }, { "completion_time": 0.9571843147277832, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00010624290469396502, "book-upper shelf": 0.6054615315712044, "book-lower shelf": 0.3964195935149195 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1235259603363756, "bimanual_gripper_vertical_difference": 0.14166583628553842, "task_success": 0.0 }, { "completion_time": 0.9883944988250732, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00010020382606357181, "book-upper shelf": 0.6055820074375987, "book-lower shelf": 0.3965998256402449 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1355482219150932, "bimanual_gripper_vertical_difference": 0.14562958790975672, "task_success": 0.0 }, { "completion_time": 1.019996166229248, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005531641547392718, "book-upper shelf": 0.6051502382416052, "book-lower shelf": 0.39622181303271314 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1482187983557561, "bimanual_gripper_vertical_difference": 0.14936333665980367, "task_success": 0.0 }, { "completion_time": 1.0509724617004395, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -6.503300259408373e-05, "book-upper shelf": 0.6059609187990208, "book-lower shelf": 0.3970757084000366 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1489909752184184, "bimanual_gripper_vertical_difference": 0.15290553497785433, "task_success": 0.0 }, { "completion_time": 1.083310604095459, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0002671057498548901, "book-upper shelf": 0.6058819127353017, "book-lower shelf": 0.39716109703455166 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1325811779581592, "bimanual_gripper_vertical_difference": 0.15620717081266836, "task_success": 0.0 }, { "completion_time": 1.1141021251678467, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -3.776098418695195e-05, "book-upper shelf": 0.6064139196676472, "book-lower shelf": 0.3977835531564251 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1178404034574545, "bimanual_gripper_vertical_difference": 0.1593442339127481, "task_success": 0.0 }, { "completion_time": 1.1476171016693115, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.00012108444178171585, "book-upper shelf": 0.6068676484188051, "book-lower shelf": 0.3984234220723527 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1082481776235495, "bimanual_gripper_vertical_difference": 0.1623189901580466, "task_success": 0.0 }, { "completion_time": 1.1811025142669678, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006900096170925352, "book-upper shelf": 0.6062579882204612, "book-lower shelf": 0.3979962966008087 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1035280027972416, "bimanual_gripper_vertical_difference": 0.1651659481753913, "task_success": 0.0 }, { "completion_time": 1.2143592834472656, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007650078275136529, "book-upper shelf": 0.6061905491734499, "book-lower shelf": 0.3979399685915992 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.095477207272129, "bimanual_gripper_vertical_difference": 0.16794356892221002, "task_success": 0.0 }, { "completion_time": 1.24717116355896, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007637223289035378, "book-upper shelf": 0.6061920403003062, "book-lower shelf": 0.3979414446562874 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0798161607288244, "bimanual_gripper_vertical_difference": 0.17064568407448355, "task_success": 0.0 }, { "completion_time": 1.280031681060791, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007619273491132894, "book-upper shelf": 0.6061939918953324, "book-lower shelf": 0.39794330692183744 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0596212348772704, "bimanual_gripper_vertical_difference": 0.1732835664188564, "task_success": 0.0 }, { "completion_time": 1.311112642288208, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007482156303185716, "book-upper shelf": 0.6062053094264147, "book-lower shelf": 0.3979520631367046 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0382265540709987, "bimanual_gripper_vertical_difference": 0.17582704721534853, "task_success": 0.0 }, { "completion_time": 1.3453378677368164, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -3.818890689566423e-06, "book-upper shelf": 0.606954494650641, "book-lower shelf": 0.39862813066263864 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0164944572224839, "bimanual_gripper_vertical_difference": 0.17826730356494308, "task_success": 0.0 }, { "completion_time": 1.3773040771484375, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005194544045831195, "book-upper shelf": 0.6065329833146069, "book-lower shelf": 0.3983096455788513 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9947809363304448, "bimanual_gripper_vertical_difference": 0.1805889044638788, "task_success": 0.0 }, { "completion_time": 1.4091475009918213, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007085895992686719, "book-upper shelf": 0.6063917759458092, "book-lower shelf": 0.3982115511556035 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9772326933759499, "bimanual_gripper_vertical_difference": 0.18280119868828615, "task_success": 0.0 }, { "completion_time": 1.4396905899047852, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006796985939145905, "book-upper shelf": 0.6064657568330512, "book-lower shelf": 0.398306339862387 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9613088144857016, "bimanual_gripper_vertical_difference": 0.18490692872486839, "task_success": 0.0 }, { "completion_time": 1.470623254776001, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 7.899629670504726e-05, "book-upper shelf": 0.6071059663683555, "book-lower shelf": 0.3989098453510107 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9448898622342867, "bimanual_gripper_vertical_difference": 0.18692494832453974, "task_success": 0.0 }, { "completion_time": 1.5026545524597168, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006098876484258442, "book-upper shelf": 0.6066687346057129, "book-lower shelf": 0.3985722033854804 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9246846091409369, "bimanual_gripper_vertical_difference": 0.18883240089477474, "task_success": 0.0 }, { "completion_time": 1.5336120128631592, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0002707547621382256, "book-upper shelf": 0.6069796754330726, "book-lower shelf": 0.3988360166319408 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9091704904893697, "bimanual_gripper_vertical_difference": 0.19064933708018952, "task_success": 0.0 }, { "completion_time": 1.5646042823791504, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -6.320962706540811e-05, "book-upper shelf": 0.6072841329739675, "book-lower shelf": 0.399093221156233 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9025485949007819, "bimanual_gripper_vertical_difference": 0.1923877363577912, "task_success": 0.0 }, { "completion_time": 1.5950109958648682, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.00015046891194392398, "book-upper shelf": 0.6073839293182028, "book-lower shelf": 0.3991912421010705 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9026733486313295, "bimanual_gripper_vertical_difference": 0.19403134393125124, "task_success": 0.0 }, { "completion_time": 1.6260673999786377, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009922137554584376, "book-upper shelf": 0.6061962247484735, "book-lower shelf": 0.39808916985234877 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8963268540646208, "bimanual_gripper_vertical_difference": 0.1955768415244882, "task_success": 0.0 }, { "completion_time": 1.6608457565307617, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006894304609350588, "book-upper shelf": 0.6065159018683136, "book-lower shelf": 0.3983887019488916 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8853079235463197, "bimanual_gripper_vertical_difference": 0.19701599546377527, "task_success": 0.0 }, { "completion_time": 1.6921470165252686, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007259575167672949, "book-upper shelf": 0.6064832330076423, "book-lower shelf": 0.39836154218171443 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8877949128773813, "bimanual_gripper_vertical_difference": 0.1983306928248376, "task_success": 0.0 }, { "completion_time": 1.7233619689941406, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000727340189263459, "book-upper shelf": 0.6064823031058565, "book-lower shelf": 0.39836098108078405 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9005303063794894, "bimanual_gripper_vertical_difference": 0.199499359849867, "task_success": 0.0 }, { "completion_time": 1.7547955513000488, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007284888250843613, "book-upper shelf": 0.6064815845926447, "book-lower shelf": 0.3983605971513432 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9159603154062531, "bimanual_gripper_vertical_difference": 0.20052057204021795, "task_success": 0.0 }, { "completion_time": 1.785522222518921, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007296359516424378, "book-upper shelf": 0.60648086747711, "book-lower shelf": 0.39836021441784286 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9334385706789147, "bimanual_gripper_vertical_difference": 0.20141644156675176, "task_success": 0.0 }, { "completion_time": 1.817209243774414, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000730783118033429, "book-upper shelf": 0.6064801503603194, "book-lower shelf": 0.398359831707974 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9513255540401744, "bimanual_gripper_vertical_difference": 0.2022187318837107, "task_success": 0.0 }, { "completion_time": 1.850071907043457, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007319303345761918, "book-upper shelf": 0.606479433232958, "book-lower shelf": 0.3983594490139338 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9675643311550095, "bimanual_gripper_vertical_difference": 0.2029580665244257, "task_success": 0.0 }, { "completion_time": 1.882523775100708, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000733077601339116, "book-upper shelf": 0.6064787160949681, "book-lower shelf": 0.39835906633567636 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9825083242374959, "bimanual_gripper_vertical_difference": 0.20366683909237476, "task_success": 0.0 }, { "completion_time": 1.9151830673217773, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007342249183219796, "book-upper shelf": 0.6064779989463535, "book-lower shelf": 0.3983586836732079 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9967841918092059, "bimanual_gripper_vertical_difference": 0.20438316123573744, "task_success": 0.0 }, { "completion_time": 1.9470863342285156, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007353722855235612, "book-upper shelf": 0.6064772817871192, "book-lower shelf": 0.39835830102653547 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0094065175853946, "bimanual_gripper_vertical_difference": 0.20513531130398252, "task_success": 0.0 }, { "completion_time": 1.9819905757904053, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007365197029436388, "book-upper shelf": 0.6064765646172695, "book-lower shelf": 0.3983579183956649 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0238626143548064, "bimanual_gripper_vertical_difference": 0.20593788562824542, "task_success": 0.0 }, { "completion_time": 2.013754367828369, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007376671705809912, "book-upper shelf": 0.6064758474368092, "book-lower shelf": 0.39835753578060346 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0442632938245464, "bimanual_gripper_vertical_difference": 0.20679747184485375, "task_success": 0.0 }, { "completion_time": 2.044685125350952, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007388146884350633, "book-upper shelf": 0.6064751302457426, "book-lower shelf": 0.39835715318135717 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0642176105551722, "bimanual_gripper_vertical_difference": 0.20771398369504865, "task_success": 0.0 }, { "completion_time": 2.076416492462158, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007399622565052999, "book-upper shelf": 0.6064744130440741, "book-lower shelf": 0.39835677059793256 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0794993418224668, "bimanual_gripper_vertical_difference": 0.2086794365523651, "task_success": 0.0 }, { "completion_time": 2.1079511642456055, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007411098747905909, "book-upper shelf": 0.6064736958318085, "book-lower shelf": 0.3983563880303364 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0899628979817395, "bimanual_gripper_vertical_difference": 0.20968357870234114, "task_success": 0.0 }, { "completion_time": 2.139089584350586, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007422575432904921, "book-upper shelf": 0.6064729786089501, "book-lower shelf": 0.398356005478575 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0991495215490379, "bimanual_gripper_vertical_difference": 0.2107183874017211, "task_success": 0.0 }, { "completion_time": 2.171522617340088, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007434052620040044, "book-upper shelf": 0.6064722613755037, "book-lower shelf": 0.3983556229426552 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1130322532585264, "bimanual_gripper_vertical_difference": 0.2117881052206933, "task_success": 0.0 }, { "completion_time": 2.203105926513672, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007445530309303505, "book-upper shelf": 0.6064715441314737, "book-lower shelf": 0.3983552404225833 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1321225432317734, "bimanual_gripper_vertical_difference": 0.21289962778528387, "task_success": 0.0 }, { "completion_time": 2.2351126670837402, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007457008500689755, "book-upper shelf": 0.6064708268768647, "book-lower shelf": 0.3983548579183659 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1544233799158776, "bimanual_gripper_vertical_difference": 0.2140526026916018, "task_success": 0.0 }, { "completion_time": 2.267543077468872, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000746848719418991, "book-upper shelf": 0.6064701096116811, "book-lower shelf": 0.3983544754300097 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1782899781474698, "bimanual_gripper_vertical_difference": 0.2152537075317301, "task_success": 0.0 }, { "completion_time": 2.2992911338806152, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00074799663897962, "book-upper shelf": 0.6064693923359276, "book-lower shelf": 0.39835409295752094 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2029703018090048, "bimanual_gripper_vertical_difference": 0.2165207412396182, "task_success": 0.0 }, { "completion_time": 2.3308701515197754, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007491446087501963, "book-upper shelf": 0.6064686750496087, "book-lower shelf": 0.3983537105009064 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2168999212249416, "bimanual_gripper_vertical_difference": 0.21786307356297252, "task_success": 0.0 }, { "completion_time": 2.3613102436065674, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.00010735169313802473, "book-upper shelf": 0.6069805811249169, "book-lower shelf": 0.39860390002265317 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.214130962527854, "bimanual_gripper_vertical_difference": 0.2192445698489382, "task_success": 0.0 }, { "completion_time": 2.3909547328948975, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.000712629725054037, "book-upper shelf": 0.606810256763054, "book-lower shelf": 0.3979701770198951 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2087995933165705, "bimanual_gripper_vertical_difference": 0.22061991081725868, "task_success": 0.0 }, { "completion_time": 2.4219038486480713, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -7.715603695424011e-05, "book-upper shelf": 0.6056229117900247, "book-lower shelf": 0.39655217107766383 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2011726203753021, "bimanual_gripper_vertical_difference": 0.22197132051684923, "task_success": 0.0 }, { "completion_time": 2.4530091285705566, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007816299018483797, "book-upper shelf": 0.6042733406593275, "book-lower shelf": 0.3950236606426821 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1987230529121462, "bimanual_gripper_vertical_difference": 0.2232916697088748, "task_success": 0.0 }, { "completion_time": 2.4841718673706055, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0030974517257104095, "book-upper shelf": 0.6007104881416168, "book-lower shelf": 0.39101270983666414 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1932729446626393, "bimanual_gripper_vertical_difference": 0.2245525725988551, "task_success": 0.0 }, { "completion_time": 2.5167746543884277, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0030508037765099028, "book-upper shelf": 0.600458563895089, "book-lower shelf": 0.3905961646802156 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1842544175910248, "bimanual_gripper_vertical_difference": 0.22578340900982832, "task_success": 0.0 }, { "completion_time": 2.54835844039917, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.003119039665004042, "book-upper shelf": 0.6002904584162195, "book-lower shelf": 0.39038072971998405 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1839490627250553, "bimanual_gripper_vertical_difference": 0.22698498966175193, "task_success": 0.0 }, { "completion_time": 2.5798392295837402, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0038869099011864527, "book-upper shelf": 0.5997911830961034, "book-lower shelf": 0.39009752714917967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.195316848439781, "bimanual_gripper_vertical_difference": 0.22813859253545726, "task_success": 0.0 }, { "completion_time": 2.612544298171997, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.008433268749641787, "book-upper shelf": 0.5954189830583491, "book-lower shelf": 0.38625022610224974 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2158036614965881, "bimanual_gripper_vertical_difference": 0.22917794034741068, "task_success": 0.0 }, { "completion_time": 2.6431899070739746, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.013505347534876866, "book-upper shelf": 0.5896557779950434, "book-lower shelf": 0.38060104242201553 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2436772902352915, "bimanual_gripper_vertical_difference": 0.23002474879513835, "task_success": 0.0 }, { "completion_time": 2.676919460296631, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.019082741949538296, "book-upper shelf": 0.5812149090193535, "book-lower shelf": 0.3711072288561319 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2785503352745269, "bimanual_gripper_vertical_difference": 0.2306702082368879, "task_success": 0.0 }, { "completion_time": 2.707765579223633, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.022759509663011657, "book-upper shelf": 0.5692971703311197, "book-lower shelf": 0.3547107233313004 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.314042550595951, "bimanual_gripper_vertical_difference": 0.23115022871511823, "task_success": 0.0 }, { "completion_time": 2.7393856048583984, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.026649930412172784, "book-upper shelf": 0.5578490639921364, "book-lower shelf": 0.3388684774209151 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3419825056261852, "bimanual_gripper_vertical_difference": 0.23149483535959844, "task_success": 0.0 }, { "completion_time": 2.771099328994751, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.025835832725924157, "book-upper shelf": 0.5553612772179474, "book-lower shelf": 0.334157915694294 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3674662506871123, "bimanual_gripper_vertical_difference": 0.23176805055697997, "task_success": 0.0 }, { "completion_time": 2.802921772003174, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.026049043227407087, "book-upper shelf": 0.5558919182324752, "book-lower shelf": 0.3351957408073635 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3955452503792178, "bimanual_gripper_vertical_difference": 0.23198808222122844, "task_success": 0.0 }, { "completion_time": 2.8333237171173096, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.02555648940122779, "book-upper shelf": 0.557223958391305, "book-lower shelf": 0.3370405636913053 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.41540813270878, "bimanual_gripper_vertical_difference": 0.23217079321212886, "task_success": 0.0 }, { "completion_time": 2.8646583557128906, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.025170579374309998, "book-upper shelf": 0.558450974202638, "book-lower shelf": 0.33878496271770897 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4332392821482207, "bimanual_gripper_vertical_difference": 0.23234051173218634, "task_success": 0.0 }, { "completion_time": 2.8952958583831787, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.027139660417253464, "book-upper shelf": 0.5566394593786355, "book-lower shelf": 0.3372312590351725 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4529456221358863, "bimanual_gripper_vertical_difference": 0.2324710829200704, "task_success": 0.0 }, { "completion_time": 2.9262731075286865, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.029986390981514344, "book-upper shelf": 0.5534988887547324, "book-lower shelf": 0.33412621365128503 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4735791700367966, "bimanual_gripper_vertical_difference": 0.23255445273987746, "task_success": 0.0 }, { "completion_time": 2.9568521976470947, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03159735138403463, "book-upper shelf": 0.5515075993940145, "book-lower shelf": 0.3320139401199094 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4834242492994234, "bimanual_gripper_vertical_difference": 0.23261222721750358, "task_success": 0.0 }, { "completion_time": 2.987962245941162, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03261424750948738, "book-upper shelf": 0.5502538657984971, "book-lower shelf": 0.33068521522227745 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4901002338008076, "bimanual_gripper_vertical_difference": 0.2326618624802203, "task_success": 0.0 }, { "completion_time": 3.019345283508301, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03370153091309713, "book-upper shelf": 0.5490389193605851, "book-lower shelf": 0.3294731588823526 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.497183498788995, "bimanual_gripper_vertical_difference": 0.23273738339444774, "task_success": 0.0 }, { "completion_time": 3.050347328186035, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03428838588983174, "book-upper shelf": 0.5482849186755382, "book-lower shelf": 0.3286551022438868 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4979151457403466, "bimanual_gripper_vertical_difference": 0.232834286771286, "task_success": 0.0 }, { "completion_time": 3.0812816619873047, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.035467347203858246, "book-upper shelf": 0.5465766695396235, "book-lower shelf": 0.3266870970311929 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4938069801144833, "bimanual_gripper_vertical_difference": 0.23293134214551747, "task_success": 0.0 }, { "completion_time": 3.11201548576355, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03514569893113706, "book-upper shelf": 0.5454033243212373, "book-lower shelf": 0.324476184289024 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4958301727381351, "bimanual_gripper_vertical_difference": 0.23303006779890253, "task_success": 0.0 }, { "completion_time": 3.1438286304473877, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03583768761530948, "book-upper shelf": 0.5427627865460124, "book-lower shelf": 0.320549871745457 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5055152806613181, "bimanual_gripper_vertical_difference": 0.23311216301969334, "task_success": 0.0 }, { "completion_time": 3.174856185913086, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.040402643603452026, "book-upper shelf": 0.5361368272227102, "book-lower shelf": 0.31281222465307745 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5200584372165682, "bimanual_gripper_vertical_difference": 0.23314729597967881, "task_success": 0.0 }, { "completion_time": 3.2055389881134033, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.04946891039123458, "book-upper shelf": 0.5254040730570163, "book-lower shelf": 0.301534265784411 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5333844843673492, "bimanual_gripper_vertical_difference": 0.23309707020027723, "task_success": 0.0 }, { "completion_time": 3.2388381958007812, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0632688228249485, "book-upper shelf": 0.5108654960758352, "book-lower shelf": 0.28749399193764064 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5483528809970408, "bimanual_gripper_vertical_difference": 0.23292502450310756, "task_success": 0.0 }, { "completion_time": 3.270037889480591, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.08138494413954078, "book-upper shelf": 0.4939421407904724, "book-lower shelf": 0.27307391433226375 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5661713136448443, "bimanual_gripper_vertical_difference": 0.23259796001287167, "task_success": 0.0 }, { "completion_time": 3.301565408706665, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.10340744289575521, "book-upper shelf": 0.4764799490152315, "book-lower shelf": 0.26166514009497394 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5861680366421615, "bimanual_gripper_vertical_difference": 0.2320867669777798, "task_success": 0.0 }, { "completion_time": 3.332545042037964, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.13036814424305032, "book-upper shelf": 0.45786451397319894, "book-lower shelf": 0.2536773821823693 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6083095437055352, "bimanual_gripper_vertical_difference": 0.23136006691963326, "task_success": 0.0 }, { "completion_time": 3.3639369010925293, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.1632592172701156, "book-upper shelf": 0.437042172940685, "book-lower shelf": 0.24882799456298962 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6296118733575466, "bimanual_gripper_vertical_difference": 0.2303875486149002, "task_success": 0.0 }, { "completion_time": 3.395380735397339, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.19421655447228903, "book-upper shelf": 0.41992962211977697, "book-lower shelf": 0.24999067613206047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6488300988372486, "bimanual_gripper_vertical_difference": 0.22921406311622755, "task_success": 0.0 }, { "completion_time": 3.426678419113159, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.22168624632066702, "book-upper shelf": 0.40563889786141566, "book-lower shelf": 0.2534261545240098 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.666189856242861, "bimanual_gripper_vertical_difference": 0.2278894151693534, "task_success": 0.0 }, { "completion_time": 3.4578990936279297, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2475410665712907, "book-upper shelf": 0.3909153677480154, "book-lower shelf": 0.2553995522372749 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.68231643180582, "bimanual_gripper_vertical_difference": 0.22644048894364652, "task_success": 0.0 }, { "completion_time": 3.4897384643554688, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2737731606822703, "book-upper shelf": 0.37380948641040745, "book-lower shelf": 0.25507966086455947 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.69724350720645, "bimanual_gripper_vertical_difference": 0.2248732206806947, "task_success": 0.0 }, { "completion_time": 3.5207910537719727, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.301197800250243, "book-upper shelf": 0.35465106325693935, "book-lower shelf": 0.25419429901063245 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7111439259445378, "bimanual_gripper_vertical_difference": 0.22318578392838898, "task_success": 0.0 }, { "completion_time": 3.5541374683380127, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3294213247162686, "book-upper shelf": 0.3352989742075364, "book-lower shelf": 0.2552673925041161 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7240883211772047, "bimanual_gripper_vertical_difference": 0.22137903704644632, "task_success": 0.0 }, { "completion_time": 3.5838282108306885, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35797893888631716, "book-upper shelf": 0.3179596947330835, "book-lower shelf": 0.2605716870869488 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7359909255006072, "bimanual_gripper_vertical_difference": 0.2194587896630756, "task_success": 0.0 }, { "completion_time": 3.614506721496582, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.387114123384776, "book-upper shelf": 0.30297726697341887, "book-lower shelf": 0.2700779193347523 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7479508150799672, "bimanual_gripper_vertical_difference": 0.21760362044321135, "task_success": 0.0 }, { "completion_time": 3.644798517227173, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4162680478634807, "book-upper shelf": 0.28912657405004305, "book-lower shelf": 0.2812434605597004 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7601851012343972, "bimanual_gripper_vertical_difference": 0.21591860459015974, "task_success": 0.0 }, { "completion_time": 3.6783242225646973, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4397652512045386, "book-upper shelf": 0.2780400526118085, "book-lower shelf": 0.29048438322992776 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.765876920051782, "bimanual_gripper_vertical_difference": 0.21438616839636265, "task_success": 0.0 }, { "completion_time": 3.7082040309906006, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.45225920157749055, "book-upper shelf": 0.27065126029842473, "book-lower shelf": 0.29407423653234566 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7696372211800766, "bimanual_gripper_vertical_difference": 0.21297579055735336, "task_success": 0.0 }, { "completion_time": 3.739450454711914, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.45454204951151256, "book-upper shelf": 0.26519925128252747, "book-lower shelf": 0.2910023766814733 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7758271145662676, "bimanual_gripper_vertical_difference": 0.21165708427750818, "task_success": 0.0 }, { "completion_time": 3.769324779510498, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4467093415032303, "book-upper shelf": 0.26177824949153145, "book-lower shelf": 0.2811091873464626 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7854466119921655, "bimanual_gripper_vertical_difference": 0.21039666040142405, "task_success": 0.0 }, { "completion_time": 3.800783634185791, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43163116529009427, "book-upper shelf": 0.2602675657172118, "book-lower shelf": 0.2660986306037633 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7971746651487488, "bimanual_gripper_vertical_difference": 0.2091623716992952, "task_success": 0.0 }, { "completion_time": 3.8310487270355225, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.41472157421150635, "book-upper shelf": 0.25897803616900694, "book-lower shelf": 0.2486197308249915 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8055354460771373, "bimanual_gripper_vertical_difference": 0.2079348495294203, "task_success": 0.0 }, { "completion_time": 3.8639609813690186, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.39856420177705754, "book-upper shelf": 0.2574382190038613, "book-lower shelf": 0.23034731581801024 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8122604827390665, "bimanual_gripper_vertical_difference": 0.2067029226007261, "task_success": 0.0 }, { "completion_time": 3.894794464111328, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38373236413642, "book-upper shelf": 0.2558323263621151, "book-lower shelf": 0.21197096518951739 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.819402589236742, "bimanual_gripper_vertical_difference": 0.20546000225543068, "task_success": 0.0 }, { "completion_time": 3.9257311820983887, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37099465702675605, "book-upper shelf": 0.2538089685280253, "book-lower shelf": 0.19397891515627952 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8281248271072434, "bimanual_gripper_vertical_difference": 0.20420550074555946, "task_success": 0.0 }, { "completion_time": 3.9564199447631836, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.360913355803835, "book-upper shelf": 0.25057083475401404, "book-lower shelf": 0.1761534373027674 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8390325288961453, "bimanual_gripper_vertical_difference": 0.2029442626263414, "task_success": 0.0 }, { "completion_time": 3.9873690605163574, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35464416027658363, "book-upper shelf": 0.24468644066782064, "book-lower shelf": 0.158203916388701 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8503896032772176, "bimanual_gripper_vertical_difference": 0.20168118783254102, "task_success": 0.0 }, { "completion_time": 4.015890598297119, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.35425193458861204, "book-upper shelf": 0.23640335027655288, "book-lower shelf": 0.144396736100308 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8613379917415491, "bimanual_gripper_vertical_difference": 0.20044681708258122, "task_success": 0.0 }, { "completion_time": 4.044003009796143, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.35645738849372177, "book-upper shelf": 0.23232332764697383, "book-lower shelf": 0.14150645821464808 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8716808152411744, "bimanual_gripper_vertical_difference": 0.19928589883513775, "task_success": 0.0 }, { "completion_time": 4.071269512176514, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3576244556001945, "book-upper shelf": 0.22975794916991393, "book-lower shelf": 0.13933192939704256 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8812969331904035, "bimanual_gripper_vertical_difference": 0.19818927595123761, "task_success": 0.0 }, { "completion_time": 4.099517583847046, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.35840201923703063, "book-upper shelf": 0.22781152405676539, "book-lower shelf": 0.13749790197626283 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8902841740962217, "bimanual_gripper_vertical_difference": 0.19715229911658352, "task_success": 0.0 }, { "completion_time": 4.126620531082153, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3589366000797437, "book-upper shelf": 0.22628701240461954, "book-lower shelf": 0.13592883753346274 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.898800041318912, "bimanual_gripper_vertical_difference": 0.19616708618851353, "task_success": 0.0 }, { "completion_time": 4.156550407409668, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.359294250057277, "book-upper shelf": 0.2251099848912177, "book-lower shelf": 0.13461599800521964 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9073968533743606, "bimanual_gripper_vertical_difference": 0.19522631263672535, "task_success": 0.0 }, { "completion_time": 4.185702085494995, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3595473427811401, "book-upper shelf": 0.22425354258036329, "book-lower shelf": 0.13364598195470223 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9160630754742067, "bimanual_gripper_vertical_difference": 0.19432388579764365, "task_success": 0.0 }, { "completion_time": 4.214270353317261, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.35979404794139913, "book-upper shelf": 0.22361055239535516, "book-lower shelf": 0.13302167579472482 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9247586613037675, "bimanual_gripper_vertical_difference": 0.19345534704450668, "task_success": 0.0 }, { "completion_time": 4.2431416511535645, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3601195178711162, "book-upper shelf": 0.2230440964828858, "book-lower shelf": 0.13267265630515043 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.933627660939171, "bimanual_gripper_vertical_difference": 0.192620299171264, "task_success": 0.0 }, { "completion_time": 4.2715723514556885, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.36027100727756267, "book-upper shelf": 0.2229222886829211, "book-lower shelf": 0.13274905839538192 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.941941342731663, "bimanual_gripper_vertical_difference": 0.1918160965837508, "task_success": 0.0 }, { "completion_time": 4.299738168716431, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3601639374283475, "book-upper shelf": 0.22339434943549466, "book-lower shelf": 0.1333426958097568 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9491116158220156, "bimanual_gripper_vertical_difference": 0.1910400863100397, "task_success": 0.0 }, { "completion_time": 4.3285276889801025, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": true }, "target_distance": { "book lift distance": 0.35820056322753013, "book-upper shelf": 0.22598637626450874, "book-lower shelf": 0.1340828766111614 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.9523636413312506, "bimanual_gripper_vertical_difference": 0.1902403407342954, "task_success": 1.0 } ]