[ { "completion_time": 0.04645276069641113, "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": -0.0004481480479360256, "book-upper shelf": 0.5984092417120712, "book-lower shelf": 0.3852083055340491 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.927942899593529e-06, "bimanual_gripper_vertical_difference": 6.041429578829138e-10, "task_success": 0.0 }, { "completion_time": 0.07747125625610352, "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": 0.0005185887335816819, "book-upper shelf": 0.5975652253374752, "book-lower shelf": 0.3845153912986797 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.6054281516661726e-06, "bimanual_gripper_vertical_difference": 6.944868014002736e-10, "task_success": 0.0 }, { "completion_time": 0.10884451866149902, "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": 0.0005766709666913394, "book-upper shelf": 0.5975200956232839, "book-lower shelf": 0.38448245068173925 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.741256424564001e-06, "bimanual_gripper_vertical_difference": 9.089333730116778e-10, "task_success": 0.0 }, { "completion_time": 0.14094948768615723, "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": 0.0006212431179537514, "book-upper shelf": 0.5974637796812184, "book-lower shelf": 0.38442347456338216 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3078807730845451e-06, "bimanual_gripper_vertical_difference": 1.0849234288734522e-09, "task_success": 0.0 }, { "completion_time": 0.1723191738128662, "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": 0.0004209863703769079, "book-upper shelf": 0.5976288911886354, "book-lower shelf": 0.3845518364442673 }, "success": 0.0, "bimanual_arm_velocity_difference": 5.705919415808364e-05, "bimanual_gripper_vertical_difference": 1.0382588566670848e-09, "task_success": 0.0 }, { "completion_time": 0.20354485511779785, "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": 0.0006147768269981757, "book-upper shelf": 0.5974527194436554, "book-lower shelf": 0.38440214282709384 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.759049441031288e-05, "bimanual_gripper_vertical_difference": 1.1919467635124192e-09, "task_success": 0.0 }, { "completion_time": 0.23554301261901855, "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": 0.000557867684214286, "book-upper shelf": 0.597502832712278, "book-lower shelf": 0.3844435792562282 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.2932023020579605e-05, "bimanual_gripper_vertical_difference": 1.7044645694852534e-09, "task_success": 0.0 }, { "completion_time": 0.2673792839050293, "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": 0.0006616211225475288, "book-upper shelf": 0.5974061470199885, "book-lower shelf": 0.3843597642964206 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.1482875020907586e-05, "bimanual_gripper_vertical_difference": 2.1370152314403867e-09, "task_success": 0.0 }, { "completion_time": 0.2996487617492676, "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": 0.0004178900081737158, "book-upper shelf": 0.5976224602468827, "book-lower shelf": 0.38453985946488606 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.001270786891586388, "bimanual_gripper_vertical_difference": 5.073327210015756e-06, "task_success": 0.0 }, { "completion_time": 0.3313100337982178, "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": 0.0006935476862320877, "book-upper shelf": 0.597375459940755, "book-lower shelf": 0.38433252046686134 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.09880813381869177, "bimanual_gripper_vertical_difference": 0.0003024467205891668, "task_success": 0.0 }, { "completion_time": 0.3631753921508789, "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": 0.0004527289619117303, "book-upper shelf": 0.5975777495090165, "book-lower shelf": 0.3844926809143792 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2752426343045892, "bimanual_gripper_vertical_difference": 0.0006951335523962845, "task_success": 0.0 }, { "completion_time": 0.39560532569885254, "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": 0.0006167024874415006, "book-upper shelf": 0.5974327013047804, "book-lower shelf": 0.3843722626819633 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.47546539859133063, "bimanual_gripper_vertical_difference": 0.0012540033424660961, "task_success": 0.0 }, { "completion_time": 0.42760491371154785, "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": 0.0005188878068375091, "book-upper shelf": 0.5975196753714918, "book-lower shelf": 0.3844447910267828 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.671139279904958, "bimanual_gripper_vertical_difference": 0.0031124996462948886, "task_success": 0.0 }, { "completion_time": 0.4593946933746338, "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": 0.0005482228776787501, "book-upper shelf": 0.5974860671854667, "book-lower shelf": 0.3844113440416814 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8490038699206537, "bimanual_gripper_vertical_difference": 0.0072456541221674565, "task_success": 0.0 }, { "completion_time": 0.49143528938293457, "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": 0.0006015591108913254, "book-upper shelf": 0.597435070362329, "book-lower shelf": 0.3843662441916583 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9946592260355905, "bimanual_gripper_vertical_difference": 0.014284240102230202, "task_success": 0.0 }, { "completion_time": 0.5246047973632812, "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": 0.0006658044418831333, "book-upper shelf": 0.5973718757903973, "book-lower shelf": 0.38430917497982237 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.128866683598715, "bimanual_gripper_vertical_difference": 0.024096956463254784, "task_success": 0.0 }, { "completion_time": 0.5572388172149658, "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": 0.0006282704992406352, "book-upper shelf": 0.5974081951133939, "book-lower shelf": 0.3843415824328217 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2451972994080216, "bimanual_gripper_vertical_difference": 0.03628163344133501, "task_success": 0.0 }, { "completion_time": 0.5899958610534668, "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": 0.0005019462809608966, "book-upper shelf": 0.5975170575129966, "book-lower shelf": 0.3844298714410274 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.343114632570888, "bimanual_gripper_vertical_difference": 0.050330612148516495, "task_success": 0.0 }, { "completion_time": 0.6236178874969482, "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": 0.0004907118259122045, "book-upper shelf": 0.5975210911181822, "book-lower shelf": 0.38442894526929455 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.325502922516483, "bimanual_gripper_vertical_difference": 0.06269325624226035, "task_success": 0.0 }, { "completion_time": 0.6570208072662354, "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": 0.0006245671718309032, "book-upper shelf": 0.5973943333873633, "book-lower shelf": 0.3843176632137483 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2708074823183662, "bimanual_gripper_vertical_difference": 0.07367105369542057, "task_success": 0.0 }, { "completion_time": 0.6914958953857422, "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": 0.0005873435829167883, "book-upper shelf": 0.5974252385948027, "book-lower shelf": 0.3843418551868669 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2705333229168545, "bimanual_gripper_vertical_difference": 0.08345334289050713, "task_success": 0.0 }, { "completion_time": 0.7248151302337646, "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": 0.00041659913363756296, "book-upper shelf": 0.5975636626903815, "book-lower shelf": 0.3844476476745795 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.28964787190169, "bimanual_gripper_vertical_difference": 0.09186649902617917, "task_success": 0.0 }, { "completion_time": 0.7566845417022705, "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": 0.0005165840111203135, "book-upper shelf": 0.5974786361164199, "book-lower shelf": 0.3843795272942003 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3277850863162137, "bimanual_gripper_vertical_difference": 0.0986949907392249, "task_success": 0.0 }, { "completion_time": 0.7889354228973389, "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": 0.0006061982114802245, "book-upper shelf": 0.597386721568883, "book-lower shelf": 0.3842940618940894 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3753927170556375, "bimanual_gripper_vertical_difference": 0.1039097607829631, "task_success": 0.0 }, { "completion_time": 0.8208858966827393, "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": 0.0004898987332024873, "book-upper shelf": 0.5974862767138048, "book-lower shelf": 0.3843743098642529 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4028987820608847, "bimanual_gripper_vertical_difference": 0.10767497392470078, "task_success": 0.0 }, { "completion_time": 0.8561341762542725, "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": 0.000434076985781906, "book-upper shelf": 0.5975326069214852, "book-lower shelf": 0.38441056975222243 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3776665072832246, "bimanual_gripper_vertical_difference": 0.1109176623026958, "task_success": 0.0 }, { "completion_time": 0.888439416885376, "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": 0.00048110914862431464, "book-upper shelf": 0.5975055083330391, "book-lower shelf": 0.3843985734621076 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3761459195370767, "bimanual_gripper_vertical_difference": 0.11439177364908534, "task_success": 0.0 }, { "completion_time": 0.9208564758300781, "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": 0.0007082750518568881, "book-upper shelf": 0.5972891137640849, "book-lower shelf": 0.384207735556239 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3690963831486018, "bimanual_gripper_vertical_difference": 0.11846784802679622, "task_success": 0.0 }, { "completion_time": 0.9540321826934814, "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": 0.0005990038654674068, "book-upper shelf": 0.597381981725227, "book-lower shelf": 0.38428208406652775 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3353345895795037, "bimanual_gripper_vertical_difference": 0.12289463827495796, "task_success": 0.0 }, { "completion_time": 0.9866101741790771, "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": 0.0004547778098477062, "book-upper shelf": 0.5974965069818298, "book-lower shelf": 0.3843677142777698 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2975825474159397, "bimanual_gripper_vertical_difference": 0.1271621132422935, "task_success": 0.0 }, { "completion_time": 1.0197670459747314, "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": 0.0006862643942979751, "book-upper shelf": 0.5972919683687773, "book-lower shelf": 0.3841980673685457 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2779796512598933, "bimanual_gripper_vertical_difference": 0.130885495396672, "task_success": 0.0 }, { "completion_time": 1.0533215999603271, "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": 0.0004141871173172218, "book-upper shelf": 0.5975285867169334, "book-lower shelf": 0.3843915802681885 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2577803291083731, "bimanual_gripper_vertical_difference": 0.13424376167462146, "task_success": 0.0 }, { "completion_time": 1.0864927768707275, "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": 0.0005158659151510703, "book-upper shelf": 0.5974418727631062, "book-lower shelf": 0.3843219198688826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2428796580553256, "bimanual_gripper_vertical_difference": 0.1373656253732822, "task_success": 0.0 }, { "completion_time": 1.1198697090148926, "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": 0.000606604177772696, "book-upper shelf": 0.5973489908282603, "book-lower shelf": 0.38423566682685967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2360610983571458, "bimanual_gripper_vertical_difference": 0.14031007315332328, "task_success": 0.0 }, { "completion_time": 1.1527509689331055, "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": 0.00053338121195734, "book-upper shelf": 0.5974079894072561, "book-lower shelf": 0.3842804678571742 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2318927803897652, "bimanual_gripper_vertical_difference": 0.14308316812900734, "task_success": 0.0 }, { "completion_time": 1.18528151512146, "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": 0.0005546028520665436, "book-upper shelf": 0.5973914530706707, "book-lower shelf": 0.38426835800966386 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2269233063345601, "bimanual_gripper_vertical_difference": 0.1456790182900377, "task_success": 0.0 }, { "completion_time": 1.2174663543701172, "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": 0.0006753938647781066, "book-upper shelf": 0.5972885785437592, "book-lower shelf": 0.38418583050192245 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2216467279162313, "bimanual_gripper_vertical_difference": 0.1481298407110942, "task_success": 0.0 }, { "completion_time": 1.2493526935577393, "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": 0.0005127471681831697, "book-upper shelf": 0.5974315479695045, "book-lower shelf": 0.3843038712312353 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2077662777284301, "bimanual_gripper_vertical_difference": 0.15050819941854005, "task_success": 0.0 }, { "completion_time": 1.2829535007476807, "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": 0.0006997348869424158, "book-upper shelf": 0.5972592789977462, "book-lower shelf": 0.38415587901901516 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1818255014897552, "bimanual_gripper_vertical_difference": 0.15288592288519695, "task_success": 0.0 }, { "completion_time": 1.3152437210083008, "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": 0.0005273460423212972, "book-upper shelf": 0.5974046994880737, "book-lower shelf": 0.384271486217835 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1586433610393008, "bimanual_gripper_vertical_difference": 0.15529400925395873, "task_success": 0.0 }, { "completion_time": 1.3505964279174805, "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": 0.0005005394918842221, "book-upper shelf": 0.5974217826156154, "book-lower shelf": 0.38428086812579637 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.145657361906505, "bimanual_gripper_vertical_difference": 0.157756396100682, "task_success": 0.0 }, { "completion_time": 1.3825321197509766, "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": 0.0004462114353731561, "book-upper shelf": 0.5974658866693529, "book-lower shelf": 0.384314625204565 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1373757160609368, "bimanual_gripper_vertical_difference": 0.16020639485340435, "task_success": 0.0 }, { "completion_time": 1.4161763191223145, "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": 0.00043047337232504645, "book-upper shelf": 0.5974772204335567, "book-lower shelf": 0.3843221619168067 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.127179424970872, "bimanual_gripper_vertical_difference": 0.16257283682166376, "task_success": 0.0 }, { "completion_time": 1.4488554000854492, "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": 0.0006234991339004736, "book-upper shelf": 0.5973025949717278, "book-lower shelf": 0.38417436236613467 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.112558724618881, "bimanual_gripper_vertical_difference": 0.1648664240999043, "task_success": 0.0 }, { "completion_time": 1.4813551902770996, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009586124858703693, "book-upper shelf": 0.5971647097176773, "book-lower shelf": 0.384174788138756 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1017954948842676, "bimanual_gripper_vertical_difference": 0.1670655836674317, "task_success": 0.0 }, { "completion_time": 1.5132577419281006, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0011930817764442825, "book-upper shelf": 0.598322177982039, "book-lower shelf": 0.38612105663419316 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0908699767725207, "bimanual_gripper_vertical_difference": 0.1691634157581227, "task_success": 0.0 }, { "completion_time": 1.5462028980255127, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008413822330328724, "book-upper shelf": 0.6010546500520548, "book-lower shelf": 0.3901199041584302 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0793938161146701, "bimanual_gripper_vertical_difference": 0.1711723626340014, "task_success": 0.0 }, { "completion_time": 1.576949119567871, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009454907819845815, "book-upper shelf": 0.6036530796067489, "book-lower shelf": 0.3941765544079311 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0674574674872848, "bimanual_gripper_vertical_difference": 0.17310878881051575, "task_success": 0.0 }, { "completion_time": 1.6092321872711182, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0017778037332122354, "book-upper shelf": 0.6053145061286441, "book-lower shelf": 0.39723247521802724 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.053530993250304, "bimanual_gripper_vertical_difference": 0.17495804706857657, "task_success": 0.0 }, { "completion_time": 1.6402974128723145, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010406963450254603, "book-upper shelf": 0.6076919156802364, "book-lower shelf": 0.4003928869107477 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0383003486497326, "bimanual_gripper_vertical_difference": 0.17673932256647706, "task_success": 0.0 }, { "completion_time": 1.6725294589996338, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006458182483720654, "book-upper shelf": 0.6085085376662166, "book-lower shelf": 0.40138906587006024 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0197385061370092, "bimanual_gripper_vertical_difference": 0.17843509155572856, "task_success": 0.0 }, { "completion_time": 1.7062773704528809, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004579868514613672, "book-upper shelf": 0.6086691875576642, "book-lower shelf": 0.40151740198685726 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0079180373880372, "bimanual_gripper_vertical_difference": 0.1800525934708445, "task_success": 0.0 }, { "completion_time": 1.7391881942749023, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005728892067514701, "book-upper shelf": 0.6085775141420765, "book-lower shelf": 0.4014488991145061 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.995640790721415, "bimanual_gripper_vertical_difference": 0.18156584928619168, "task_success": 0.0 }, { "completion_time": 1.7715117931365967, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004897778215912085, "book-upper shelf": 0.6086325680678182, "book-lower shelf": 0.40148138511293385 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9829594666886234, "bimanual_gripper_vertical_difference": 0.18294007580389504, "task_success": 0.0 }, { "completion_time": 1.8033804893493652, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005768968320061241, "book-upper shelf": 0.6085648276679464, "book-lower shelf": 0.4014321249108858 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9716522667557465, "bimanual_gripper_vertical_difference": 0.1841900073747939, "task_success": 0.0 }, { "completion_time": 1.8357694149017334, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048733967614678075, "book-upper shelf": 0.6086360757342322, "book-lower shelf": 0.4014852073237783 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9602444369551976, "bimanual_gripper_vertical_difference": 0.18537687973866163, "task_success": 0.0 }, { "completion_time": 1.8686096668243408, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005511733742790126, "book-upper shelf": 0.6085728449637114, "book-lower shelf": 0.4014285011635932 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9500426084193453, "bimanual_gripper_vertical_difference": 0.18656305077359261, "task_success": 0.0 }, { "completion_time": 1.9032957553863525, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006312125533887158, "book-upper shelf": 0.6084983003140416, "book-lower shelf": 0.4013645857546003 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9398367753439394, "bimanual_gripper_vertical_difference": 0.1877897127536597, "task_success": 0.0 }, { "completion_time": 1.9355134963989258, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000649386140494701, "book-upper shelf": 0.6084761791918761, "book-lower shelf": 0.4013421974322886 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9267511893995897, "bimanual_gripper_vertical_difference": 0.18906057321755768, "task_success": 0.0 }, { "completion_time": 1.968942403793335, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000523013075070855, "book-upper shelf": 0.6085832463702812, "book-lower shelf": 0.4014269972765919 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9149031452923914, "bimanual_gripper_vertical_difference": 0.19027262206872936, "task_success": 0.0 }, { "completion_time": 2.0051329135894775, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006363467125554134, "book-upper shelf": 0.6084829077244037, "book-lower shelf": 0.40134439889240425 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9065048741139864, "bimanual_gripper_vertical_difference": 0.19144197608561916, "task_success": 0.0 }, { "completion_time": 2.038329839706421, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000544309819022426, "book-upper shelf": 0.6085520258455059, "book-lower shelf": 0.4013927280384069 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9002143250190862, "bimanual_gripper_vertical_difference": 0.1925849214899581, "task_success": 0.0 }, { "completion_time": 2.0719196796417236, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000639385366717593, "book-upper shelf": 0.6084687887762174, "book-lower shelf": 0.4013248569794746 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8915338137662602, "bimanual_gripper_vertical_difference": 0.19370778056450894, "task_success": 0.0 }, { "completion_time": 2.1049036979675293, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004908456018322127, "book-upper shelf": 0.6086281540516556, "book-lower shelf": 0.4014753484487893 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8809815002998835, "bimanual_gripper_vertical_difference": 0.19480387224472234, "task_success": 0.0 }, { "completion_time": 2.136820077896118, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006486530461655704, "book-upper shelf": 0.6084579816047481, "book-lower shelf": 0.4013141576895292 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8706023792070927, "bimanual_gripper_vertical_difference": 0.19586630719135992, "task_success": 0.0 }, { "completion_time": 2.1686582565307617, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005221163458176692, "book-upper shelf": 0.608571562091872, "book-lower shelf": 0.40140873305464103 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8595283528816476, "bimanual_gripper_vertical_difference": 0.1968919527251203, "task_success": 0.0 }, { "completion_time": 2.199333667755127, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008617312875861538, "book-upper shelf": 0.6088800188371685, "book-lower shelf": 0.40208425174635565 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8492818161441983, "bimanual_gripper_vertical_difference": 0.1978832979606696, "task_success": 0.0 }, { "completion_time": 2.2302777767181396, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007778602677532831, "book-upper shelf": 0.6106894411134819, "book-lower shelf": 0.4047680315528293 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8404062340175281, "bimanual_gripper_vertical_difference": 0.19884179472291427, "task_success": 0.0 }, { "completion_time": 2.260573148727417, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007992913456064121, "book-upper shelf": 0.6126023567279506, "book-lower shelf": 0.40766133871457416 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.833870412883376, "bimanual_gripper_vertical_difference": 0.19976808141425428, "task_success": 0.0 }, { "completion_time": 2.2920584678649902, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007810811420340125, "book-upper shelf": 0.6138909089617807, "book-lower shelf": 0.409584179510284 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8271073907435024, "bimanual_gripper_vertical_difference": 0.20066153373344142, "task_success": 0.0 }, { "completion_time": 2.3239920139312744, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006682945527262119, "book-upper shelf": 0.6147817016760392, "book-lower shelf": 0.4108505214297556 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8193389438447446, "bimanual_gripper_vertical_difference": 0.20152454995982919, "task_success": 0.0 }, { "completion_time": 2.3560616970062256, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006092910996616796, "book-upper shelf": 0.6151640722434273, "book-lower shelf": 0.4113871531442592 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8108247949952158, "bimanual_gripper_vertical_difference": 0.20235884294151224, "task_success": 0.0 }, { "completion_time": 2.388777494430542, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00043937458362097725, "book-upper shelf": 0.6155596823521935, "book-lower shelf": 0.41187692475110216 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8023069594701717, "bimanual_gripper_vertical_difference": 0.20314817808983165, "task_success": 0.0 }, { "completion_time": 2.4212310314178467, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003716767010873978, "book-upper shelf": 0.615699237606581, "book-lower shelf": 0.4120450120703327 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7948712160507647, "bimanual_gripper_vertical_difference": 0.20386168170133545, "task_success": 0.0 }, { "completion_time": 2.453512668609619, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0002736439557045056, "book-upper shelf": 0.6157112841355029, "book-lower shelf": 0.4120044295504041 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7884840348520757, "bimanual_gripper_vertical_difference": 0.20447911852005105, "task_success": 0.0 }, { "completion_time": 2.4860825538635254, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004433747180384584, "book-upper shelf": 0.6153190175898541, "book-lower shelf": 0.41151955224366216 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.782775742775498, "bimanual_gripper_vertical_difference": 0.20499407687559024, "task_success": 0.0 }, { "completion_time": 2.5187675952911377, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005274330854119214, "book-upper shelf": 0.6152998932388273, "book-lower shelf": 0.41154125143624454 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7772114794183547, "bimanual_gripper_vertical_difference": 0.20541063323755898, "task_success": 0.0 }, { "completion_time": 2.5513641834259033, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003985216675714831, "book-upper shelf": 0.6156367035948492, "book-lower shelf": 0.4119676096485768 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7761687476139464, "bimanual_gripper_vertical_difference": 0.20574650615555412, "task_success": 0.0 }, { "completion_time": 2.5831594467163086, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003454329030498915, "book-upper shelf": 0.6157462312473683, "book-lower shelf": 0.41209954904093216 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7837100503167722, "bimanual_gripper_vertical_difference": 0.2060227576502429, "task_success": 0.0 }, { "completion_time": 2.6150996685028076, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004225974506473218, "book-upper shelf": 0.615590246347837, "book-lower shelf": 0.41191257337494414 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7966433883680282, "bimanual_gripper_vertical_difference": 0.20624587895543184, "task_success": 0.0 }, { "completion_time": 2.649526357650757, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006339026912492995, "book-upper shelf": 0.6151503473690522, "book-lower shelf": 0.4113813605883672 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.810907551694974, "bimanual_gripper_vertical_difference": 0.2064151528860193, "task_success": 0.0 }, { "completion_time": 2.682492971420288, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005117900739749492, "book-upper shelf": 0.6152752248148936, "book-lower shelf": 0.4114950083343073 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8235872549561132, "bimanual_gripper_vertical_difference": 0.20653548046408896, "task_success": 0.0 }, { "completion_time": 2.7147200107574463, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004352142891164146, "book-upper shelf": 0.6153451859959964, "book-lower shelf": 0.41155379696500827 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8376830273875625, "bimanual_gripper_vertical_difference": 0.2066215332716626, "task_success": 0.0 }, { "completion_time": 2.7470247745513916, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005366838403532137, "book-upper shelf": 0.6152750153346151, "book-lower shelf": 0.41150959046329544 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8533717960384315, "bimanual_gripper_vertical_difference": 0.20668703243975242, "task_success": 0.0 }, { "completion_time": 2.7780370712280273, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00043290601219714286, "book-upper shelf": 0.6155741682352903, "book-lower shelf": 0.4118947071224283 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8705892962907241, "bimanual_gripper_vertical_difference": 0.20674659729692063, "task_success": 0.0 }, { "completion_time": 2.8096985816955566, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003965106744574509, "book-upper shelf": 0.6156503007138034, "book-lower shelf": 0.4119867267787517 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8909104485855143, "bimanual_gripper_vertical_difference": 0.2068118261169789, "task_success": 0.0 }, { "completion_time": 2.8400681018829346, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004939904045659915, "book-upper shelf": 0.6154511211603567, "book-lower shelf": 0.4117473214283169 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9130025357067736, "bimanual_gripper_vertical_difference": 0.20689035389682944, "task_success": 0.0 }, { "completion_time": 2.87107515335083, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006851299110334219, "book-upper shelf": 0.6150348457539409, "book-lower shelf": 0.41123930053822505 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9360955324784381, "bimanual_gripper_vertical_difference": 0.20699179653512598, "task_success": 0.0 }, { "completion_time": 2.9016623497009277, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003698840988194396, "book-upper shelf": 0.6154476813866484, "book-lower shelf": 0.4116679566591652 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9598114854554376, "bimanual_gripper_vertical_difference": 0.2071367163199619, "task_success": 0.0 }, { "completion_time": 2.9365382194519043, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004457427338321329, "book-upper shelf": 0.6153239049950249, "book-lower shelf": 0.4115282768641572 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9839298636307217, "bimanual_gripper_vertical_difference": 0.20734458586799426, "task_success": 0.0 }, { "completion_time": 2.96833872795105, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005233697746037658, "book-upper shelf": 0.6153663926884021, "book-lower shelf": 0.41163823836826907 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0084478749382595, "bimanual_gripper_vertical_difference": 0.20762681858989196, "task_success": 0.0 }, { "completion_time": 2.999903678894043, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00038358722061682116, "book-upper shelf": 0.6156858120328387, "book-lower shelf": 0.41203206823811694 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.033559863700605, "bimanual_gripper_vertical_difference": 0.20799534198576988, "task_success": 0.0 }, { "completion_time": 3.0319979190826416, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00034579513623334, "book-upper shelf": 0.6157637236857647, "book-lower shelf": 0.41212590165323465 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.058171474640664, "bimanual_gripper_vertical_difference": 0.2084520571138192, "task_success": 0.0 }, { "completion_time": 3.0633232593536377, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004333965376509541, "book-upper shelf": 0.615586725504088, "book-lower shelf": 0.4119137668651122 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0814705371872475, "bimanual_gripper_vertical_difference": 0.20898125227775113, "task_success": 0.0 }, { "completion_time": 3.094529867172241, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006509040421517343, "book-upper shelf": 0.6151338977624183, "book-lower shelf": 0.4113669389521823 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0969004705205427, "bimanual_gripper_vertical_difference": 0.20956018327539624, "task_success": 0.0 }, { "completion_time": 3.12623929977417, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003818066594416525, "book-upper shelf": 0.6154181855437233, "book-lower shelf": 0.41163099054690255 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1087790971522837, "bimanual_gripper_vertical_difference": 0.2101804299265706, "task_success": 0.0 }, { "completion_time": 3.157336711883545, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00040131763140627275, "book-upper shelf": 0.6153959373157728, "book-lower shelf": 0.4116093987308548 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1206687563498414, "bimanual_gripper_vertical_difference": 0.2108405845309798, "task_success": 0.0 }, { "completion_time": 3.1899216175079346, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005093041886868876, "book-upper shelf": 0.6153005058650567, "book-lower shelf": 0.41153132074803384 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1326825072179663, "bimanual_gripper_vertical_difference": 0.21155018934658507, "task_success": 0.0 }, { "completion_time": 3.2209534645080566, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0009301901289057168, "book-upper shelf": 0.6159743808496259, "book-lower shelf": 0.4116781198058202 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1339787440873021, "bimanual_gripper_vertical_difference": 0.2122800417568086, "task_success": 0.0 }, { "completion_time": 3.251882314682007, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0013342236602263968, "book-upper shelf": 0.6153076637331827, "book-lower shelf": 0.410437560659994 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1312651157148772, "bimanual_gripper_vertical_difference": 0.21299885553902087, "task_success": 0.0 }, { "completion_time": 3.28436541557312, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0009038994505985443, "book-upper shelf": 0.6136289901281201, "book-lower shelf": 0.408176335465365 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1324240006994888, "bimanual_gripper_vertical_difference": 0.21369761314555785, "task_success": 0.0 }, { "completion_time": 3.3155529499053955, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0009235972307076734, "book-upper shelf": 0.612145540430897, "book-lower shelf": 0.405930838697826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1355195251139463, "bimanual_gripper_vertical_difference": 0.2143909203976392, "task_success": 0.0 }, { "completion_time": 3.3473541736602783, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.002201468320016553, "book-upper shelf": 0.6117419265270734, "book-lower shelf": 0.40454490503660157 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1352081816159176, "bimanual_gripper_vertical_difference": 0.21508857579643273, "task_success": 0.0 }, { "completion_time": 3.378896713256836, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0006382408535160478, "book-upper shelf": 0.608896390121472, "book-lower shelf": 0.40118950732424047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1310757809808927, "bimanual_gripper_vertical_difference": 0.21570994286717068, "task_success": 0.0 }, { "completion_time": 3.411653518676758, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.002565212726000521, "book-upper shelf": 0.6059138597804431, "book-lower shelf": 0.39863185154940667 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.130995886480516, "bimanual_gripper_vertical_difference": 0.21627384446026754, "task_success": 0.0 }, { "completion_time": 3.4429986476898193, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.004676274545347581, "book-upper shelf": 0.6038892982366324, "book-lower shelf": 0.39685970381348584 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1344180605774283, "bimanual_gripper_vertical_difference": 0.2168004703189421, "task_success": 0.0 }, { "completion_time": 3.474851131439209, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.005457930346861817, "book-upper shelf": 0.6031305994512082, "book-lower shelf": 0.3961903410977231 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1439623193009136, "bimanual_gripper_vertical_difference": 0.21730516856603604, "task_success": 0.0 }, { "completion_time": 3.5059804916381836, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.006099139051377156, "book-upper shelf": 0.6025652295357988, "book-lower shelf": 0.3957282975174901 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1450288354361842, "bimanual_gripper_vertical_difference": 0.21777597487757314, "task_success": 0.0 }, { "completion_time": 3.537616014480591, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.009790622724565656, "book-upper shelf": 0.5990784942008239, "book-lower shelf": 0.3927199294091464 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1407230887906026, "bimanual_gripper_vertical_difference": 0.2181734997067928, "task_success": 0.0 }, { "completion_time": 3.5697195529937744, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.016206715669113247, "book-upper shelf": 0.5933376495522384, "book-lower shelf": 0.3879988042257001 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1415968557467373, "bimanual_gripper_vertical_difference": 0.2184718778907622, "task_success": 0.0 }, { "completion_time": 3.601412296295166, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.023929041638517834, "book-upper shelf": 0.5868102853183794, "book-lower shelf": 0.3829395201263926 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.141363102794164, "bimanual_gripper_vertical_difference": 0.21866441887764207, "task_success": 0.0 }, { "completion_time": 3.6328396797180176, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03127428105871077, "book-upper shelf": 0.5803125873440571, "book-lower shelf": 0.37772506839395226 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1391175925563544, "bimanual_gripper_vertical_difference": 0.21875789598193832, "task_success": 0.0 }, { "completion_time": 3.6650946140289307, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.03761898495821803, "book-upper shelf": 0.5745054813225674, "book-lower shelf": 0.3729537850203271 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1352942591560422, "bimanual_gripper_vertical_difference": 0.2187739191035259, "task_success": 0.0 }, { "completion_time": 3.695967674255371, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.04264206743359911, "book-upper shelf": 0.5704836468463729, "book-lower shelf": 0.3700853765953249 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1306486767992026, "bimanual_gripper_vertical_difference": 0.21873229845898381, "task_success": 0.0 }, { "completion_time": 3.727006673812866, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.04732977628328239, "book-upper shelf": 0.5668931010373229, "book-lower shelf": 0.3676789970503356 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1259111507276827, "bimanual_gripper_vertical_difference": 0.21864043920342016, "task_success": 0.0 }, { "completion_time": 3.757838487625122, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.053817806410550895, "book-upper shelf": 0.561316501482505, "book-lower shelf": 0.36344367119752646 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.121664035476677, "bimanual_gripper_vertical_difference": 0.21849172437997597, "task_success": 0.0 }, { "completion_time": 3.788821220397949, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.06528598656065732, "book-upper shelf": 0.5513509373109702, "book-lower shelf": 0.35587982335678664 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1190423536127105, "bimanual_gripper_vertical_difference": 0.21827244352169203, "task_success": 0.0 }, { "completion_time": 3.819984197616577, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.07966131832268741, "book-upper shelf": 0.5402713793116477, "book-lower shelf": 0.34876193601344035 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1197288023530736, "bimanual_gripper_vertical_difference": 0.2179644241971928, "task_success": 0.0 }, { "completion_time": 3.8517801761627197, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.09685760326879433, "book-upper shelf": 0.5284638874761504, "book-lower shelf": 0.34275955942463343 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.12255811331831, "bimanual_gripper_vertical_difference": 0.21754994675929007, "task_success": 0.0 }, { "completion_time": 3.8841850757598877, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.11639195206316344, "book-upper shelf": 0.516060460951934, "book-lower shelf": 0.3378581427314103 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1262028976225529, "bimanual_gripper_vertical_difference": 0.21701642894590065, "task_success": 0.0 }, { "completion_time": 3.918447256088257, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.13721856288973433, "book-upper shelf": 0.5040716310220902, "book-lower shelf": 0.33492387035112353 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1306510921125308, "bimanual_gripper_vertical_difference": 0.21635740866922382, "task_success": 0.0 }, { "completion_time": 3.950049877166748, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.15871202707702592, "book-upper shelf": 0.4937158971755409, "book-lower shelf": 0.3352993189196627 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.13624688111436, "bimanual_gripper_vertical_difference": 0.21557391995669542, "task_success": 0.0 }, { "completion_time": 3.983848810195923, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.18117387352270264, "book-upper shelf": 0.48477154779095627, "book-lower shelf": 0.3387256056873289 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1427653891006022, "bimanual_gripper_vertical_difference": 0.21466561262804187, "task_success": 0.0 }, { "completion_time": 4.013852119445801, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.20338804172346858, "book-upper shelf": 0.47773491164592025, "book-lower shelf": 0.34482110624349654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1495182619527662, "bimanual_gripper_vertical_difference": 0.21363721943951475, "task_success": 0.0 }, { "completion_time": 4.043807744979858, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.22335977824187248, "book-upper shelf": 0.4738145710593881, "book-lower shelf": 0.3535622701582815 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1560610951906662, "bimanual_gripper_vertical_difference": 0.2125030142814221, "task_success": 0.0 }, { "completion_time": 4.073440074920654, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2406950033585622, "book-upper shelf": 0.4726420133575455, "book-lower shelf": 0.3639137748297462 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1631371794317982, "bimanual_gripper_vertical_difference": 0.21127431921467962, "task_success": 0.0 }, { "completion_time": 4.104456186294556, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.25592727238096513, "book-upper shelf": 0.47292533005695525, "book-lower shelf": 0.3744359242811664 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1692776170758548, "bimanual_gripper_vertical_difference": 0.2099591699464447, "task_success": 0.0 }, { "completion_time": 4.135511636734009, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2704338969768947, "book-upper shelf": 0.47378255656345025, "book-lower shelf": 0.38491244686587406 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1736881701454251, "bimanual_gripper_vertical_difference": 0.20856543229896835, "task_success": 0.0 }, { "completion_time": 4.167675495147705, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2852251728305325, "book-upper shelf": 0.47472014568955573, "book-lower shelf": 0.3953869767065995 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1766365685621614, "bimanual_gripper_vertical_difference": 0.20709816266938044, "task_success": 0.0 }, { "completion_time": 4.199536085128784, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3003198935342427, "book-upper shelf": 0.47537781052822936, "book-lower shelf": 0.4054492601566227 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1783483227298457, "bimanual_gripper_vertical_difference": 0.20556116424505586, "task_success": 0.0 }, { "completion_time": 4.232604265213013, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3146071401273628, "book-upper shelf": 0.4696207969078247, "book-lower shelf": 0.4074119380623394 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1767753944225066, "bimanual_gripper_vertical_difference": 0.20402456453879078, "task_success": 0.0 }, { "completion_time": 4.265556335449219, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.32818556677766797, "book-upper shelf": 0.45661661531904074, "book-lower shelf": 0.400782015516155 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1790466860059672, "bimanual_gripper_vertical_difference": 0.20258713720427537, "task_success": 0.0 }, { "completion_time": 4.2977705001831055, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.32590992029739974, "book-upper shelf": 0.44837733352278464, "book-lower shelf": 0.3899347146461485 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1794643620206648, "bimanual_gripper_vertical_difference": 0.2011559100450163, "task_success": 0.0 }, { "completion_time": 4.3296284675598145, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3227614441792642, "book-upper shelf": 0.4446752948051935, "book-lower shelf": 0.3836567466088455 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1752801819594594, "bimanual_gripper_vertical_difference": 0.19972920243872633, "task_success": 0.0 }, { "completion_time": 4.3607017993927, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3309855041661166, "book-upper shelf": 0.44037370499974077, "book-lower shelf": 0.3839730717051791 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1718380530237886, "bimanual_gripper_vertical_difference": 0.19837621146780682, "task_success": 0.0 }, { "completion_time": 4.390678882598877, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3438332569075525, "book-upper shelf": 0.43321755210202945, "book-lower shelf": 0.3840711431643928 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1668103688576779, "bimanual_gripper_vertical_difference": 0.1971225743207691, "task_success": 0.0 }, { "completion_time": 4.421435832977295, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35328112439646164, "book-upper shelf": 0.42680149610270385, "book-lower shelf": 0.3829429656906317 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1600599739438375, "bimanual_gripper_vertical_difference": 0.195946142357855, "task_success": 0.0 }, { "completion_time": 4.452203750610352, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.36098258998002797, "book-upper shelf": 0.4201012366184194, "book-lower shelf": 0.38047790162185346 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1533045042019334, "bimanual_gripper_vertical_difference": 0.19483251377556637, "task_success": 0.0 }, { "completion_time": 4.482287645339966, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3682444488016109, "book-upper shelf": 0.41250514706651553, "book-lower shelf": 0.37684875393052475 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1470092074303118, "bimanual_gripper_vertical_difference": 0.19377465145322678, "task_success": 0.0 }, { "completion_time": 4.512726306915283, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37546214565161307, "book-upper shelf": 0.4043689123444614, "book-lower shelf": 0.37272383752422894 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1413948228878954, "bimanual_gripper_vertical_difference": 0.19277090795305044, "task_success": 0.0 }, { "completion_time": 4.544630527496338, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3824919001619954, "book-upper shelf": 0.3948099151388231, "book-lower shelf": 0.3670769857681937 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1364851966720602, "bimanual_gripper_vertical_difference": 0.19181984459559578, "task_success": 0.0 }, { "completion_time": 4.574687480926514, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3897594710807334, "book-upper shelf": 0.3874526181774612, "book-lower shelf": 0.36410038589916793 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1322449818933027, "bimanual_gripper_vertical_difference": 0.1909234513377515, "task_success": 0.0 }, { "completion_time": 4.605146884918213, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3981814414920536, "book-upper shelf": 0.3830695094622391, "book-lower shelf": 0.3651564159074991 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1304508212562263, "bimanual_gripper_vertical_difference": 0.19009238436239242, "task_success": 0.0 }, { "completion_time": 4.63664436340332, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4071654327061537, "book-upper shelf": 0.3784598785460084, "book-lower shelf": 0.36640552006067206 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.129752371847535, "bimanual_gripper_vertical_difference": 0.1893343034830901, "task_success": 0.0 }, { "completion_time": 4.6677632331848145, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4143498603447583, "book-upper shelf": 0.372548833939123, "book-lower shelf": 0.36517356217787916 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1294276744682537, "bimanual_gripper_vertical_difference": 0.18864255505917557, "task_success": 0.0 }, { "completion_time": 4.698812246322632, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.41835563633445594, "book-upper shelf": 0.3650987375266896, "book-lower shelf": 0.3603176784025536 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1309857238451544, "bimanual_gripper_vertical_difference": 0.18800202022781104, "task_success": 0.0 }, { "completion_time": 4.730015993118286, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.418185905411386, "book-upper shelf": 0.35603625926621885, "book-lower shelf": 0.3510127848743321 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1348751260854832, "bimanual_gripper_vertical_difference": 0.18738968155691285, "task_success": 0.0 }, { "completion_time": 4.761796712875366, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4144562615968591, "book-upper shelf": 0.34638105006480263, "book-lower shelf": 0.3385134059158539 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.140089756687854, "bimanual_gripper_vertical_difference": 0.1867853551725881, "task_success": 0.0 }, { "completion_time": 4.7932305335998535, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.40894772815544045, "book-upper shelf": 0.33815649410921783, "book-lower shelf": 0.32595802085862413 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1456814252690086, "bimanual_gripper_vertical_difference": 0.18618192031516362, "task_success": 0.0 }, { "completion_time": 4.824231386184692, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.40322396406154526, "book-upper shelf": 0.3313628930386885, "book-lower shelf": 0.3144543148301749 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1501490918710837, "bimanual_gripper_vertical_difference": 0.18558041788712087, "task_success": 0.0 }, { "completion_time": 4.854471445083618, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3978815274327049, "book-upper shelf": 0.3254809023454768, "book-lower shelf": 0.30395243725328586 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1530488612545364, "bimanual_gripper_vertical_difference": 0.18498063686252908, "task_success": 0.0 }, { "completion_time": 4.88495135307312, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3929495333360359, "book-upper shelf": 0.32029965325892557, "book-lower shelf": 0.2942998024313207 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1545586304245081, "bimanual_gripper_vertical_difference": 0.1843791334638354, "task_success": 0.0 }, { "completion_time": 4.91567063331604, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38837081778245, "book-upper shelf": 0.31590160901391745, "book-lower shelf": 0.2855863160968763 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1549020182893512, "bimanual_gripper_vertical_difference": 0.18377256769109884, "task_success": 0.0 }, { "completion_time": 4.945739269256592, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38407381596144907, "book-upper shelf": 0.31127548217166784, "book-lower shelf": 0.27666240189728153 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1548768252638604, "bimanual_gripper_vertical_difference": 0.18316009607125705, "task_success": 0.0 }, { "completion_time": 4.976608991622925, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3800052706207805, "book-upper shelf": 0.30685377587653095, "book-lower shelf": 0.2679651907313649 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1546135985155213, "bimanual_gripper_vertical_difference": 0.18254190488661848, "task_success": 0.0 }, { "completion_time": 5.009110450744629, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3764543950897522, "book-upper shelf": 0.3022873161527881, "book-lower shelf": 0.25937443306863706 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1546220466299488, "bimanual_gripper_vertical_difference": 0.18192199027967734, "task_success": 0.0 }, { "completion_time": 5.039537668228149, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3727222473904269, "book-upper shelf": 0.29794992989709373, "book-lower shelf": 0.2506665905505611 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.155188186374645, "bimanual_gripper_vertical_difference": 0.18130144107594154, "task_success": 0.0 }, { "completion_time": 5.069819927215576, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3677547591171605, "book-upper shelf": 0.29667802338515054, "book-lower shelf": 0.24419498122974256 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1529122856177336, "bimanual_gripper_vertical_difference": 0.18067497748519287, "task_success": 0.0 }, { "completion_time": 5.100651025772095, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3626841913730755, "book-upper shelf": 0.29977246735996727, "book-lower shelf": 0.24285771638015782 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1460107514921527, "bimanual_gripper_vertical_difference": 0.1800438284723898, "task_success": 0.0 }, { "completion_time": 5.131256580352783, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35970835842659554, "book-upper shelf": 0.3017886562648498, "book-lower shelf": 0.2423371253798264 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.139148983927254, "bimanual_gripper_vertical_difference": 0.17941637610952196, "task_success": 0.0 }, { "completion_time": 5.1640331745147705, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3577617495802191, "book-upper shelf": 0.3031245088229252, "book-lower shelf": 0.24202634074038992 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1323309380105173, "bimanual_gripper_vertical_difference": 0.17879399592681386, "task_success": 0.0 }, { "completion_time": 5.1951422691345215, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3564763429265928, "book-upper shelf": 0.30402990872272656, "book-lower shelf": 0.24185423017984592 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1255240714729515, "bimanual_gripper_vertical_difference": 0.1781775621462338, "task_success": 0.0 }, { "completion_time": 5.226032733917236, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3538344737768523, "book-upper shelf": 0.3051988347477341, "book-lower shelf": 0.2406337954850582 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1191041703154927, "bimanual_gripper_vertical_difference": 0.17756244974227184, "task_success": 0.0 }, { "completion_time": 5.257162094116211, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35022279514017984, "book-upper shelf": 0.30416717169626495, "book-lower shelf": 0.23557884454122596 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1153669647318918, "bimanual_gripper_vertical_difference": 0.17693985838251514, "task_success": 0.0 }, { "completion_time": 5.288048267364502, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3501937586585878, "book-upper shelf": 0.29890113627631393, "book-lower shelf": 0.2287079227084598 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1140650358175086, "bimanual_gripper_vertical_difference": 0.176324903657215, "task_success": 0.0 }, { "completion_time": 5.318335771560669, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35625918691064873, "book-upper shelf": 0.28992387518983853, "book-lower shelf": 0.22362512869359374 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.113682653901664, "bimanual_gripper_vertical_difference": 0.17574876821570645, "task_success": 0.0 }, { "completion_time": 5.348701238632202, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3653432657262371, "book-upper shelf": 0.2800740442035474, "book-lower shelf": 0.22105942553305555 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1134078635258289, "bimanual_gripper_vertical_difference": 0.17522673557457544, "task_success": 0.0 }, { "completion_time": 5.37968635559082, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3751972963554401, "book-upper shelf": 0.2701788811168322, "book-lower shelf": 0.2197158268174853 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1138134373774424, "bimanual_gripper_vertical_difference": 0.17475832554701504, "task_success": 0.0 }, { "completion_time": 5.410190582275391, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3851732784785896, "book-upper shelf": 0.2602782431084942, "book-lower shelf": 0.2189425791693353 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1156522135753295, "bimanual_gripper_vertical_difference": 0.17433344124627204, "task_success": 0.0 }, { "completion_time": 5.440397500991821, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3954907000789475, "book-upper shelf": 0.249765600853439, "book-lower shelf": 0.21829969941033942 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1201946599764783, "bimanual_gripper_vertical_difference": 0.17394043724135919, "task_success": 0.0 }, { "completion_time": 5.472112417221069, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.40661051337545995, "book-upper shelf": 0.23748128705143434, "book-lower shelf": 0.21712949393786385 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1268551406079912, "bimanual_gripper_vertical_difference": 0.17357287177728659, "task_success": 0.0 }, { "completion_time": 5.5053651332855225, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.42142357922232476, "book-upper shelf": 0.22112781693993064, "book-lower shelf": 0.2166565510711895 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1377798345568142, "bimanual_gripper_vertical_difference": 0.17324454577107645, "task_success": 0.0 }, { "completion_time": 5.537039756774902, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43317138634798413, "book-upper shelf": 0.20090125392949593, "book-lower shelf": 0.2102119671509544 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1464766994644568, "bimanual_gripper_vertical_difference": 0.17294839844120322, "task_success": 0.0 }, { "completion_time": 5.567834138870239, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.437712241936404, "book-upper shelf": 0.17829962884845893, "book-lower shelf": 0.19456273867277135 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1576601986940938, "bimanual_gripper_vertical_difference": 0.17266138789421617, "task_success": 0.0 }, { "completion_time": 5.599178791046143, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.438730641307446, "book-upper shelf": 0.15749160774582321, "book-lower shelf": 0.17711301169541244 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1724955059874544, "bimanual_gripper_vertical_difference": 0.17236337023993697, "task_success": 0.0 }, { "completion_time": 5.630386114120483, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43721890206221914, "book-upper shelf": 0.1465236853644603, "book-lower shelf": 0.1651972965416096 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1950787803061584, "bimanual_gripper_vertical_difference": 0.17202930153321286, "task_success": 0.0 }, { "completion_time": 5.662194490432739, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43242207217990714, "book-upper shelf": 0.14902188286996138, "book-lower shelf": 0.16020698834921848 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.219368151166599, "bimanual_gripper_vertical_difference": 0.17163744210097698, "task_success": 0.0 }, { "completion_time": 5.693079471588135, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4236780404478683, "book-upper shelf": 0.15531658752341554, "book-lower shelf": 0.15256474522412164 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2415725358714431, "bimanual_gripper_vertical_difference": 0.17118372968048856, "task_success": 0.0 }, { "completion_time": 5.7241902351379395, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.41104046106931713, "book-upper shelf": 0.15761649014469625, "book-lower shelf": 0.13331294438429644 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2630149243036581, "bimanual_gripper_vertical_difference": 0.17066397501136232, "task_success": 0.0 }, { "completion_time": 5.752499580383301, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": true }, "target_distance": { "book lift distance": 0.3877627201213364, "book-upper shelf": 0.16875470156621641, "book-lower shelf": 0.09972165748916471 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.2855006116047318, "bimanual_gripper_vertical_difference": 0.1700792881486733, "task_success": 1.0 } ]