[ { "completion_time": 0.051085710525512695, "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": -0.0007962523015861978, "book-upper shelf": 0.6294491969710051, "book-lower shelf": 0.43165574908036236 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.08456802368164062, "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": 0.0007006146530590396, "book-upper shelf": 0.6282261746103088, "book-lower shelf": 0.43072688880808196 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.018563459267291e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.11624383926391602, "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": 0.0007244264389020261, "book-upper shelf": 0.6282038164131988, "book-lower shelf": 0.43070789097346096 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.865484758570665e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.14817023277282715, "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": 0.0007310153793587126, "book-upper shelf": 0.6282091417583301, "book-lower shelf": 0.43071942480361475 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.04765435316695e-06, "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, "task_success": 0.0 }, { "completion_time": 0.17985272407531738, "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": 0.0007197092606844313, "book-upper shelf": 0.6282346790595862, "book-lower shelf": 0.430750207648693 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.04945080031919175, "bimanual_gripper_vertical_difference": 0.00024624370927197605, "task_success": 0.0 }, { "completion_time": 0.21190285682678223, "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": 0.000717430276863662, "book-upper shelf": 0.628239626692582, "book-lower shelf": 0.4307561208822759 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2086213176140246, "bimanual_gripper_vertical_difference": 0.0024997791157196727, "task_success": 0.0 }, { "completion_time": 0.24419426918029785, "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": 0.0006725962041798095, "book-upper shelf": 0.6282838074435269, "book-lower shelf": 0.43079492950521564 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.36950027378042744, "bimanual_gripper_vertical_difference": 0.005997420100584667, "task_success": 0.0 }, { "completion_time": 0.2765963077545166, "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": 0.00074408090956124, "book-upper shelf": 0.6282287777360215, "book-lower shelf": 0.4307555320717864 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5223826166112083, "bimanual_gripper_vertical_difference": 0.010191806731813885, "task_success": 0.0 }, { "completion_time": 0.30970263481140137, "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": 0.0007508964346906177, "book-upper shelf": 0.628234298021847, "book-lower shelf": 0.43076747875286203 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7032000326951784, "bimanual_gripper_vertical_difference": 0.014421980016258409, "task_success": 0.0 }, { "completion_time": 0.34333157539367676, "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": 0.0006730410879994819, "book-upper shelf": 0.6283040457243059, "book-lower shelf": 0.43082469932472095 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8973424744164827, "bimanual_gripper_vertical_difference": 0.019146062874752824, "task_success": 0.0 }, { "completion_time": 0.37561678886413574, "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": 0.0007107127397494306, "book-upper shelf": 0.6282801327398755, "book-lower shelf": 0.4308113557871963 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.089105814724069, "bimanual_gripper_vertical_difference": 0.02491804703086312, "task_success": 0.0 }, { "completion_time": 0.4073343276977539, "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": 0.0007345035867141192, "book-upper shelf": 0.6282731290635314, "book-lower shelf": 0.43081473928523856 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2677323179413593, "bimanual_gripper_vertical_difference": 0.034077215897662515, "task_success": 0.0 }, { "completion_time": 0.4388713836669922, "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": 0.000675451587693332, "book-upper shelf": 0.6283349753978755, "book-lower shelf": 0.43087118264456475 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4892367078416957, "bimanual_gripper_vertical_difference": 0.048238225263974734, "task_success": 0.0 }, { "completion_time": 0.4703507423400879, "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": 0.000566101263011487, "book-upper shelf": 0.6284480869385296, "book-lower shelf": 0.4309736455222178 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6651811414815143, "bimanual_gripper_vertical_difference": 0.06602769881254004, "task_success": 0.0 }, { "completion_time": 0.5023410320281982, "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": 0.00027958303517672256, "book-upper shelf": 0.6286761097744122, "book-lower shelf": 0.4311424825485562 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6737391907175927, "bimanual_gripper_vertical_difference": 0.08384703642900695, "task_success": 0.0 }, { "completion_time": 0.5338592529296875, "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": 0.0006883980173849613, "book-upper shelf": 0.6283595166075773, "book-lower shelf": 0.43091436771807934 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.706286323194616, "bimanual_gripper_vertical_difference": 0.09899335284053995, "task_success": 0.0 }, { "completion_time": 0.56508469581604, "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": 0.0007306766769216155, "book-upper shelf": 0.6283259283147945, "book-lower shelf": 0.4308895479273691 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7762728289409802, "bimanual_gripper_vertical_difference": 0.11176680491542074, "task_success": 0.0 }, { "completion_time": 0.5966978073120117, "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": 0.000473173167605645, "book-upper shelf": 0.6285580502579814, "book-lower shelf": 0.4310809033831717 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8140621857775991, "bimanual_gripper_vertical_difference": 0.12264275229414591, "task_success": 0.0 }, { "completion_time": 0.6276147365570068, "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": 0.000712447218881973, "book-upper shelf": 0.628359824899333, "book-lower shelf": 0.4309285587789859 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8081596055985576, "bimanual_gripper_vertical_difference": 0.13212769695684393, "task_success": 0.0 }, { "completion_time": 0.6583917140960693, "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": 0.0007423180018197861, "book-upper shelf": 0.6283423023535677, "book-lower shelf": 0.43092007613688565 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8054256627244851, "bimanual_gripper_vertical_difference": 0.14053071588440416, "task_success": 0.0 }, { "completion_time": 0.6923415660858154, "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": 0.000667801185945005, "book-upper shelf": 0.6284057031693517, "book-lower shelf": 0.4309699468184669 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.755570511057749, "bimanual_gripper_vertical_difference": 0.14789908753667944, "task_success": 0.0 }, { "completion_time": 0.7254073619842529, "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": 0.0007085799354574762, "book-upper shelf": 0.6283942756963892, "book-lower shelf": 0.4309765823198346 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7800293941631233, "bimanual_gripper_vertical_difference": 0.15486610186853528, "task_success": 0.0 }, { "completion_time": 0.7563848495483398, "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": 0.0007041129627103349, "book-upper shelf": 0.6284086148481235, "book-lower shelf": 0.43099493759754137 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7995808143958687, "bimanual_gripper_vertical_difference": 0.1614456563653619, "task_success": 0.0 }, { "completion_time": 0.7885503768920898, "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": 0.000703272235221597, "book-upper shelf": 0.6284061442363414, "book-lower shelf": 0.4309908550272338 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7683214879255968, "bimanual_gripper_vertical_difference": 0.16754964772040326, "task_success": 0.0 }, { "completion_time": 0.8212759494781494, "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": 0.0007156792171372217, "book-upper shelf": 0.6284068314642022, "book-lower shelf": 0.43099894507090014 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.719057843190506, "bimanual_gripper_vertical_difference": 0.17327238268672082, "task_success": 0.0 }, { "completion_time": 0.8529105186462402, "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": 0.0007162733698534707, "book-upper shelf": 0.6284186260825434, "book-lower shelf": 0.4310164811458219 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6990594127034222, "bimanual_gripper_vertical_difference": 0.1788506775017279, "task_success": 0.0 }, { "completion_time": 0.8853089809417725, "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": 0.0006835303062776577, "book-upper shelf": 0.6284512887904297, "book-lower shelf": 0.4310453983892958 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7104268996726446, "bimanual_gripper_vertical_difference": 0.18447058753100107, "task_success": 0.0 }, { "completion_time": 0.9164783954620361, "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": 0.0006458318830129262, "book-upper shelf": 0.6284830597429925, "book-lower shelf": 0.43107018556802895 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.690361690863238, "bimanual_gripper_vertical_difference": 0.1897338947506869, "task_success": 0.0 }, { "completion_time": 0.9481358528137207, "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": 0.0006775166285707401, "book-upper shelf": 0.6284792102420337, "book-lower shelf": 0.4310826711445325 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6709409822824597, "bimanual_gripper_vertical_difference": 0.19466466594806517, "task_success": 0.0 }, { "completion_time": 0.9781613349914551, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007462680563669055, "book-upper shelf": 0.6284729477727555, "book-lower shelf": 0.43111280934039864 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6443889947896366, "bimanual_gripper_vertical_difference": 0.19927416925038074, "task_success": 0.0 }, { "completion_time": 1.0079882144927979, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006897593044021821, "book-upper shelf": 0.6302156497415665, "book-lower shelf": 0.4336172802593766 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6173433038783114, "bimanual_gripper_vertical_difference": 0.20360272813687275, "task_success": 0.0 }, { "completion_time": 1.0414044857025146, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010394244594797986, "book-upper shelf": 0.6311658594175181, "book-lower shelf": 0.4351950312903698 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5931006866863844, "bimanual_gripper_vertical_difference": 0.2076694226616435, "task_success": 0.0 }, { "completion_time": 1.0713863372802734, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009615747127766916, "book-upper shelf": 0.6335934534358053, "book-lower shelf": 0.438664678649429 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5645002678307123, "bimanual_gripper_vertical_difference": 0.2114607956947836, "task_success": 0.0 }, { "completion_time": 1.1018767356872559, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.001325974865054702, "book-upper shelf": 0.6362231997737704, "book-lower shelf": 0.44265725436599845 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5352556414054226, "bimanual_gripper_vertical_difference": 0.2149945872909497, "task_success": 0.0 }, { "completion_time": 1.1324222087860107, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008659041128841194, "book-upper shelf": 0.6388326953323883, "book-lower shelf": 0.446145868182967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5044257062504793, "bimanual_gripper_vertical_difference": 0.21832562433641992, "task_success": 0.0 }, { "completion_time": 1.1636688709259033, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007819463604054055, "book-upper shelf": 0.6405768464316125, "book-lower shelf": 0.4485936627508763 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.471414570065394, "bimanual_gripper_vertical_difference": 0.22147816409313045, "task_success": 0.0 }, { "completion_time": 1.195662021636963, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008172407905766566, "book-upper shelf": 0.6413580568421804, "book-lower shelf": 0.4497278242386745 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4386797296417408, "bimanual_gripper_vertical_difference": 0.22445723417105676, "task_success": 0.0 }, { "completion_time": 1.2270331382751465, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007515555158114084, "book-upper shelf": 0.6420076919980952, "book-lower shelf": 0.4506178965479653 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4077221129506625, "bimanual_gripper_vertical_difference": 0.22727357901114473, "task_success": 0.0 }, { "completion_time": 1.2582507133483887, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007483187353055643, "book-upper shelf": 0.6430731798400579, "book-lower shelf": 0.45213287071572084 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3801463987816025, "bimanual_gripper_vertical_difference": 0.22993514244272803, "task_success": 0.0 }, { "completion_time": 1.290306568145752, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008206750227207626, "book-upper shelf": 0.6443038256054434, "book-lower shelf": 0.45392077469036357 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3540007987341662, "bimanual_gripper_vertical_difference": 0.2324615984965722, "task_success": 0.0 }, { "completion_time": 1.3232860565185547, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008376888651594472, "book-upper shelf": 0.6454086462061716, "book-lower shelf": 0.45549681565304356 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3263795943892616, "bimanual_gripper_vertical_difference": 0.2348663248177961, "task_success": 0.0 }, { "completion_time": 1.3545494079589844, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007618419649240149, "book-upper shelf": 0.6465993878249321, "book-lower shelf": 0.45714160388442265 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2995881019813247, "bimanual_gripper_vertical_difference": 0.23716428317797933, "task_success": 0.0 }, { "completion_time": 1.3856027126312256, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006761726886600483, "book-upper shelf": 0.6474507076607195, "book-lower shelf": 0.45829892939195677 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.274405885692694, "bimanual_gripper_vertical_difference": 0.23934659546869105, "task_success": 0.0 }, { "completion_time": 1.4165616035461426, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008415361338982574, "book-upper shelf": 0.6481646710111372, "book-lower shelf": 0.4593956506181151 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2496233064887163, "bimanual_gripper_vertical_difference": 0.24141423024950048, "task_success": 0.0 }, { "completion_time": 1.4473259449005127, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007541825762591436, "book-upper shelf": 0.6489788852676482, "book-lower shelf": 0.4604970133711461 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2285466495553645, "bimanual_gripper_vertical_difference": 0.24336289481237472, "task_success": 0.0 }, { "completion_time": 1.4794011116027832, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005451924322307233, "book-upper shelf": 0.6492448958241025, "book-lower shelf": 0.4607601581712207 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.212974327999879, "bimanual_gripper_vertical_difference": 0.24519195651847386, "task_success": 0.0 }, { "completion_time": 1.5108954906463623, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005093638831126235, "book-upper shelf": 0.6491895654394547, "book-lower shelf": 0.4606630403134317 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1993656465728209, "bimanual_gripper_vertical_difference": 0.246885305394321, "task_success": 0.0 }, { "completion_time": 1.5420432090759277, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006240173659266546, "book-upper shelf": 0.6491085796059305, "book-lower shelf": 0.46061019752156546 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1913417366505432, "bimanual_gripper_vertical_difference": 0.2484029230076866, "task_success": 0.0 }, { "completion_time": 1.5732817649841309, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005721817298371956, "book-upper shelf": 0.64917789551491, "book-lower shelf": 0.46068017051861637 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.188664381477851, "bimanual_gripper_vertical_difference": 0.24969201682402067, "task_success": 0.0 }, { "completion_time": 1.6041858196258545, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006292316770059037, "book-upper shelf": 0.6491179500739881, "book-lower shelf": 0.4606261899182117 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.190274800162923, "bimanual_gripper_vertical_difference": 0.2507552894054053, "task_success": 0.0 }, { "completion_time": 1.634793996810913, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005747438639671643, "book-upper shelf": 0.6491878744259418, "book-lower shelf": 0.460695601789854 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.200658515187718, "bimanual_gripper_vertical_difference": 0.25162647547229094, "task_success": 0.0 }, { "completion_time": 1.6656663417816162, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00044355181313104897, "book-upper shelf": 0.6492613134752301, "book-lower shelf": 0.4607289754911669 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2232465997632156, "bimanual_gripper_vertical_difference": 0.2523584456166836, "task_success": 0.0 }, { "completion_time": 1.697422981262207, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005066248464776768, "book-upper shelf": 0.6492306507987894, "book-lower shelf": 0.4607194742284921 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2505655248318246, "bimanual_gripper_vertical_difference": 0.25300874436881504, "task_success": 0.0 }, { "completion_time": 1.7280635833740234, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000529119388660737, "book-upper shelf": 0.6491543578725931, "book-lower shelf": 0.4606239830697155 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2769157931966828, "bimanual_gripper_vertical_difference": 0.2536480957360714, "task_success": 0.0 }, { "completion_time": 1.7594056129455566, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000686666049006246, "book-upper shelf": 0.6490305705384274, "book-lower shelf": 0.4605337542245676 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3033166231510516, "bimanual_gripper_vertical_difference": 0.2543548653439598, "task_success": 0.0 }, { "completion_time": 1.7899565696716309, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004919886561990383, "book-upper shelf": 0.6492399219189654, "book-lower shelf": 0.4607247167433248 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3268527051935508, "bimanual_gripper_vertical_difference": 0.255175796957471, "task_success": 0.0 }, { "completion_time": 1.8209960460662842, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005302822940020935, "book-upper shelf": 0.6491496516724247, "book-lower shelf": 0.4606179722646471 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3515308197367966, "bimanual_gripper_vertical_difference": 0.25610395679257436, "task_success": 0.0 }, { "completion_time": 1.851562738418579, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006830570776009681, "book-upper shelf": 0.6490453150748801, "book-lower shelf": 0.4605526040198054 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.380158771326553, "bimanual_gripper_vertical_difference": 0.2571069506388436, "task_success": 0.0 }, { "completion_time": 1.8821077346801758, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005722437025746929, "book-upper shelf": 0.6491853591078192, "book-lower shelf": 0.460690721072518 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4095605486367526, "bimanual_gripper_vertical_difference": 0.2581537911639229, "task_success": 0.0 }, { "completion_time": 1.9127423763275146, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000513439973889307, "book-upper shelf": 0.6491912904549098, "book-lower shelf": 0.46066764994815473 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4380532210110168, "bimanual_gripper_vertical_difference": 0.2592288696416261, "task_success": 0.0 }, { "completion_time": 1.9451038837432861, "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": 0.0006842864032217122, "book-upper shelf": 0.649055950123617, "book-lower shelf": 0.46056824881991715 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4665964334166168, "bimanual_gripper_vertical_difference": 0.26031262499662444, "task_success": 0.0 }, { "completion_time": 1.975085973739624, "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": 0.0004760502928089494, "book-upper shelf": 0.6492501009020355, "book-lower shelf": 0.46073054281124315 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4949533794040704, "bimanual_gripper_vertical_difference": 0.2613843020427897, "task_success": 0.0 }, { "completion_time": 2.004638433456421, "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": 0.00046860922933555926, "book-upper shelf": 0.6492355687868544, "book-lower shelf": 0.46070608741813995 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5135553735036775, "bimanual_gripper_vertical_difference": 0.2624333202814805, "task_success": 0.0 }, { "completion_time": 2.037132978439331, "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": 0.0006868956543951699, "book-upper shelf": 0.649039891566924, "book-lower shelf": 0.4605470130194265 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5267305133855484, "bimanual_gripper_vertical_difference": 0.2634919453201742, "task_success": 0.0 }, { "completion_time": 2.068455219268799, "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": 0.0004910822655791458, "book-upper shelf": 0.6492489363924142, "book-lower shelf": 0.46073693520217585 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5402579306232396, "bimanual_gripper_vertical_difference": 0.26462856374300775, "task_success": 0.0 }, { "completion_time": 2.0998153686523438, "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": 0.005347513718656383, "book-upper shelf": 0.644922483843485, "book-lower shelf": 0.4572427165993716 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5527863951810683, "bimanual_gripper_vertical_difference": 0.26587820421031627, "task_success": 0.0 }, { "completion_time": 2.1305978298187256, "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": 0.002697555929303208, "book-upper shelf": 0.6446322910194493, "book-lower shelf": 0.4554028004206525 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5647197553136711, "bimanual_gripper_vertical_difference": 0.26719528585498287, "task_success": 0.0 }, { "completion_time": 2.160865306854248, "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": 0.0032090846739274426, "book-upper shelf": 0.6407779290378237, "book-lower shelf": 0.45021014723981484 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5684769198649562, "bimanual_gripper_vertical_difference": 0.26854126209350215, "task_success": 0.0 }, { "completion_time": 2.1929595470428467, "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": 0.006784013509693376, "book-upper shelf": 0.6362881396004202, "book-lower shelf": 0.44577560793849985 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5581164363900408, "bimanual_gripper_vertical_difference": 0.2697722976531104, "task_success": 0.0 }, { "completion_time": 2.2233452796936035, "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": 0.014640584704137871, "book-upper shelf": 0.627078736662467, "book-lower shelf": 0.4369782677510221 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5497493013006494, "bimanual_gripper_vertical_difference": 0.27085401342420085, "task_success": 0.0 }, { "completion_time": 2.254657745361328, "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": 0.023670081319529634, "book-upper shelf": 0.6160609295632328, "book-lower shelf": 0.42626272302972856 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5425897854309467, "bimanual_gripper_vertical_difference": 0.2717156308520153, "task_success": 0.0 }, { "completion_time": 2.2853848934173584, "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": 0.03485827064748992, "book-upper shelf": 0.6036136510080514, "book-lower shelf": 0.41476246649790344 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5369459174347293, "bimanual_gripper_vertical_difference": 0.27223617933371197, "task_success": 0.0 }, { "completion_time": 2.316986560821533, "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": 0.058406788392004305, "book-upper shelf": 0.5826836118602889, "book-lower shelf": 0.39849105761490256 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5337679713381167, "bimanual_gripper_vertical_difference": 0.2723796919853031, "task_success": 0.0 }, { "completion_time": 2.3479766845703125, "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": 0.09216946022316785, "book-upper shelf": 0.5536560085036433, "book-lower shelf": 0.37740738589128897 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5335281723479701, "bimanual_gripper_vertical_difference": 0.272108795595717, "task_success": 0.0 }, { "completion_time": 2.3802340030670166, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.12967782615594636, "book-upper shelf": 0.5224647145333488, "book-lower shelf": 0.3568497328935465 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5322963460686498, "bimanual_gripper_vertical_difference": 0.2714275308411496, "task_success": 0.0 }, { "completion_time": 2.4107377529144287, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.1682614680560527, "book-upper shelf": 0.4911711927826147, "book-lower shelf": 0.33855872306415347 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5302246509112907, "bimanual_gripper_vertical_difference": 0.2703660997106087, "task_success": 0.0 }, { "completion_time": 2.4414379596710205, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.20768937793042952, "book-upper shelf": 0.4611753048878928, "book-lower shelf": 0.3247642288711764 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5283292017983598, "bimanual_gripper_vertical_difference": 0.2689514691008884, "task_success": 0.0 }, { "completion_time": 2.471633195877075, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.24761355399083318, "book-upper shelf": 0.4336846557061347, "book-lower shelf": 0.31706810556417325 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5248382941297085, "bimanual_gripper_vertical_difference": 0.26720155329523426, "task_success": 0.0 }, { "completion_time": 2.5020041465759277, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.28593818313395547, "book-upper shelf": 0.4108254352490036, "book-lower shelf": 0.3163863220752597 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5185272713137756, "bimanual_gripper_vertical_difference": 0.26514628402858775, "task_success": 0.0 }, { "completion_time": 2.532291889190674, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.32026543620141557, "book-upper shelf": 0.3941854278662771, "book-lower shelf": 0.32188409998737577 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5106359401080345, "bimanual_gripper_vertical_difference": 0.26282607325026425, "task_success": 0.0 }, { "completion_time": 2.564649820327759, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35014578403214547, "book-upper shelf": 0.3828731710732097, "book-lower shelf": 0.3309587053776738 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5054546656962422, "bimanual_gripper_vertical_difference": 0.2602764132952243, "task_success": 0.0 }, { "completion_time": 2.5941195487976074, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3757103284578279, "book-upper shelf": 0.37450201502513186, "book-lower shelf": 0.3402687447719313 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5036292725315954, "bimanual_gripper_vertical_difference": 0.2575296036575416, "task_success": 0.0 }, { "completion_time": 2.624333620071411, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.39803426813751097, "book-upper shelf": 0.3663340201262372, "book-lower shelf": 0.34745517377403407 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.503086079431788, "bimanual_gripper_vertical_difference": 0.25461023552220036, "task_success": 0.0 }, { "completion_time": 2.6546642780303955, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4171312137280542, "book-upper shelf": 0.35651083521022336, "book-lower shelf": 0.3507545437153925 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.506300412799781, "bimanual_gripper_vertical_difference": 0.2516179728886336, "task_success": 0.0 }, { "completion_time": 2.6842150688171387, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.432982084763723, "book-upper shelf": 0.343887826121606, "book-lower shelf": 0.34927549683984604 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5141106499278434, "bimanual_gripper_vertical_difference": 0.24889130028225903, "task_success": 0.0 }, { "completion_time": 2.7151293754577637, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.44523709621813856, "book-upper shelf": 0.32866933164778733, "book-lower shelf": 0.34320991489259567 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5257822880016934, "bimanual_gripper_vertical_difference": 0.246393119414996, "task_success": 0.0 }, { "completion_time": 2.7457897663116455, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4533856090131635, "book-upper shelf": 0.31206958842529, "book-lower shelf": 0.33342117396964194 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5386684603015977, "bimanual_gripper_vertical_difference": 0.24408486182743944, "task_success": 0.0 }, { "completion_time": 2.775510311126709, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4564588502261414, "book-upper shelf": 0.29578761040970436, "book-lower shelf": 0.3206025254658194 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5523155835411124, "bimanual_gripper_vertical_difference": 0.2419170143069473, "task_success": 0.0 }, { "completion_time": 2.8064935207366943, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4548381618601295, "book-upper shelf": 0.28128376259786764, "book-lower shelf": 0.3059707763502979 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5669279127032292, "bimanual_gripper_vertical_difference": 0.2398351028551304, "task_success": 0.0 }, { "completion_time": 2.8368418216705322, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4490865524820883, "book-upper shelf": 0.2697037672928949, "book-lower shelf": 0.2905259075186519 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5817678550036336, "bimanual_gripper_vertical_difference": 0.2377915358945269, "task_success": 0.0 }, { "completion_time": 2.8674275875091553, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43844239725798506, "book-upper shelf": 0.26148304872926426, "book-lower shelf": 0.2734901303381508 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5973171178896164, "bimanual_gripper_vertical_difference": 0.23573659320771195, "task_success": 0.0 }, { "completion_time": 2.897813558578491, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.42246476962611246, "book-upper shelf": 0.25717659207785887, "book-lower shelf": 0.25435228212732547 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.61430939558802, "bimanual_gripper_vertical_difference": 0.23361995660880688, "task_success": 0.0 }, { "completion_time": 2.92865252494812, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.40229887972718903, "book-upper shelf": 0.2574472614500195, "book-lower shelf": 0.23431535135595585 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6308600844736452, "bimanual_gripper_vertical_difference": 0.23140512964881232, "task_success": 0.0 }, { "completion_time": 2.959061622619629, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3802779645017934, "book-upper shelf": 0.2621027583454123, "book-lower shelf": 0.21558814370850454 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6465315468994752, "bimanual_gripper_vertical_difference": 0.2290760657003627, "task_success": 0.0 }, { "completion_time": 2.9893760681152344, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.368237337468721, "book-upper shelf": 0.26604208281159597, "book-lower shelf": 0.2064688229091264 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6597314868036581, "bimanual_gripper_vertical_difference": 0.2267431099367312, "task_success": 0.0 }, { "completion_time": 3.0202016830444336, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3692467944276777, "book-upper shelf": 0.2607553655851017, "book-lower shelf": 0.20085181793165613 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6727772994494599, "bimanual_gripper_vertical_difference": 0.22449757150168123, "task_success": 0.0 }, { "completion_time": 3.0527634620666504, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3699534219038819, "book-upper shelf": 0.25688802893448126, "book-lower shelf": 0.1966914593842907 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6858528960729502, "bimanual_gripper_vertical_difference": 0.22232704187499702, "task_success": 0.0 }, { "completion_time": 3.081291437149048, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.36871942277858605, "book-upper shelf": 0.25722199634252507, "book-lower shelf": 0.19558001768962344 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6899502422290653, "bimanual_gripper_vertical_difference": 0.22022161786846026, "task_success": 0.0 }, { "completion_time": 3.109628677368164, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.36650945644404753, "book-upper shelf": 0.26024547247201074, "book-lower shelf": 0.19679379040077752 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6942386614355536, "bimanual_gripper_vertical_difference": 0.21818916465345412, "task_success": 0.0 }, { "completion_time": 3.137664794921875, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3630480127108854, "book-upper shelf": 0.2649223769515561, "book-lower shelf": 0.1986941565455639 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6994137523176838, "bimanual_gripper_vertical_difference": 0.2162221035369336, "task_success": 0.0 }, { "completion_time": 3.1677308082580566, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3612710304055563, "book-upper shelf": 0.2674337192505306, "book-lower shelf": 0.19985299921101152 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7043264532518971, "bimanual_gripper_vertical_difference": 0.21430314388554683, "task_success": 0.0 }, { "completion_time": 3.1970603466033936, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3606260806138738, "book-upper shelf": 0.2677133131703265, "book-lower shelf": 0.1994322933376696 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7089408797362433, "bimanual_gripper_vertical_difference": 0.21242203936559387, "task_success": 0.0 }, { "completion_time": 3.2258195877075195, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3602471559646988, "book-upper shelf": 0.2679886370277047, "book-lower shelf": 0.19933421610502117 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7127596794331874, "bimanual_gripper_vertical_difference": 0.21057048004207454, "task_success": 0.0 }, { "completion_time": 3.2554469108581543, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3599351095606217, "book-upper shelf": 0.26830380741890003, "book-lower shelf": 0.19937273123068744 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.715776027725242, "bimanual_gripper_vertical_difference": 0.2087364905118482, "task_success": 0.0 }, { "completion_time": 3.2852466106414795, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3595503598020059, "book-upper shelf": 0.2684499900387778, "book-lower shelf": 0.19909414862455296 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7183631399309096, "bimanual_gripper_vertical_difference": 0.20691973208889933, "task_success": 0.0 }, { "completion_time": 3.3139686584472656, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3598558958818866, "book-upper shelf": 0.2679637798952338, "book-lower shelf": 0.19881682887181507 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7221111578904906, "bimanual_gripper_vertical_difference": 0.2051370680356171, "task_success": 0.0 }, { "completion_time": 3.3425042629241943, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3615416038936067, "book-upper shelf": 0.2665836697215535, "book-lower shelf": 0.19904904917521213 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7288110486170696, "bimanual_gripper_vertical_difference": 0.2034093275270595, "task_success": 0.0 }, { "completion_time": 3.3709728717803955, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3638975027158534, "book-upper shelf": 0.26466590625095515, "book-lower shelf": 0.19940379966115088 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.738478120950892, "bimanual_gripper_vertical_difference": 0.2017414115037857, "task_success": 0.0 }, { "completion_time": 3.3989455699920654, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.36592910630183206, "book-upper shelf": 0.26341524352862566, "book-lower shelf": 0.20025455573968942 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7507879485528646, "bimanual_gripper_vertical_difference": 0.2001216830431246, "task_success": 0.0 }, { "completion_time": 3.426820755004883, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": true }, "target_distance": { "book lift distance": 0.3627139306291788, "book-upper shelf": 0.26362037078448647, "book-lower shelf": 0.19653672228743083 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.7643226035100184, "bimanual_gripper_vertical_difference": 0.19843160540287605, "task_success": 1.0 } ]