[ { "completion_time": 0.05173301696777344, "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": -0.0007059917983232022, "book-upper shelf": 0.634426391448771, "book-lower shelf": 0.43893244252176605 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.0840919017791748, "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": 0.0004539351486400056, "book-upper shelf": 0.6334537160274748, "book-lower shelf": 0.43817765723977237 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.018563459267291e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.11716508865356445, "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": 0.000537826351720283, "book-upper shelf": 0.6333967240549865, "book-lower shelf": 0.4381424097500358 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.865484758570665e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.14989972114562988, "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": 0.000694355401859803, "book-upper shelf": 0.6332681129112105, "book-lower shelf": 0.43804445749109466 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0476543531660826e-06, "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, "task_success": 0.0 }, { "completion_time": 0.18164849281311035, "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": 0.0006967644721536104, "book-upper shelf": 0.6332609705346399, "book-lower shelf": 0.43803548607125337 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00017675039728244982, "bimanual_gripper_vertical_difference": 2.2006893640735827e-09, "task_success": 0.0 }, { "completion_time": 0.21480917930603027, "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": 0.0006728776198421382, "book-upper shelf": 0.6332807264092927, "book-lower shelf": 0.43805061992456196 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00019642507390926883, "bimanual_gripper_vertical_difference": 2.7687085587165447e-09, "task_success": 0.0 }, { "completion_time": 0.24975156784057617, "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": 0.000595789124265278, "book-upper shelf": 0.6333433439009121, "book-lower shelf": 0.438097815800127 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00018898803668993797, "bimanual_gripper_vertical_difference": 3.305395037043825e-09, "task_success": 0.0 }, { "completion_time": 0.2864987850189209, "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": 0.0006921818947790426, "book-upper shelf": 0.6332585119297246, "book-lower shelf": 0.43802935574734186 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0004034313183366125, "bimanual_gripper_vertical_difference": 4.199730702092452e-09, "task_success": 0.0 }, { "completion_time": 0.3233160972595215, "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": 0.0005567518883624611, "book-upper shelf": 0.6333785988742422, "book-lower shelf": 0.4381268430150972 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007208841171722945, "bimanual_gripper_vertical_difference": 4.43590364440638e-09, "task_success": 0.0 }, { "completion_time": 0.35971546173095703, "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": 0.0004544567043054393, "book-upper shelf": 0.6334887642983009, "book-lower shelf": 0.43822861646336353 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007375405513244855, "bimanual_gripper_vertical_difference": 5.0077968882789035e-09, "task_success": 0.0 }, { "completion_time": 0.3941164016723633, "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": 0.0005145305451930149, "book-upper shelf": 0.6334240362234894, "book-lower shelf": 0.43816880174624295 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0362595071129141, "bimanual_gripper_vertical_difference": 3.059788407063073e-05, "task_success": 0.0 }, { "completion_time": 0.4284861087799072, "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": 0.00044236075201276037, "book-upper shelf": 0.6335073434340788, "book-lower shelf": 0.43824867749762436 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.12349004624306714, "bimanual_gripper_vertical_difference": 0.00017662905421787314, "task_success": 0.0 }, { "completion_time": 0.4600839614868164, "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": 0.0005159090436742675, "book-upper shelf": 0.6334314795180451, "book-lower shelf": 0.43818033644160376 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2629731633725043, "bimanual_gripper_vertical_difference": 0.0007646820676616364, "task_success": 0.0 }, { "completion_time": 0.49074673652648926, "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": 0.00044323332860329856, "book-upper shelf": 0.6335146850033142, "book-lower shelf": 0.43825978022025064 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.41277062055011066, "bimanual_gripper_vertical_difference": 0.0009446083506345586, "task_success": 0.0 }, { "completion_time": 0.5224671363830566, "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": 0.0005160694971153568, "book-upper shelf": 0.6334394287255745, "book-lower shelf": 0.4381919178614964 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.548859401340152, "bimanual_gripper_vertical_difference": 0.0021195246882042885, "task_success": 0.0 }, { "completion_time": 0.5541014671325684, "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": 0.0004434082920250493, "book-upper shelf": 0.6335226049362035, "book-lower shelf": 0.4382713268852342 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6823544559917594, "bimanual_gripper_vertical_difference": 0.00572770338046151, "task_success": 0.0 }, { "completion_time": 0.5861725807189941, "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": 0.0005162458447741658, "book-upper shelf": 0.6334473902164472, "book-lower shelf": 0.4382035258066584 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.815827639330918, "bimanual_gripper_vertical_difference": 0.012451069104129395, "task_success": 0.0 }, { "completion_time": 0.6193575859069824, "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": 0.0004435994808097421, "book-upper shelf": 0.6335305258459644, "book-lower shelf": 0.43828288391650844 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9534477856886175, "bimanual_gripper_vertical_difference": 0.022144267002874956, "task_success": 0.0 }, { "completion_time": 0.6534419059753418, "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": 0.0005164198509048923, "book-upper shelf": 0.6334553671106675, "book-lower shelf": 0.4382151545393976 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0830963407147018, "bimanual_gripper_vertical_difference": 0.033964330781323666, "task_success": 0.0 }, { "completion_time": 0.6865432262420654, "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": 0.0004437883679961896, "book-upper shelf": 0.6335384625671416, "book-lower shelf": 0.4382944623480199 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2053573251319576, "bimanual_gripper_vertical_difference": 0.04598010331500978, "task_success": 0.0 }, { "completion_time": 0.7226717472076416, "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": 0.0005165920541022606, "book-upper shelf": 0.6334633590660417, "book-lower shelf": 0.438226803866873 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2277534143789142, "bimanual_gripper_vertical_difference": 0.056894904706530275, "task_success": 0.0 }, { "completion_time": 0.7540121078491211, "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": 0.0004439754721752287, "book-upper shelf": 0.6335464144546472, "book-lower shelf": 0.4383060615378193 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2104873562874183, "bimanual_gripper_vertical_difference": 0.06673992206473091, "task_success": 0.0 }, { "completion_time": 0.784980297088623, "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": 0.0005167624685776806, "book-upper shelf": 0.6334713658520398, "book-lower shelf": 0.4382384734630211 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2440284292037795, "bimanual_gripper_vertical_difference": 0.07558965679798559, "task_success": 0.0 }, { "completion_time": 0.8162875175476074, "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": 0.0004441608022643928, "book-upper shelf": 0.6335543813088407, "book-lower shelf": 0.438317681201529 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3107282380025085, "bimanual_gripper_vertical_difference": 0.08330282747906624, "task_success": 0.0 }, { "completion_time": 0.8474760055541992, "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": 0.0005169311081603123, "book-upper shelf": 0.6334793872591387, "book-lower shelf": 0.43825016303194475 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3492786000256622, "bimanual_gripper_vertical_difference": 0.08966908533962079, "task_success": 0.0 }, { "completion_time": 0.8803000450134277, "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": 0.0004443443750968834, "book-upper shelf": 0.633562362897996, "book-lower shelf": 0.4383293210128548 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.370211479879443, "bimanual_gripper_vertical_difference": 0.09471703300775275, "task_success": 0.0 }, { "completion_time": 0.9154107570648193, "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": 0.0005170979948405652, "book-upper shelf": 0.633487423056706, "book-lower shelf": 0.4382618722518352 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3889324285586235, "bimanual_gripper_vertical_difference": 0.09853752930655985, "task_success": 0.0 }, { "completion_time": 0.9496800899505615, "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": 0.0004445262105904346, "book-upper shelf": 0.6335703589990324, "book-lower shelf": 0.43834098065974814 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4118453078792912, "bimanual_gripper_vertical_difference": 0.10114956958118573, "task_success": 0.0 }, { "completion_time": 0.9861612319946289, "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": 0.0005172631489093193, "book-upper shelf": 0.6334954730249637, "book-lower shelf": 0.43827360081563366 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.399032495419086, "bimanual_gripper_vertical_difference": 0.10328280465086119, "task_success": 0.0 }, { "completion_time": 1.019113540649414, "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": 0.0004447063277051022, "book-upper shelf": 0.6335783693925523, "book-lower shelf": 0.43835265983496136 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3736298668370246, "bimanual_gripper_vertical_difference": 0.10583184404056475, "task_success": 0.0 }, { "completion_time": 1.0503950119018555, "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": 0.000517426590080583, "book-upper shelf": 0.6335035369469814, "book-lower shelf": 0.43828534842008915 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.367347638917795, "bimanual_gripper_vertical_difference": 0.10937719757933448, "task_success": 0.0 }, { "completion_time": 1.0817320346832275, "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": 0.0004448847450668758, "book-upper shelf": 0.6335863938619005, "book-lower shelf": 0.4383643582350381 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3492892798027545, "bimanual_gripper_vertical_difference": 0.11349984318209277, "task_success": 0.0 }, { "completion_time": 1.116758108139038, "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": 0.0005175883378210067, "book-upper shelf": 0.6335116146084715, "book-lower shelf": 0.4382971147656468 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.339614579103101, "bimanual_gripper_vertical_difference": 0.11759200173255448, "task_success": 0.0 }, { "completion_time": 1.1482315063476562, "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": 0.0004450614810764808, "book-upper shelf": 0.6335944321930447, "book-lower shelf": 0.43837607556020197 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3368984503335093, "bimanual_gripper_vertical_difference": 0.12149615032681993, "task_success": 0.0 }, { "completion_time": 1.179290771484375, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00044921527979835396, "book-upper shelf": 0.634238308920813, "book-lower shelf": 0.4393084988461363 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3332398335497295, "bimanual_gripper_vertical_difference": 0.12512956991991792, "task_success": 0.0 }, { "completion_time": 1.2112667560577393, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.00018454548099078316, "book-upper shelf": 0.6351333597874925, "book-lower shelf": 0.4402454018893738 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3263019198196604, "bimanual_gripper_vertical_difference": 0.1285417946774075, "task_success": 0.0 }, { "completion_time": 1.2421975135803223, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007359052470522487, "book-upper shelf": 0.6346615332756621, "book-lower shelf": 0.44007972794662265 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3141620902177131, "bimanual_gripper_vertical_difference": 0.13171032896036355, "task_success": 0.0 }, { "completion_time": 1.2727735042572021, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004464478765727753, "book-upper shelf": 0.6350555382537058, "book-lower shelf": 0.44048597992978367 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2983623745624402, "bimanual_gripper_vertical_difference": 0.1347034150644605, "task_success": 0.0 }, { "completion_time": 1.304048776626587, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.00059795635801696, "book-upper shelf": 0.636014799825177, "book-lower shelf": 0.4412854751524563 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2656573671857647, "bimanual_gripper_vertical_difference": 0.13757017689436665, "task_success": 0.0 }, { "completion_time": 1.3351576328277588, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00016024115058566046, "book-upper shelf": 0.6347386884473009, "book-lower shelf": 0.43986886904839334 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.262054675541171, "bimanual_gripper_vertical_difference": 0.14030916931629245, "task_success": 0.0 }, { "completion_time": 1.368177890777588, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003245976976282705, "book-upper shelf": 0.6330506129956417, "book-lower shelf": 0.4375219255553643 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.277161633927526, "bimanual_gripper_vertical_difference": 0.14294142736250334, "task_success": 0.0 }, { "completion_time": 1.3995296955108643, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0022763164512920042, "book-upper shelf": 0.627823937301269, "book-lower shelf": 0.4310410385032866 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2964201470325265, "bimanual_gripper_vertical_difference": 0.14544355279725035, "task_success": 0.0 }, { "completion_time": 1.4308397769927979, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010445877742278897, "book-upper shelf": 0.6256760743044639, "book-lower shelf": 0.4271972211952679 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.305731911248032, "bimanual_gripper_vertical_difference": 0.1478200364367733, "task_success": 0.0 }, { "completion_time": 1.461859941482544, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00031938975156331484, "book-upper shelf": 0.6245160947451858, "book-lower shelf": 0.42507663387942196 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3020353308240515, "bimanual_gripper_vertical_difference": 0.15012487111997683, "task_success": 0.0 }, { "completion_time": 1.4935684204101562, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0019970937165054714, "book-upper shelf": 0.6207960958006565, "book-lower shelf": 0.4205755222922942 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2923293954929405, "bimanual_gripper_vertical_difference": 0.15234086588070803, "task_success": 0.0 }, { "completion_time": 1.5244758129119873, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007257072046256141, "book-upper shelf": 0.6210579497127998, "book-lower shelf": 0.42021763409600554 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2784052146212312, "bimanual_gripper_vertical_difference": 0.15445185947905588, "task_success": 0.0 }, { "completion_time": 1.555922508239746, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 8.498705097748083e-05, "book-upper shelf": 0.6214465775898974, "book-lower shelf": 0.420416709067377 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2628206014680528, "bimanual_gripper_vertical_difference": 0.15643397985252327, "task_success": 0.0 }, { "completion_time": 1.587662935256958, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006879690243427605, "book-upper shelf": 0.6208657201077415, "book-lower shelf": 0.4199113493844209 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2493835771439268, "bimanual_gripper_vertical_difference": 0.15826185540088242, "task_success": 0.0 }, { "completion_time": 1.6205191612243652, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007355209233742555, "book-upper shelf": 0.6208200083563893, "book-lower shelf": 0.4198716454408319 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.234306973707942, "bimanual_gripper_vertical_difference": 0.15993400404335048, "task_success": 0.0 }, { "completion_time": 1.6554105281829834, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005350503747031388, "book-upper shelf": 0.6210014960407216, "book-lower shelf": 0.4200224425348188 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2193790366514003, "bimanual_gripper_vertical_difference": 0.16147151260071652, "task_success": 0.0 }, { "completion_time": 1.6891112327575684, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0001682075879121392, "book-upper shelf": 0.6213329684509841, "book-lower shelf": 0.4202975137950221 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.201713751654698, "bimanual_gripper_vertical_difference": 0.16287958027481558, "task_success": 0.0 }, { "completion_time": 1.723261833190918, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00015384353093417236, "book-upper shelf": 0.6213550833084877, "book-lower shelf": 0.42032179147841076 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1812356756957387, "bimanual_gripper_vertical_difference": 0.16421459361629248, "task_success": 0.0 }, { "completion_time": 1.7561407089233398, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00015544527417754583, "book-upper shelf": 0.6213629872275975, "book-lower shelf": 0.4203344139053865 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1764758744338022, "bimanual_gripper_vertical_difference": 0.1655360022460034, "task_success": 0.0 }, { "completion_time": 1.7877471446990967, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0001556858016473761, "book-upper shelf": 0.6213720979674245, "book-lower shelf": 0.42034802271091054 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1888359962655473, "bimanual_gripper_vertical_difference": 0.16687321576844394, "task_success": 0.0 }, { "completion_time": 1.819706916809082, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0001557977709375491, "book-upper shelf": 0.6213813059634328, "book-lower shelf": 0.42036169973563436 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.213361455881142, "bimanual_gripper_vertical_difference": 0.16822438187481584, "task_success": 0.0 }, { "completion_time": 1.8514721393585205, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0001559130401780351, "book-upper shelf": 0.621390493511606, "book-lower shelf": 0.42037534822435174 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2339810162037772, "bimanual_gripper_vertical_difference": 0.16955288534249738, "task_success": 0.0 }, { "completion_time": 1.8827579021453857, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00015602895337052392, "book-upper shelf": 0.6213996630447329, "book-lower shelf": 0.4203889702188996 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2415071818105863, "bimanual_gripper_vertical_difference": 0.1708294210651806, "task_success": 0.0 }, { "completion_time": 1.9145703315734863, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00015614471475500213, "book-upper shelf": 0.6214088152880759, "book-lower shelf": 0.4204025663266376 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.239305959223489, "bimanual_gripper_vertical_difference": 0.17209966437011706, "task_success": 0.0 }, { "completion_time": 1.9464092254638672, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00015626031427995457, "book-upper shelf": 0.6214179502638519, "book-lower shelf": 0.4204161365759001 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.246466042959759, "bimanual_gripper_vertical_difference": 0.1734071006932674, "task_success": 0.0 }, { "completion_time": 1.9781510829925537, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00015637575594495967, "book-upper shelf": 0.6214270679819799, "book-lower shelf": 0.42042968098506905 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.269509375469578, "bimanual_gripper_vertical_difference": 0.17477314269014746, "task_success": 0.0 }, { "completion_time": 2.0132813453674316, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00015649103993842228, "book-upper shelf": 0.6214361684558437, "book-lower shelf": 0.4204431995754109 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3048730850372021, "bimanual_gripper_vertical_difference": 0.17623458368779887, "task_success": 0.0 }, { "completion_time": 2.044633150100708, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0053564275857451715, "book-upper shelf": 0.6193677148037968, "book-lower shelf": 0.4204362585356288 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3272167416493839, "bimanual_gripper_vertical_difference": 0.1776477745425663, "task_success": 0.0 }, { "completion_time": 2.0774099826812744, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0011109370658082263, "book-upper shelf": 0.6280807494119449, "book-lower shelf": 0.4307493671850798 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3452251207406658, "bimanual_gripper_vertical_difference": 0.17901139131808225, "task_success": 0.0 }, { "completion_time": 2.1105449199676514, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.001020376846897042, "book-upper shelf": 0.6300834353172324, "book-lower shelf": 0.4336128787639295 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3603952609060381, "bimanual_gripper_vertical_difference": 0.180281846723246, "task_success": 0.0 }, { "completion_time": 2.145155906677246, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008779867417394449, "book-upper shelf": 0.6331076659181086, "book-lower shelf": 0.437915733681642 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3618148204745204, "bimanual_gripper_vertical_difference": 0.18149160469625744, "task_success": 0.0 }, { "completion_time": 2.176539182662964, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007589069945797, "book-upper shelf": 0.6356597069957068, "book-lower shelf": 0.4415308544577271 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3561733577053334, "bimanual_gripper_vertical_difference": 0.1826528412658255, "task_success": 0.0 }, { "completion_time": 2.2085659503936768, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007606076020387764, "book-upper shelf": 0.6364608418695972, "book-lower shelf": 0.4426843943915353 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3498793281531765, "bimanual_gripper_vertical_difference": 0.18377914625414368, "task_success": 0.0 }, { "completion_time": 2.2401580810546875, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004443265022999743, "book-upper shelf": 0.6370449805531251, "book-lower shelf": 0.4433481977240588 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3499807143169473, "bimanual_gripper_vertical_difference": 0.18488040878585887, "task_success": 0.0 }, { "completion_time": 2.2731411457061768, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003652170286222445, "book-upper shelf": 0.6371004169491757, "book-lower shelf": 0.4433839205404624 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3607621700358523, "bimanual_gripper_vertical_difference": 0.18592958950567606, "task_success": 0.0 }, { "completion_time": 2.3057963848114014, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006558481827031448, "book-upper shelf": 0.6368528463989365, "book-lower shelf": 0.4431896084013471 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3807183430974654, "bimanual_gripper_vertical_difference": 0.18687823237431367, "task_success": 0.0 }, { "completion_time": 2.338247537612915, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006848065117855962, "book-upper shelf": 0.6368372855101276, "book-lower shelf": 0.44318333652512637 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4050473292236716, "bimanual_gripper_vertical_difference": 0.18768750111924554, "task_success": 0.0 }, { "completion_time": 2.3715102672576904, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006634911169255409, "book-upper shelf": 0.6368398479183157, "book-lower shelf": 0.4431751760738462 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4259074670803995, "bimanual_gripper_vertical_difference": 0.18833450216891673, "task_success": 0.0 }, { "completion_time": 2.4039130210876465, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000685721455362498, "book-upper shelf": 0.6368244032093573, "book-lower shelf": 0.44316533330637803 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4339203385467942, "bimanual_gripper_vertical_difference": 0.18890053026697703, "task_success": 0.0 }, { "completion_time": 2.4364166259765625, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 5.792097941903496e-05, "book-upper shelf": 0.6373637021814251, "book-lower shelf": 0.44359161470473213 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4388654612241547, "bimanual_gripper_vertical_difference": 0.18934298535593425, "task_success": 0.0 }, { "completion_time": 2.469144582748413, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006332892221874165, "book-upper shelf": 0.6368501536362726, "book-lower shelf": 0.44317320547950084 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.448128542729855, "bimanual_gripper_vertical_difference": 0.1895993353816957, "task_success": 0.0 }, { "completion_time": 2.5015931129455566, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00017476483217337968, "book-upper shelf": 0.6372207421339731, "book-lower shelf": 0.4434510635220821 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.461929353257273, "bimanual_gripper_vertical_difference": 0.18965529154001973, "task_success": 0.0 }, { "completion_time": 2.533693552017212, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004907087999225235, "book-upper shelf": 0.6369300963561839, "book-lower shelf": 0.44320887376489704 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4767404887123072, "bimanual_gripper_vertical_difference": 0.18953670485552004, "task_success": 0.0 }, { "completion_time": 2.567385196685791, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006591410904664974, "book-upper shelf": 0.6367935224074351, "book-lower shelf": 0.4431061868232094 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.491716293019906, "bimanual_gripper_vertical_difference": 0.18930304922528848, "task_success": 0.0 }, { "completion_time": 2.600518226623535, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006401895595604667, "book-upper shelf": 0.6368141918546586, "book-lower shelf": 0.4431253602391375 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5035672994780014, "bimanual_gripper_vertical_difference": 0.18907608107241533, "task_success": 0.0 }, { "completion_time": 2.6339871883392334, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006888778016860275, "book-upper shelf": 0.6367552160774292, "book-lower shelf": 0.4430676603704631 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5128648147787764, "bimanual_gripper_vertical_difference": 0.18898933566604043, "task_success": 0.0 }, { "completion_time": 2.668241262435913, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005394497734879655, "book-upper shelf": 0.636896690824375, "book-lower shelf": 0.4431879459270826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5214065729111956, "bimanual_gripper_vertical_difference": 0.1891045035022103, "task_success": 0.0 }, { "completion_time": 2.6998229026794434, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00020107992054241297, "book-upper shelf": 0.6371468089980958, "book-lower shelf": 0.44335943275720147 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5285713975767505, "bimanual_gripper_vertical_difference": 0.18937554346478727, "task_success": 0.0 }, { "completion_time": 2.7312746047973633, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00017293122499062452, "book-upper shelf": 0.6371201658396467, "book-lower shelf": 0.4433055089808585 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5343926806055714, "bimanual_gripper_vertical_difference": 0.18972473494847322, "task_success": 0.0 }, { "completion_time": 2.7634615898132324, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00020797250115811572, "book-upper shelf": 0.637074662858706, "book-lower shelf": 0.4432595748612562 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5421530073520873, "bimanual_gripper_vertical_difference": 0.190166866987767, "task_success": 0.0 }, { "completion_time": 2.7960336208343506, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00023616461699926816, "book-upper shelf": 0.6370015685146619, "book-lower shelf": 0.44317017741179404 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5537784008966826, "bimanual_gripper_vertical_difference": 0.19070233988235402, "task_success": 0.0 }, { "completion_time": 2.827298879623413, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0002281411804091471, "book-upper shelf": 0.6369431877551832, "book-lower shelf": 0.4430817996075403 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.567252185352292, "bimanual_gripper_vertical_difference": 0.19132095512243766, "task_success": 0.0 }, { "completion_time": 2.8592586517333984, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00020993378690215003, "book-upper shelf": 0.6369330510973866, "book-lower shelf": 0.44305710925910696 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5820666945694029, "bimanual_gripper_vertical_difference": 0.19201704700763794, "task_success": 0.0 }, { "completion_time": 2.891817331314087, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0002004688780158359, "book-upper shelf": 0.6369334945010016, "book-lower shelf": 0.4430524866285002 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.597690437780633, "bimanual_gripper_vertical_difference": 0.19279382807068848, "task_success": 0.0 }, { "completion_time": 2.923776149749756, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00020164549581425106, "book-upper shelf": 0.6368766446091979, "book-lower shelf": 0.4429714091953837 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6136413006625028, "bimanual_gripper_vertical_difference": 0.19364494628444054, "task_success": 0.0 }, { "completion_time": 2.956092119216919, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00017578248815230957, "book-upper shelf": 0.6368476228678447, "book-lower shelf": 0.44291530503043636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6306761236115215, "bimanual_gripper_vertical_difference": 0.19455222299136238, "task_success": 0.0 }, { "completion_time": 2.9877712726593018, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00020992236067318704, "book-upper shelf": 0.6368022048991149, "book-lower shelf": 0.4428689795214134 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6474187619893206, "bimanual_gripper_vertical_difference": 0.19549565203957464, "task_success": 0.0 }, { "completion_time": 3.0208868980407715, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00023841206413843796, "book-upper shelf": 0.6367276132571805, "book-lower shelf": 0.4427775605160996 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6641202305942682, "bimanual_gripper_vertical_difference": 0.19646159089048404, "task_success": 0.0 }, { "completion_time": 3.0537657737731934, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00023069306815992618, "book-upper shelf": 0.6366679489851507, "book-lower shelf": 0.4426874638588721 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.680840681172079, "bimanual_gripper_vertical_difference": 0.19744463616440522, "task_success": 0.0 }, { "completion_time": 3.0864481925964355, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00021331708543892436, "book-upper shelf": 0.6366568876414537, "book-lower shelf": 0.4426618903536573 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6863255139268127, "bimanual_gripper_vertical_difference": 0.19844555382871448, "task_success": 0.0 }, { "completion_time": 3.118955612182617, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0002034270900492796, "book-upper shelf": 0.6366568379949102, "book-lower shelf": 0.4426563177315216 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6858740274209263, "bimanual_gripper_vertical_difference": 0.19948061557778946, "task_success": 0.0 }, { "completion_time": 3.1505930423736572, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.001862625094449566, "book-upper shelf": 0.6354970240285938, "book-lower shelf": 0.439831475016579 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6844670313438754, "bimanual_gripper_vertical_difference": 0.20051969637520764, "task_success": 0.0 }, { "completion_time": 3.1847386360168457, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0014300514234814043, "book-upper shelf": 0.6325548452092447, "book-lower shelf": 0.4358140795884468 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6809895916070559, "bimanual_gripper_vertical_difference": 0.20152669798960007, "task_success": 0.0 }, { "completion_time": 3.216615676879883, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0016237444656158617, "book-upper shelf": 0.630581402032889, "book-lower shelf": 0.4328346107016168 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6731099478183626, "bimanual_gripper_vertical_difference": 0.20245510975412012, "task_success": 0.0 }, { "completion_time": 3.2486748695373535, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0024888663545001855, "book-upper shelf": 0.6318710143259884, "book-lower shelf": 0.4342209634548043 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6667282840589746, "bimanual_gripper_vertical_difference": 0.20333332147314268, "task_success": 0.0 }, { "completion_time": 3.281357526779175, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0001668803225619575, "book-upper shelf": 0.629749325723135, "book-lower shelf": 0.4324517795382267 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.65344303635902, "bimanual_gripper_vertical_difference": 0.20416596503151363, "task_success": 0.0 }, { "completion_time": 3.3156180381774902, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0038306358040350874, "book-upper shelf": 0.6279082907042393, "book-lower shelf": 0.4320506066702409 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6455674505541897, "bimanual_gripper_vertical_difference": 0.2049455559878073, "task_success": 0.0 }, { "completion_time": 3.347351312637329, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00918205911069303, "book-upper shelf": 0.6269395214865867, "book-lower shelf": 0.4336904163018518 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6403692175657605, "bimanual_gripper_vertical_difference": 0.2056586323011677, "task_success": 0.0 }, { "completion_time": 3.3785624504089355, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.01852745168085046, "book-upper shelf": 0.6213678069411984, "book-lower shelf": 0.43096902864780984 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6395453124471622, "bimanual_gripper_vertical_difference": 0.20625359552664696, "task_success": 0.0 }, { "completion_time": 3.409895181655884, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03788717758494753, "book-upper shelf": 0.6047108581538806, "book-lower shelf": 0.41814503598541286 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6406479383884875, "bimanual_gripper_vertical_difference": 0.2066501528457392, "task_success": 0.0 }, { "completion_time": 3.441041946411133, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.07078485265255108, "book-upper shelf": 0.5752581555306289, "book-lower shelf": 0.39533840529846537 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6445991146062642, "bimanual_gripper_vertical_difference": 0.20676257177136437, "task_success": 0.0 }, { "completion_time": 3.472816228866577, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.10115110006706474, "book-upper shelf": 0.5470448943297378, "book-lower shelf": 0.3736073930159737 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6406223541370892, "bimanual_gripper_vertical_difference": 0.2066340106186524, "task_success": 0.0 }, { "completion_time": 3.506821632385254, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.11447261035825917, "book-upper shelf": 0.5339832164816382, "book-lower shelf": 0.3633491721687112 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6331885944469315, "bimanual_gripper_vertical_difference": 0.20639358211326533, "task_success": 0.0 }, { "completion_time": 3.5378262996673584, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.12497223229411503, "book-upper shelf": 0.5255165463822264, "book-lower shelf": 0.35808200843299975 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6248383656162584, "bimanual_gripper_vertical_difference": 0.20606753419125207, "task_success": 0.0 }, { "completion_time": 3.569531202316284, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.1389926670183309, "book-upper shelf": 0.5163234374530813, "book-lower shelf": 0.354329422104867 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6188431122229352, "bimanual_gripper_vertical_difference": 0.2056418411809968, "task_success": 0.0 }, { "completion_time": 3.6000711917877197, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.15805352916320248, "book-upper shelf": 0.5050592824520247, "book-lower shelf": 0.35132726571984946 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6161684638778997, "bimanual_gripper_vertical_difference": 0.20509361769021184, "task_success": 0.0 }, { "completion_time": 3.630897283554077, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.18089116246089743, "book-upper shelf": 0.49276518316466517, "book-lower shelf": 0.34987124357090565 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6165620860544523, "bimanual_gripper_vertical_difference": 0.20440944347595583, "task_success": 0.0 }, { "completion_time": 3.661332845687866, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.20610326075619356, "book-upper shelf": 0.4806287388973304, "book-lower shelf": 0.35073072829344426 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6188946494351324, "bimanual_gripper_vertical_difference": 0.2035822517475117, "task_success": 0.0 }, { "completion_time": 3.691262722015381, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.23161567715555564, "book-upper shelf": 0.4702115431441784, "book-lower shelf": 0.35450041445379216 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6212992542219102, "bimanual_gripper_vertical_difference": 0.20261843550852063, "task_success": 0.0 }, { "completion_time": 3.7218666076660156, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2549997118029187, "book-upper shelf": 0.4627494144586904, "book-lower shelf": 0.36086581572528403 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.62339221236477, "bimanual_gripper_vertical_difference": 0.20153262639900968, "task_success": 0.0 }, { "completion_time": 3.752591371536255, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2751671941977495, "book-upper shelf": 0.45846755362426606, "book-lower shelf": 0.3690678674521635 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6244915065069534, "bimanual_gripper_vertical_difference": 0.20033840070612338, "task_success": 0.0 }, { "completion_time": 3.782755136489868, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.29116532654501415, "book-upper shelf": 0.452106496344514, "book-lower shelf": 0.3718832576931672 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6208439205767564, "bimanual_gripper_vertical_difference": 0.19905156835489268, "task_success": 0.0 }, { "completion_time": 3.812946319580078, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.30430710825663054, "book-upper shelf": 0.4414453654778423, "book-lower shelf": 0.36775338802828483 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6152922414644384, "bimanual_gripper_vertical_difference": 0.19768305708787318, "task_success": 0.0 }, { "completion_time": 3.8435609340667725, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.31753775122633054, "book-upper shelf": 0.43411442547649065, "book-lower shelf": 0.3678849116591866 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.608463836022632, "bimanual_gripper_vertical_difference": 0.19623100203626492, "task_success": 0.0 }, { "completion_time": 3.8737633228302, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.33279527711971235, "book-upper shelf": 0.42490953775543494, "book-lower shelf": 0.36734950347588113 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.602099537100788, "bimanual_gripper_vertical_difference": 0.19467756195820568, "task_success": 0.0 }, { "completion_time": 3.9042201042175293, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3466621739244772, "book-upper shelf": 0.4113965716722637, "book-lower shelf": 0.3612110670062146 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5973738757971254, "bimanual_gripper_vertical_difference": 0.19307656417538008, "task_success": 0.0 }, { "completion_time": 3.935645580291748, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3599618942139128, "book-upper shelf": 0.3975593633208078, "book-lower shelf": 0.3547241045508951 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5916916975296969, "bimanual_gripper_vertical_difference": 0.19160727826384838, "task_success": 0.0 }, { "completion_time": 3.965909957885742, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3726215115436432, "book-upper shelf": 0.3843204553637074, "book-lower shelf": 0.34887273315049094 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5858649423744569, "bimanual_gripper_vertical_difference": 0.1902547554487014, "task_success": 0.0 }, { "completion_time": 3.9971535205841064, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3839508253451115, "book-upper shelf": 0.3704405990590637, "book-lower shelf": 0.34178257639138354 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5806840776309234, "bimanual_gripper_vertical_difference": 0.18900292885475362, "task_success": 0.0 }, { "completion_time": 4.027767658233643, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3946859072191019, "book-upper shelf": 0.35828556811375223, "book-lower shelf": 0.3365176540222658 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5747933484168988, "bimanual_gripper_vertical_difference": 0.18784493593635487, "task_success": 0.0 }, { "completion_time": 4.058446168899536, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.40491153122493173, "book-upper shelf": 0.3472491107416323, "book-lower shelf": 0.3324050790690151 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.568108375635651, "bimanual_gripper_vertical_difference": 0.18677545003486812, "task_success": 0.0 }, { "completion_time": 4.089898109436035, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4144220985953465, "book-upper shelf": 0.33672405960787266, "book-lower shelf": 0.32859970007519296 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5611664662242541, "bimanual_gripper_vertical_difference": 0.1857855357123879, "task_success": 0.0 }, { "completion_time": 4.12056827545166, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4230125634200096, "book-upper shelf": 0.3265909126024717, "book-lower shelf": 0.3247871135964145 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5546013775264982, "bimanual_gripper_vertical_difference": 0.18486619033606785, "task_success": 0.0 }, { "completion_time": 4.151402473449707, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.42968505894064746, "book-upper shelf": 0.3171129277118199, "book-lower shelf": 0.32042397584643834 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5488022077347563, "bimanual_gripper_vertical_difference": 0.1840077245061303, "task_success": 0.0 }, { "completion_time": 4.182347059249878, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4331543336325484, "book-upper shelf": 0.307764526299882, "book-lower shelf": 0.3139082084653475 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.543729301303266, "bimanual_gripper_vertical_difference": 0.18319729288340866, "task_success": 0.0 }, { "completion_time": 4.2156548500061035, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4331695054939272, "book-upper shelf": 0.29823782324327397, "book-lower shelf": 0.30458599818333454 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5410178641726138, "bimanual_gripper_vertical_difference": 0.18242015379856252, "task_success": 0.0 }, { "completion_time": 4.246612548828125, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43062052372847337, "book-upper shelf": 0.2886865293447846, "book-lower shelf": 0.2931066311670694 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5403850034835522, "bimanual_gripper_vertical_difference": 0.1816650149506571, "task_success": 0.0 }, { "completion_time": 4.277411460876465, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4265090162279307, "book-upper shelf": 0.2791849014105893, "book-lower shelf": 0.28016259978925595 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.541647659419087, "bimanual_gripper_vertical_difference": 0.18092745551971084, "task_success": 0.0 }, { "completion_time": 4.308274030685425, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.42134074151678924, "book-upper shelf": 0.27066024504240843, "book-lower shelf": 0.2669432983160729 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5433131626151226, "bimanual_gripper_vertical_difference": 0.18020539104905864, "task_success": 0.0 }, { "completion_time": 4.338895320892334, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.41478220548142, "book-upper shelf": 0.2637389449344617, "book-lower shelf": 0.253634059781959 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5443374615046308, "bimanual_gripper_vertical_difference": 0.1794921927893514, "task_success": 0.0 }, { "completion_time": 4.369133710861206, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4071644819057224, "book-upper shelf": 0.2577957295918491, "book-lower shelf": 0.2397484002782806 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.544869080254346, "bimanual_gripper_vertical_difference": 0.17878074797723859, "task_success": 0.0 }, { "completion_time": 4.399770498275757, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3986247918883684, "book-upper shelf": 0.25285559323186435, "book-lower shelf": 0.2252803540692482 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.544904011963247, "bimanual_gripper_vertical_difference": 0.17806079926849974, "task_success": 0.0 }, { "completion_time": 4.430386543273926, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38931089261189455, "book-upper shelf": 0.2495918922812829, "book-lower shelf": 0.2110089332361042 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.543700732428099, "bimanual_gripper_vertical_difference": 0.17730786446924102, "task_success": 0.0 }, { "completion_time": 4.461744070053101, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37908160669257873, "book-upper shelf": 0.24749504537580466, "book-lower shelf": 0.19607407492883439 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5423085235784078, "bimanual_gripper_vertical_difference": 0.17651818869666255, "task_success": 0.0 }, { "completion_time": 4.491936206817627, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.36817649926058615, "book-upper shelf": 0.24786074609718647, "book-lower shelf": 0.18236220739801232 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5404961774885986, "bimanual_gripper_vertical_difference": 0.1756990897685697, "task_success": 0.0 }, { "completion_time": 4.522818565368652, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3574102004695342, "book-upper shelf": 0.2504530091620798, "book-lower shelf": 0.17101424268823356 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5382120906656378, "bimanual_gripper_vertical_difference": 0.17484956028425513, "task_success": 0.0 }, { "completion_time": 4.553285121917725, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3501253717193019, "book-upper shelf": 0.25253206153495417, "book-lower shelf": 0.16341416584026006 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5347511461664556, "bimanual_gripper_vertical_difference": 0.1739866685853405, "task_success": 0.0 }, { "completion_time": 4.5844268798828125, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.34987718673246027, "book-upper shelf": 0.25010441598617955, "book-lower shelf": 0.15925372112913394 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5301472383425252, "bimanual_gripper_vertical_difference": 0.17314738950379385, "task_success": 0.0 }, { "completion_time": 4.615620851516724, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3496262948697385, "book-upper shelf": 0.24831624721627737, "book-lower shelf": 0.15603504648556743 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5250416478540165, "bimanual_gripper_vertical_difference": 0.17232245978918997, "task_success": 0.0 }, { "completion_time": 4.647169589996338, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3492193681824577, "book-upper shelf": 0.24658380465087104, "book-lower shelf": 0.15260785946205718 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5211397774118316, "bimanual_gripper_vertical_difference": 0.17150365232769163, "task_success": 0.0 }, { "completion_time": 4.6781394481658936, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3489237304097407, "book-upper shelf": 0.24434884034263038, "book-lower shelf": 0.1484801502203044 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.516737446202701, "bimanual_gripper_vertical_difference": 0.17069355160533992, "task_success": 0.0 }, { "completion_time": 4.707268953323364, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3490278371131915, "book-upper shelf": 0.24230403077756738, "book-lower shelf": 0.14526702967193705 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5119000430532654, "bimanual_gripper_vertical_difference": 0.16990083295683148, "task_success": 0.0 }, { "completion_time": 4.736118793487549, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.349275999621777, "book-upper shelf": 0.24047111553692097, "book-lower shelf": 0.14261778154666144 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5068392984653067, "bimanual_gripper_vertical_difference": 0.16912816707974576, "task_success": 0.0 }, { "completion_time": 4.763836145401001, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": true }, "target_distance": { "book lift distance": 0.344106279103075, "book-upper shelf": 0.24508505678717402, "book-lower shelf": 0.14154268049805271 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.5066198636650305, "bimanual_gripper_vertical_difference": 0.16828162586957987, "task_success": 1.0 } ]