[ { "completion_time": 0.04709315299987793, "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": -0.0004154622083291093, "book-upper shelf": 0.6012233392209628, "book-lower shelf": 0.3895862136314364 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.424369414082527e-08, "bimanual_gripper_vertical_difference": 1.122344439608014e-10, "task_success": 0.0 }, { "completion_time": 0.0773763656616211, "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": 0.0006036407778359232, "book-upper shelf": 0.6003442394593411, "book-lower shelf": 0.3888739864584152 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0005827487887262e-06, "bimanual_gripper_vertical_difference": 4.266035302791238e-10, "task_success": 0.0 }, { "completion_time": 0.10786175727844238, "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": 0.0006877435034918777, "book-upper shelf": 0.6002637395719794, "book-lower shelf": 0.3888029641401093 }, "success": 0.0, "bimanual_arm_velocity_difference": 5.045340267944889e-05, "bimanual_gripper_vertical_difference": 8.228115226197966e-10, "task_success": 0.0 }, { "completion_time": 0.13806462287902832, "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": 0.0005370306390063417, "book-upper shelf": 0.6004008424037027, "book-lower shelf": 0.38891919583421236 }, "success": 0.0, "bimanual_arm_velocity_difference": 5.776526130884651e-05, "bimanual_gripper_vertical_difference": 1.6434649197094586e-09, "task_success": 0.0 }, { "completion_time": 0.16840362548828125, "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": 0.0006805197348308534, "book-upper shelf": 0.6002726779192631, "book-lower shelf": 0.3888121890973744 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.6378360854285386e-05, "bimanual_gripper_vertical_difference": 2.783152819318957e-09, "task_success": 0.0 }, { "completion_time": 0.1991415023803711, "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": 0.0004869866571128867, "book-upper shelf": 0.600429682605533, "book-lower shelf": 0.3889320363819487 }, "success": 0.0, "bimanual_arm_velocity_difference": 3.874226025358477e-05, "bimanual_gripper_vertical_difference": 4.103530441372054e-09, "task_success": 0.0 }, { "completion_time": 0.22924494743347168, "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": 0.0006816215610796483, "book-upper shelf": 0.6002553675309641, "book-lower shelf": 0.388786161505778 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00015399111772484267, "bimanual_gripper_vertical_difference": 4.916603029465299e-09, "task_success": 0.0 }, { "completion_time": 0.2595207691192627, "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": 0.0006136265786242934, "book-upper shelf": 0.6003144117201151, "book-lower shelf": 0.38883426021699735 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00025566089229665, "bimanual_gripper_vertical_difference": 5.879237541250859e-09, "task_success": 0.0 }, { "completion_time": 0.29216861724853516, "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": 0.00044102402798085194, "book-upper shelf": 0.6004625835358729, "book-lower shelf": 0.3889537313104735 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00026723988295894956, "bimanual_gripper_vertical_difference": 6.404113239710796e-09, "task_success": 0.0 }, { "completion_time": 0.321882963180542, "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": 0.000675962767390681, "book-upper shelf": 0.6002524844643957, "book-lower shelf": 0.388778126392674 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00024066641472740517, "bimanual_gripper_vertical_difference": 6.894710269378379e-09, "task_success": 0.0 }, { "completion_time": 0.351499080657959, "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": 0.0006547557334590781, "book-upper shelf": 0.6002759891027761, "book-lower shelf": 0.38880098526778367 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00021889495814330303, "bimanual_gripper_vertical_difference": 7.270927234030596e-09, "task_success": 0.0 }, { "completion_time": 0.3813183307647705, "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": 0.00042794177290927937, "book-upper shelf": 0.6004658304928345, "book-lower shelf": 0.3889504622785779 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00020065470919241888, "bimanual_gripper_vertical_difference": 7.604324558929676e-09, "task_success": 0.0 }, { "completion_time": 0.41100120544433594, "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": 0.0006698260501309949, "book-upper shelf": 0.6002535986638725, "book-lower shelf": 0.3887759600827195 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.04417294089114912, "bimanual_gripper_vertical_difference": 0.0002059560055447897, "task_success": 0.0 }, { "completion_time": 0.44068026542663574, "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": 0.0006693363591931956, "book-upper shelf": 0.6002517468497547, "book-lower shelf": 0.3887727908138521 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.15062643647472465, "bimanual_gripper_vertical_difference": 0.0006623206313471432, "task_success": 0.0 }, { "completion_time": 0.47063779830932617, "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": 0.00047048832712481836, "book-upper shelf": 0.6004384896678665, "book-lower shelf": 0.38893518797156074 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.29321167623368743, "bimanual_gripper_vertical_difference": 0.0019043438477180264, "task_success": 0.0 }, { "completion_time": 0.5011968612670898, "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": 0.0005164800619784637, "book-upper shelf": 0.6003815367042503, "book-lower shelf": 0.388876379859947 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4519837419840258, "bimanual_gripper_vertical_difference": 0.004904424540638136, "task_success": 0.0 }, { "completion_time": 0.5313878059387207, "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": 0.0006632635154865119, "book-upper shelf": 0.6002389275177482, "book-lower shelf": 0.3887491515319222 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5780846962534117, "bimanual_gripper_vertical_difference": 0.010379348996978108, "task_success": 0.0 }, { "completion_time": 0.5618231296539307, "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": 0.0005676966260834693, "book-upper shelf": 0.6003276683367303, "book-lower shelf": 0.3888256423709358 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6662454329245927, "bimanual_gripper_vertical_difference": 0.018611828173993525, "task_success": 0.0 }, { "completion_time": 0.595679759979248, "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": 0.0004177733541128603, "book-upper shelf": 0.6004569594202191, "book-lower shelf": 0.38893032948796874 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7390527121933237, "bimanual_gripper_vertical_difference": 0.029502573921048082, "task_success": 0.0 }, { "completion_time": 0.6310060024261475, "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": 0.0005415554688298352, "book-upper shelf": 0.6003493157841325, "book-lower shelf": 0.38884251123581126 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7566675018881437, "bimanual_gripper_vertical_difference": 0.04163227392045374, "task_success": 0.0 }, { "completion_time": 0.669158935546875, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006452163271031264, "book-upper shelf": 0.6002505547786516, "book-lower shelf": 0.38875567376350023 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7608133438403645, "bimanual_gripper_vertical_difference": 0.05283022577897514, "task_success": 0.0 }, { "completion_time": 0.7033298015594482, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005728889326691577, "book-upper shelf": 0.6003096822352246, "book-lower shelf": 0.38880116040372636 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7739947973113881, "bimanual_gripper_vertical_difference": 0.0622912488916269, "task_success": 0.0 }, { "completion_time": 0.7348628044128418, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006580452215062538, "book-upper shelf": 0.6002248008672925, "book-lower shelf": 0.3887240339063807 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8236383002187927, "bimanual_gripper_vertical_difference": 0.0698394230344228, "task_success": 0.0 }, { "completion_time": 0.7685716152191162, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005013992802241907, "book-upper shelf": 0.6003758677901833, "book-lower shelf": 0.38885807859870763 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8944892258269483, "bimanual_gripper_vertical_difference": 0.07589040290265546, "task_success": 0.0 }, { "completion_time": 0.7993206977844238, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006248690800264578, "book-upper shelf": 0.6002608188385924, "book-lower shelf": 0.3887586346336398 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9532661987792018, "bimanual_gripper_vertical_difference": 0.08110407729217886, "task_success": 0.0 }, { "completion_time": 0.8299851417541504, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005291796533259951, "book-upper shelf": 0.6003417535392578, "book-lower shelf": 0.3888229984889734 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9684293315831957, "bimanual_gripper_vertical_difference": 0.0858451252574016, "task_success": 0.0 }, { "completion_time": 0.8605990409851074, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005992179128067043, "book-upper shelf": 0.600271936536703, "book-lower shelf": 0.3887595545394222 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9459351826034196, "bimanual_gripper_vertical_difference": 0.09030946110122995, "task_success": 0.0 }, { "completion_time": 0.8913311958312988, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00047648784054044047, "book-upper shelf": 0.6003760475660208, "book-lower shelf": 0.3888425819264348 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9316759768085723, "bimanual_gripper_vertical_difference": 0.09452143296152106, "task_success": 0.0 }, { "completion_time": 0.9217212200164795, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006351804918350856, "book-upper shelf": 0.6002355469110549, "book-lower shelf": 0.38872614396227695 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9129855797897146, "bimanual_gripper_vertical_difference": 0.0984843370994277, "task_success": 0.0 }, { "completion_time": 0.9525268077850342, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006554098932877173, "book-upper shelf": 0.6002117118545696, "book-lower shelf": 0.3887021536347371 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8926762251623332, "bimanual_gripper_vertical_difference": 0.1023354851141846, "task_success": 0.0 }, { "completion_time": 0.983269214630127, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000616506479243828, "book-upper shelf": 0.6002340899779596, "book-lower shelf": 0.3887120656454566 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.880370869640975, "bimanual_gripper_vertical_difference": 0.10616912534588129, "task_success": 0.0 }, { "completion_time": 1.0141561031341553, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00044509954952465236, "book-upper shelf": 0.6003921467972247, "book-lower shelf": 0.38884756370604245 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8836574614348238, "bimanual_gripper_vertical_difference": 0.10990533291906596, "task_success": 0.0 }, { "completion_time": 1.045215368270874, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006332838961989884, "book-upper shelf": 0.6002240997711048, "book-lower shelf": 0.38870726670810013 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8882911839177349, "bimanual_gripper_vertical_difference": 0.11341250653873919, "task_success": 0.0 }, { "completion_time": 1.0764129161834717, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000632427614811859, "book-upper shelf": 0.6002167799646698, "book-lower shelf": 0.3886954212761421 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8848565347079342, "bimanual_gripper_vertical_difference": 0.11662166778385431, "task_success": 0.0 }, { "completion_time": 1.107238531112671, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000656753627799711, "book-upper shelf": 0.6001983115606213, "book-lower shelf": 0.38868231258338654 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8785188610438408, "bimanual_gripper_vertical_difference": 0.11955071957286617, "task_success": 0.0 }, { "completion_time": 1.1388165950775146, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006556126630673509, "book-upper shelf": 0.6001935441339301, "book-lower shelf": 0.3886742279427794 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8833055428927061, "bimanual_gripper_vertical_difference": 0.12228275807337965, "task_success": 0.0 }, { "completion_time": 1.1693916320800781, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004313782707466851, "book-upper shelf": 0.6003870742606685, "book-lower shelf": 0.3888310426906673 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8825486394463351, "bimanual_gripper_vertical_difference": 0.12489936246528442, "task_success": 0.0 }, { "completion_time": 1.200042724609375, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00043047434892329317, "book-upper shelf": 0.6003858401971294, "book-lower shelf": 0.3888285647859967 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8786117973567604, "bimanual_gripper_vertical_difference": 0.12746962080157911, "task_success": 0.0 }, { "completion_time": 1.2308363914489746, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006297516741513576, "book-upper shelf": 0.6002094325750013, "book-lower shelf": 0.3886823802990181 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8730100582040853, "bimanual_gripper_vertical_difference": 0.13001037803447554, "task_success": 0.0 }, { "completion_time": 1.2618720531463623, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006853752181430472, "book-upper shelf": 0.6001594568652958, "book-lower shelf": 0.38864044473256715 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8665997865461799, "bimanual_gripper_vertical_difference": 0.1324951009774243, "task_success": 0.0 }, { "completion_time": 1.2978849411010742, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006513375171250946, "book-upper shelf": 0.6001725387921766, "book-lower shelf": 0.38863908201762215 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8586124301127007, "bimanual_gripper_vertical_difference": 0.1348984018381838, "task_success": 0.0 }, { "completion_time": 1.3287279605865479, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00041464394555523754, "book-upper shelf": 0.6003804817739121, "book-lower shelf": 0.3888102659360725 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8508726365202668, "bimanual_gripper_vertical_difference": 0.1371900341059488, "task_success": 0.0 }, { "completion_time": 1.3593461513519287, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004705066843482264, "book-upper shelf": 0.600348148717476, "book-lower shelf": 0.38879571663839096 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.838245036239991, "bimanual_gripper_vertical_difference": 0.13933460680951024, "task_success": 0.0 }, { "completion_time": 1.3896937370300293, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005564279141824224, "book-upper shelf": 0.6002557224533263, "book-lower shelf": 0.3887074142016813 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8231278443220466, "bimanual_gripper_vertical_difference": 0.14136509059994187, "task_success": 0.0 }, { "completion_time": 1.4202308654785156, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005777425588244789, "book-upper shelf": 0.6002252625149047, "book-lower shelf": 0.3886738783031459 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8084883648817164, "bimanual_gripper_vertical_difference": 0.1433876947909808, "task_success": 0.0 }, { "completion_time": 1.4504499435424805, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006612038162319145, "book-upper shelf": 0.6001473464994037, "book-lower shelf": 0.38860642804836953 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7971296214807886, "bimanual_gripper_vertical_difference": 0.14551009182072028, "task_success": 0.0 }, { "completion_time": 1.4810311794281006, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000672411470073464, "book-upper shelf": 0.6001367751908402, "book-lower shelf": 0.3885972034843016 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7830333478750344, "bimanual_gripper_vertical_difference": 0.14775359701364213, "task_success": 0.0 }, { "completion_time": 1.5123188495635986, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006161032366902575, "book-upper shelf": 0.6001865967758677, "book-lower shelf": 0.38863846899051496 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7845597641337579, "bimanual_gripper_vertical_difference": 0.14988531726899923, "task_success": 0.0 }, { "completion_time": 1.5432538986206055, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006285218315617014, "book-upper shelf": 0.6001763225574681, "book-lower shelf": 0.3886304701455224 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7915120393775424, "bimanual_gripper_vertical_difference": 0.1519205112391474, "task_success": 0.0 }, { "completion_time": 1.573009967803955, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009404433082490504, "book-upper shelf": 0.6001179663556515, "book-lower shelf": 0.38873796243820125 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7972222388335426, "bimanual_gripper_vertical_difference": 0.15387064807685047, "task_success": 0.0 }, { "completion_time": 1.6029343605041504, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0016762779272551098, "book-upper shelf": 0.6027665644239278, "book-lower shelf": 0.39327537787468214 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7991181019571667, "bimanual_gripper_vertical_difference": 0.1557423993250148, "task_success": 0.0 }, { "completion_time": 1.6321446895599365, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0014895078681737006, "book-upper shelf": 0.60744100667659, "book-lower shelf": 0.40028813788561973 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7972798968414456, "bimanual_gripper_vertical_difference": 0.15753116169823744, "task_success": 0.0 }, { "completion_time": 1.6616296768188477, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0012781545131226313, "book-upper shelf": 0.6113326227800794, "book-lower shelf": 0.4060412681678868 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7908607099422318, "bimanual_gripper_vertical_difference": 0.15922102413299077, "task_success": 0.0 }, { "completion_time": 1.6909167766571045, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010025134516175038, "book-upper shelf": 0.6142896318925515, "book-lower shelf": 0.4103144503798016 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7837203255702833, "bimanual_gripper_vertical_difference": 0.16079736419944965, "task_success": 0.0 }, { "completion_time": 1.72031831741333, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008100474397049195, "book-upper shelf": 0.6155334225395678, "book-lower shelf": 0.4120592320476757 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7733504724052161, "bimanual_gripper_vertical_difference": 0.16226989285476418, "task_success": 0.0 }, { "completion_time": 1.7491679191589355, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006823344747037829, "book-upper shelf": 0.6152607159257775, "book-lower shelf": 0.41157535490415076 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7628623669484295, "bimanual_gripper_vertical_difference": 0.16367133545177734, "task_success": 0.0 }, { "completion_time": 1.7793779373168945, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005667150099185614, "book-upper shelf": 0.6145442647628355, "book-lower shelf": 0.4104342100149187 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7615823781711226, "bimanual_gripper_vertical_difference": 0.16502821593707512, "task_success": 0.0 }, { "completion_time": 1.8099720478057861, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007262313310276713, "book-upper shelf": 0.6144028340546068, "book-lower shelf": 0.41031814937211425 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7661578348597824, "bimanual_gripper_vertical_difference": 0.16633999324464846, "task_success": 0.0 }, { "completion_time": 1.8402678966522217, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007220239659380123, "book-upper shelf": 0.6144074173048386, "book-lower shelf": 0.4103224874803871 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7697857992539342, "bimanual_gripper_vertical_difference": 0.16758511159551923, "task_success": 0.0 }, { "completion_time": 1.8706557750701904, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007192826859886425, "book-upper shelf": 0.6144106940356756, "book-lower shelf": 0.41032574900313407 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7652100185081329, "bimanual_gripper_vertical_difference": 0.16873669257690888, "task_success": 0.0 }, { "completion_time": 1.9028432369232178, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007201502092072376, "book-upper shelf": 0.6144107530451236, "book-lower shelf": 0.4103263579382469 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7701991049325178, "bimanual_gripper_vertical_difference": 0.16978572382087198, "task_success": 0.0 }, { "completion_time": 1.9329547882080078, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007210867360303297, "book-upper shelf": 0.6144107506070373, "book-lower shelf": 0.41032691626985235 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.786637146130617, "bimanual_gripper_vertical_difference": 0.17068059456315063, "task_success": 0.0 }, { "completion_time": 1.963632345199585, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007220236325486962, "book-upper shelf": 0.6144107479334056, "book-lower shelf": 0.41032747446984297 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8090690937966247, "bimanual_gripper_vertical_difference": 0.17138661051057272, "task_success": 0.0 }, { "completion_time": 1.9937560558319092, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007229604432021919, "book-upper shelf": 0.6144107454305132, "book-lower shelf": 0.4103280328732086 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8356010732995623, "bimanual_gripper_vertical_difference": 0.17195752243887483, "task_success": 0.0 }, { "completion_time": 2.0239474773406982, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007238971649305981, "book-upper shelf": 0.6144107431010929, "book-lower shelf": 0.41032859148220374 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8626033753692034, "bimanual_gripper_vertical_difference": 0.1725179679219733, "task_success": 0.0 }, { "completion_time": 2.054224729537964, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007248337976767383, "book-upper shelf": 0.6144107409451992, "book-lower shelf": 0.41032915029687506 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8840899701542392, "bimanual_gripper_vertical_difference": 0.17308086079487445, "task_success": 0.0 }, { "completion_time": 2.0834949016571045, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000725770341403531, "book-upper shelf": 0.6144107389628685, "book-lower shelf": 0.41032970931725404 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9041773499294466, "bimanual_gripper_vertical_difference": 0.17364874723556442, "task_success": 0.0 }, { "completion_time": 2.1131513118743896, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007267067960736728, "book-upper shelf": 0.6144107371541379, "book-lower shelf": 0.4103302685433726 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9263849468046568, "bimanual_gripper_vertical_difference": 0.1742292282442458, "task_success": 0.0 }, { "completion_time": 2.143699884414673, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005165691840351982, "book-upper shelf": 0.6146017502663952, "book-lower shelf": 0.4104902002682814 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.950223216112768, "bimanual_gripper_vertical_difference": 0.17482503612321956, "task_success": 0.0 }, { "completion_time": 2.1742591857910156, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005309371883099878, "book-upper shelf": 0.6145937492470472, "book-lower shelf": 0.41048683928112545 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9747961656630015, "bimanual_gripper_vertical_difference": 0.17545609905562182, "task_success": 0.0 }, { "completion_time": 2.2051594257354736, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005446889926327136, "book-upper shelf": 0.6145837558883152, "book-lower shelf": 0.410480125812782 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0005520364095606, "bimanual_gripper_vertical_difference": 0.17614866916204658, "task_success": 0.0 }, { "completion_time": 2.2380011081695557, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005437949150406407, "book-upper shelf": 0.6145858960285406, "book-lower shelf": 0.41048279378578595 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0207470763000264, "bimanual_gripper_vertical_difference": 0.17690306706830916, "task_success": 0.0 }, { "completion_time": 2.268247365951538, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005271899052726736, "book-upper shelf": 0.614602855251101, "book-lower shelf": 0.41049822526138213 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.038985179442096, "bimanual_gripper_vertical_difference": 0.1777001297138637, "task_success": 0.0 }, { "completion_time": 2.2992336750030518, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048158646116236437, "book-upper shelf": 0.6146453302694844, "book-lower shelf": 0.41053446611219174 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.045200615988835, "bimanual_gripper_vertical_difference": 0.17851968465517812, "task_success": 0.0 }, { "completion_time": 2.3298137187957764, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004950011482869332, "book-upper shelf": 0.6146351002687035, "book-lower shelf": 0.4105271956751673 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0441063005053433, "bimanual_gripper_vertical_difference": 0.1793477566616771, "task_success": 0.0 }, { "completion_time": 2.3608241081237793, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000517193718671316, "book-upper shelf": 0.614616899581618, "book-lower shelf": 0.41051325665461647 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0453188028834577, "bimanual_gripper_vertical_difference": 0.18018164030889616, "task_success": 0.0 }, { "completion_time": 2.3914222717285156, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005305508687422078, "book-upper shelf": 0.6146067654035031, "book-lower shelf": 0.4105060955042593 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.052058603699713, "bimanual_gripper_vertical_difference": 0.18102472126959943, "task_success": 0.0 }, { "completion_time": 2.421985626220703, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005447793609023588, "book-upper shelf": 0.6145963805607477, "book-lower shelf": 0.41049908183297423 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.060756145733492, "bimanual_gripper_vertical_difference": 0.181876839151624, "task_success": 0.0 }, { "completion_time": 2.4514291286468506, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00037186471829331325, "book-upper shelf": 0.6146556856896468, "book-lower shelf": 0.4104841596485769 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0619173864216696, "bimanual_gripper_vertical_difference": 0.18273727506133547, "task_success": 0.0 }, { "completion_time": 2.4813385009765625, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 8.191863901996221e-05, "book-upper shelf": 0.6146679138013661, "book-lower shelf": 0.4103285192163782 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0560211047339922, "bimanual_gripper_vertical_difference": 0.1835890809534437, "task_success": 0.0 }, { "completion_time": 2.5138957500457764, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000548322520507849, "book-upper shelf": 0.6142108435299256, "book-lower shelf": 0.4099237616021176 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0458826434118054, "bimanual_gripper_vertical_difference": 0.18440763064750726, "task_success": 0.0 }, { "completion_time": 2.543972969055176, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004562143357325077, "book-upper shelf": 0.6142846815697728, "book-lower shelf": 0.4099790742855994 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0332661604526299, "bimanual_gripper_vertical_difference": 0.18518843873147206, "task_success": 0.0 }, { "completion_time": 2.574018716812134, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000651971992718936, "book-upper shelf": 0.6141258784824201, "book-lower shelf": 0.4098587156820786 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0209752864260437, "bimanual_gripper_vertical_difference": 0.18593035664357638, "task_success": 0.0 }, { "completion_time": 2.604675769805908, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00017720718492830745, "book-upper shelf": 0.6145579952723891, "book-lower shelf": 0.41022104263789705 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0089003992647356, "bimanual_gripper_vertical_difference": 0.18664995194088493, "task_success": 0.0 }, { "completion_time": 2.6346848011016846, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00017839396653140938, "book-upper shelf": 0.6145767248655173, "book-lower shelf": 0.4102498134633706 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9970943817835504, "bimanual_gripper_vertical_difference": 0.1873469444979801, "task_success": 0.0 }, { "completion_time": 2.6651968955993652, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0001890328137295061, "book-upper shelf": 0.6145962692929982, "book-lower shelf": 0.4102854762594781 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9855116767137481, "bimanual_gripper_vertical_difference": 0.18802419965375908, "task_success": 0.0 }, { "completion_time": 2.696023941040039, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006553079997659861, "book-upper shelf": 0.6142169972502876, "book-lower shelf": 0.40999723746213834 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9744535428072085, "bimanual_gripper_vertical_difference": 0.18867153318150456, "task_success": 0.0 }, { "completion_time": 2.7263312339782715, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003049611010454978, "book-upper shelf": 0.6142576647565042, "book-lower shelf": 0.4098477344059197 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9746607762283506, "bimanual_gripper_vertical_difference": 0.1892866775126828, "task_success": 0.0 }, { "completion_time": 2.7564070224761963, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007071280939418001, "book-upper shelf": 0.6138811585213769, "book-lower shelf": 0.4095251037583541 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9804158739643462, "bimanual_gripper_vertical_difference": 0.18986287887190736, "task_success": 0.0 }, { "completion_time": 2.786081552505493, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000900932154794809, "book-upper shelf": 0.6135210541269239, "book-lower shelf": 0.40910176788581587 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9903773782816101, "bimanual_gripper_vertical_difference": 0.19039070214998205, "task_success": 0.0 }, { "completion_time": 2.81622576713562, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.001315930663639664, "book-upper shelf": 0.6121866974423416, "book-lower shelf": 0.407348856842455 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0030262964680816, "bimanual_gripper_vertical_difference": 0.19088281345574706, "task_success": 0.0 }, { "completion_time": 2.8459908962249756, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005011892757378344, "book-upper shelf": 0.6120910941897658, "book-lower shelf": 0.40671221623695886 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0157933185931063, "bimanual_gripper_vertical_difference": 0.19137008738079272, "task_success": 0.0 }, { "completion_time": 2.8770458698272705, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007227210800210271, "book-upper shelf": 0.6118552118887137, "book-lower shelf": 0.4064913441908727 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.025776467845906, "bimanual_gripper_vertical_difference": 0.1918829137372992, "task_success": 0.0 }, { "completion_time": 2.9083006381988525, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000733768784654365, "book-upper shelf": 0.6118459762040207, "book-lower shelf": 0.4064841345316011 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0343227807385786, "bimanual_gripper_vertical_difference": 0.1924358899584025, "task_success": 0.0 }, { "completion_time": 2.938108444213867, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006987663669071331, "book-upper shelf": 0.6121270376779712, "book-lower shelf": 0.406885888603528 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0455376901193922, "bimanual_gripper_vertical_difference": 0.19302524620425074, "task_success": 0.0 }, { "completion_time": 2.968844175338745, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008618471048803533, "book-upper shelf": 0.6124447554608485, "book-lower shelf": 0.40746227271859303 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0572374871414503, "bimanual_gripper_vertical_difference": 0.19364704956155532, "task_success": 0.0 }, { "completion_time": 2.9985568523406982, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009313159589339204, "book-upper shelf": 0.6125756627154106, "book-lower shelf": 0.4077009660104157 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0675463267356018, "bimanual_gripper_vertical_difference": 0.19430286364135277, "task_success": 0.0 }, { "completion_time": 3.028687000274658, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009912603351106553, "book-upper shelf": 0.6122691499755629, "book-lower shelf": 0.40727652369659084 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0759544287755458, "bimanual_gripper_vertical_difference": 0.1949803454866377, "task_success": 0.0 }, { "completion_time": 3.059386968612671, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010317032037966412, "book-upper shelf": 0.6117523349536063, "book-lower shelf": 0.406523664937736 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0814504886726932, "bimanual_gripper_vertical_difference": 0.1956542668618956, "task_success": 0.0 }, { "completion_time": 3.089641571044922, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007955359814799667, "book-upper shelf": 0.6114014058972785, "book-lower shelf": 0.40585212752679833 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.085261609446504, "bimanual_gripper_vertical_difference": 0.19630088940772925, "task_success": 0.0 }, { "completion_time": 3.1221070289611816, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006254506708697205, "book-upper shelf": 0.6114575773634288, "book-lower shelf": 0.40583356279267724 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0855148338059317, "bimanual_gripper_vertical_difference": 0.1969034691481029, "task_success": 0.0 }, { "completion_time": 3.1523540019989014, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007228573271601535, "book-upper shelf": 0.6113709167759769, "book-lower shelf": 0.4057620947810695 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0818121638093876, "bimanual_gripper_vertical_difference": 0.19747753709715637, "task_success": 0.0 }, { "completion_time": 3.1821372509002686, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007245631364479754, "book-upper shelf": 0.6113700040073411, "book-lower shelf": 0.40576175461388836 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0741736004478508, "bimanual_gripper_vertical_difference": 0.1980527846377266, "task_success": 0.0 }, { "completion_time": 3.212141275405884, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007256333512577484, "book-upper shelf": 0.611369660766777, "book-lower shelf": 0.4057618868755061 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0676494890865476, "bimanual_gripper_vertical_difference": 0.19865816886225868, "task_success": 0.0 }, { "completion_time": 3.2454802989959717, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007266993313481684, "book-upper shelf": 0.6113693213895949, "book-lower shelf": 0.4057620223886841 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0644520526160923, "bimanual_gripper_vertical_difference": 0.19931500626976947, "task_success": 0.0 }, { "completion_time": 3.275632381439209, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007392111277305657, "book-upper shelf": 0.6113745809940218, "book-lower shelf": 0.4057775392950072 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0623173981848144, "bimanual_gripper_vertical_difference": 0.20002386043217202, "task_success": 0.0 }, { "completion_time": 3.3058440685272217, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010619274720651273, "book-upper shelf": 0.6099713446306259, "book-lower shelf": 0.40385702426055115 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0559010359675733, "bimanual_gripper_vertical_difference": 0.20067530532224367, "task_success": 0.0 }, { "completion_time": 3.33774733543396, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.005477860386173705, "book-upper shelf": 0.6043319385535519, "book-lower shelf": 0.3980291106043462 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0467104800725744, "bimanual_gripper_vertical_difference": 0.20124055357752735, "task_success": 0.0 }, { "completion_time": 3.368344306945801, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.005660881265041606, "book-upper shelf": 0.6041970805838013, "book-lower shelf": 0.39793758524443285 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0384946980131193, "bimanual_gripper_vertical_difference": 0.20177912155043998, "task_success": 0.0 }, { "completion_time": 3.3989343643188477, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.007352708900242644, "book-upper shelf": 0.6059437257032155, "book-lower shelf": 0.4016231427598442 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0372851785924018, "bimanual_gripper_vertical_difference": 0.20228891279245576, "task_success": 0.0 }, { "completion_time": 3.428907871246338, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.01245918394458223, "book-upper shelf": 0.6084150167378968, "book-lower shelf": 0.40843220527171564 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.045642476839467, "bimanual_gripper_vertical_difference": 0.20275802469709056, "task_success": 0.0 }, { "completion_time": 3.458601236343384, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.02315525695814402, "book-upper shelf": 0.6073074134114899, "book-lower shelf": 0.4132040769871271 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0557459410940324, "bimanual_gripper_vertical_difference": 0.20314868317144885, "task_success": 0.0 }, { "completion_time": 3.488103151321411, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0421043567310343, "book-upper shelf": 0.5977184681948698, "book-lower shelf": 0.4105047700538026 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0650461536784195, "bimanual_gripper_vertical_difference": 0.20339627502405225, "task_success": 0.0 }, { "completion_time": 3.517984390258789, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0677753939630098, "book-upper shelf": 0.5806520085555378, "book-lower shelf": 0.40130444342268645 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0727889615771455, "bimanual_gripper_vertical_difference": 0.20344619778345532, "task_success": 0.0 }, { "completion_time": 3.5477843284606934, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.08840832231325224, "book-upper shelf": 0.5674484218626483, "book-lower shelf": 0.39502771837946554 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0786346970726342, "bimanual_gripper_vertical_difference": 0.20333729575687376, "task_success": 0.0 }, { "completion_time": 3.5785508155822754, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.10600004345963554, "book-upper shelf": 0.5571272167314343, "book-lower shelf": 0.391283740391797 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0845641541062385, "bimanual_gripper_vertical_difference": 0.2030940258194232, "task_success": 0.0 }, { "completion_time": 3.6090645790100098, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.12263273806262653, "book-upper shelf": 0.5473710274885943, "book-lower shelf": 0.3879665475839488 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0891864960639663, "bimanual_gripper_vertical_difference": 0.2027263362826104, "task_success": 0.0 }, { "completion_time": 3.6398706436157227, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.1378491827956878, "book-upper shelf": 0.5400726866375786, "book-lower shelf": 0.3873949475065509 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0934512643738579, "bimanual_gripper_vertical_difference": 0.20224931133650362, "task_success": 0.0 }, { "completion_time": 3.6704769134521484, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.15244685339288977, "book-upper shelf": 0.535144478555057, "book-lower shelf": 0.3898263386413511 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0974298092652044, "bimanual_gripper_vertical_difference": 0.20167704319116136, "task_success": 0.0 }, { "completion_time": 3.700566053390503, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.16719874333230655, "book-upper shelf": 0.5313151102218766, "book-lower shelf": 0.3938848510725261 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1011537641171099, "bimanual_gripper_vertical_difference": 0.20101508454416014, "task_success": 0.0 }, { "completion_time": 3.7317378520965576, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.1826355810828838, "book-upper shelf": 0.5281830819614082, "book-lower shelf": 0.39928532199067673 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1048062947504742, "bimanual_gripper_vertical_difference": 0.20025781741048157, "task_success": 0.0 }, { "completion_time": 3.7613015174865723, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.19721875309417292, "book-upper shelf": 0.5270928913377826, "book-lower shelf": 0.4067675004545479 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1087654514603382, "bimanual_gripper_vertical_difference": 0.19941047974849851, "task_success": 0.0 }, { "completion_time": 3.790614604949951, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.21031691999554514, "book-upper shelf": 0.5289369000873901, "book-lower shelf": 0.4169620125105714 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1129251379036493, "bimanual_gripper_vertical_difference": 0.1984881312544451, "task_success": 0.0 }, { "completion_time": 3.8206706047058105, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.22277598415298283, "book-upper shelf": 0.5325329572030247, "book-lower shelf": 0.4287305590231219 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1174062101874727, "bimanual_gripper_vertical_difference": 0.19750429204123338, "task_success": 0.0 }, { "completion_time": 3.8502516746520996, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.23677850434477565, "book-upper shelf": 0.5341969139975172, "book-lower shelf": 0.43872591182852955 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1205805951671426, "bimanual_gripper_vertical_difference": 0.19645449846228547, "task_success": 0.0 }, { "completion_time": 3.880673408508301, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.25183159749931716, "book-upper shelf": 0.5344981718783943, "book-lower shelf": 0.4474542146783025 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1228625211339205, "bimanual_gripper_vertical_difference": 0.19533387112741385, "task_success": 0.0 }, { "completion_time": 3.9105794429779053, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.26706653562062, "book-upper shelf": 0.5338698285615372, "book-lower shelf": 0.4550235352163189 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.123550078562316, "bimanual_gripper_vertical_difference": 0.19413657111288515, "task_success": 0.0 }, { "completion_time": 3.9407176971435547, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.28140127737633425, "book-upper shelf": 0.5322878451531162, "book-lower shelf": 0.46088926805836566 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1220545519179577, "bimanual_gripper_vertical_difference": 0.19286465075676557, "task_success": 0.0 }, { "completion_time": 3.9704532623291016, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.29415503596705317, "book-upper shelf": 0.5278294191930107, "book-lower shelf": 0.4625722121816909 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1184735923246338, "bimanual_gripper_vertical_difference": 0.19152548440896566, "task_success": 0.0 }, { "completion_time": 3.999758720397949, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2994446766999036, "book-upper shelf": 0.5146145887248694, "book-lower shelf": 0.45033566838341527 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1147786119158032, "bimanual_gripper_vertical_difference": 0.19012010010085134, "task_success": 0.0 }, { "completion_time": 4.027736186981201, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2899714448833507, "book-upper shelf": 0.5084022495792139, "book-lower shelf": 0.43792898245018663 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1112853443802617, "bimanual_gripper_vertical_difference": 0.18868332837953766, "task_success": 0.0 }, { "completion_time": 4.057558298110962, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.29342484125676316, "book-upper shelf": 0.5023269105294645, "book-lower shelf": 0.43283010104989483 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1076658553294223, "bimanual_gripper_vertical_difference": 0.18731238255982333, "task_success": 0.0 }, { "completion_time": 4.087235689163208, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.29982752007694613, "book-upper shelf": 0.49505739266527055, "book-lower shelf": 0.428070546222224 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1019384661075562, "bimanual_gripper_vertical_difference": 0.18600079649173687, "task_success": 0.0 }, { "completion_time": 4.117278575897217, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.30433983191399483, "book-upper shelf": 0.48949730676447095, "book-lower shelf": 0.42425496084208447 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0953232615793993, "bimanual_gripper_vertical_difference": 0.18473461227868668, "task_success": 0.0 }, { "completion_time": 4.146967172622681, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.30888028138429846, "book-upper shelf": 0.48369335697300586, "book-lower shelf": 0.4202140720938776 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0891802380396698, "bimanual_gripper_vertical_difference": 0.18350669593014934, "task_success": 0.0 }, { "completion_time": 4.176726579666138, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3143775123908935, "book-upper shelf": 0.4773389928208961, "book-lower shelf": 0.41614928604537715 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0838925108322048, "bimanual_gripper_vertical_difference": 0.18231161746775942, "task_success": 0.0 }, { "completion_time": 4.206098794937134, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.32073637251035414, "book-upper shelf": 0.4701083195291377, "book-lower shelf": 0.4116563699954984 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0797443849620942, "bimanual_gripper_vertical_difference": 0.1811481997979774, "task_success": 0.0 }, { "completion_time": 4.23818564414978, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3272150663137058, "book-upper shelf": 0.4621105208546016, "book-lower shelf": 0.40644274025736793 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0752888878594873, "bimanual_gripper_vertical_difference": 0.1800183327934174, "task_success": 0.0 }, { "completion_time": 4.267038106918335, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3327957567225147, "book-upper shelf": 0.45445085381265615, "book-lower shelf": 0.4011525360008218 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0706731496202793, "bimanual_gripper_vertical_difference": 0.17892159433952193, "task_success": 0.0 }, { "completion_time": 4.2968950271606445, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3371415073598777, "book-upper shelf": 0.4463921328105467, "book-lower shelf": 0.39471987502580014 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0667041936634996, "bimanual_gripper_vertical_difference": 0.17785639047909016, "task_success": 0.0 }, { "completion_time": 4.327660799026489, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.33715791073053103, "book-upper shelf": 0.4402851169736704, "book-lower shelf": 0.387810399001384 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0625782051201713, "bimanual_gripper_vertical_difference": 0.1768047634925613, "task_success": 0.0 }, { "completion_time": 4.356923818588257, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3343317403006204, "book-upper shelf": 0.44138415998612435, "book-lower shelf": 0.3872649615015221 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0553045091483801, "bimanual_gripper_vertical_difference": 0.17576307065989455, "task_success": 0.0 }, { "completion_time": 4.386645793914795, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3324471704482005, "book-upper shelf": 0.44241175454408577, "book-lower shelf": 0.387239303089482 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0480552144251516, "bimanual_gripper_vertical_difference": 0.17473529222962134, "task_success": 0.0 }, { "completion_time": 4.416032314300537, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.33130996015754743, "book-upper shelf": 0.443039233954423, "book-lower shelf": 0.38723359993038137 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0408579208099626, "bimanual_gripper_vertical_difference": 0.17372160845025972, "task_success": 0.0 }, { "completion_time": 4.445185661315918, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.33057966206005396, "book-upper shelf": 0.4434561680791895, "book-lower shelf": 0.3872464793930658 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0337326562516895, "bimanual_gripper_vertical_difference": 0.17272192470638373, "task_success": 0.0 }, { "completion_time": 4.4741151332855225, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3301189943791355, "book-upper shelf": 0.44372302074941683, "book-lower shelf": 0.38725924926190214 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0266946217981583, "bimanual_gripper_vertical_difference": 0.17173597651100078, "task_success": 0.0 }, { "completion_time": 4.503397464752197, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.32982532994376557, "book-upper shelf": 0.4438837287294975, "book-lower shelf": 0.3872567063019632 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0197795309898237, "bimanual_gripper_vertical_difference": 0.17076347149916837, "task_success": 0.0 }, { "completion_time": 4.533094644546509, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3283434291485531, "book-upper shelf": 0.4442172240773854, "book-lower shelf": 0.38669648571865034 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.012932896904271, "bimanual_gripper_vertical_difference": 0.16981350833534156, "task_success": 0.0 }, { "completion_time": 4.562636852264404, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3286388512250876, "book-upper shelf": 0.448964725899693, "book-lower shelf": 0.3923264401025938 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0090729076687561, "bimanual_gripper_vertical_difference": 0.16889707187191602, "task_success": 0.0 }, { "completion_time": 4.592617511749268, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.32800218471837794, "book-upper shelf": 0.46337849590651997, "book-lower shelf": 0.4083586836954442 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0128473610289752, "bimanual_gripper_vertical_difference": 0.16799588867093831, "task_success": 0.0 }, { "completion_time": 4.622450351715088, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3347299051961389, "book-upper shelf": 0.47748030518988177, "book-lower shelf": 0.428179508929005 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0178556831648542, "bimanual_gripper_vertical_difference": 0.16714760375246013, "task_success": 0.0 }, { "completion_time": 4.65198826789856, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.34291554602665897, "book-upper shelf": 0.4869810067738454, "book-lower shelf": 0.44331903838945513 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0190993921949334, "bimanual_gripper_vertical_difference": 0.16635178272052292, "task_success": 0.0 }, { "completion_time": 4.681972980499268, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3503007830580164, "book-upper shelf": 0.4928332795080076, "book-lower shelf": 0.453765104650348 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0180043839115813, "bimanual_gripper_vertical_difference": 0.1656003746264604, "task_success": 0.0 }, { "completion_time": 4.712782144546509, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35773689160094324, "book-upper shelf": 0.49502400747854597, "book-lower shelf": 0.46013998786379917 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0149197612688574, "bimanual_gripper_vertical_difference": 0.16489411059452505, "task_success": 0.0 }, { "completion_time": 4.743118524551392, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3651262037354174, "book-upper shelf": 0.4947147295283616, "book-lower shelf": 0.46374731354010357 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0108581371866092, "bimanual_gripper_vertical_difference": 0.16423269730337922, "task_success": 0.0 }, { "completion_time": 4.773827314376831, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3724651053556717, "book-upper shelf": 0.49216708785271857, "book-lower shelf": 0.4649315989081235 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0067315851179235, "bimanual_gripper_vertical_difference": 0.1636166234921863, "task_success": 0.0 }, { "completion_time": 4.804479122161865, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3800695746075108, "book-upper shelf": 0.487244127340479, "book-lower shelf": 0.4637721528940576 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0033961548735872, "bimanual_gripper_vertical_difference": 0.163046397536132, "task_success": 0.0 }, { "completion_time": 4.834737062454224, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3880712008381476, "book-upper shelf": 0.48009288331890376, "book-lower shelf": 0.4605511346352137 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0010132054998968, "bimanual_gripper_vertical_difference": 0.16252425160926856, "task_success": 0.0 }, { "completion_time": 4.864230394363403, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3963906153368336, "book-upper shelf": 0.47090127046467023, "book-lower shelf": 0.4554811447095497 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9996150993277675, "bimanual_gripper_vertical_difference": 0.16205240302078766, "task_success": 0.0 }, { "completion_time": 4.8947484493255615, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4050176852675934, "book-upper shelf": 0.45951989682438893, "book-lower shelf": 0.44846627834844854 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.999422551274758, "bimanual_gripper_vertical_difference": 0.16163003478981144, "task_success": 0.0 }, { "completion_time": 4.927082538604736, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4135872235377335, "book-upper shelf": 0.44585722039348785, "book-lower shelf": 0.43928600857134253 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0006258114174258, "bimanual_gripper_vertical_difference": 0.1612544719900603, "task_success": 0.0 }, { "completion_time": 4.958007574081421, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.42169318428561964, "book-upper shelf": 0.4306482419673621, "book-lower shelf": 0.42852447423704304 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0023690298029824, "bimanual_gripper_vertical_difference": 0.16092116552094346, "task_success": 0.0 }, { "completion_time": 4.989502191543579, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.42856915546686547, "book-upper shelf": 0.4145662358772147, "book-lower shelf": 0.4164451376115376 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0044379486735435, "bimanual_gripper_vertical_difference": 0.16062234841379167, "task_success": 0.0 }, { "completion_time": 5.020269155502319, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4326478414686675, "book-upper shelf": 0.39815761362584623, "book-lower shelf": 0.40261572611615465 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.005974378987722, "bimanual_gripper_vertical_difference": 0.16034713625599, "task_success": 0.0 }, { "completion_time": 5.050201416015625, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4330496595902261, "book-upper shelf": 0.38210302915342775, "book-lower shelf": 0.387001986880606 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.007296378991728, "bimanual_gripper_vertical_difference": 0.16008076270446256, "task_success": 0.0 }, { "completion_time": 5.08011794090271, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43125518253541795, "book-upper shelf": 0.36688601696701395, "book-lower shelf": 0.3707957283783686 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.008289812724967, "bimanual_gripper_vertical_difference": 0.15981701920086, "task_success": 0.0 }, { "completion_time": 5.109354019165039, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4286169839143087, "book-upper shelf": 0.3522913538929248, "book-lower shelf": 0.35453369354334824 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0093276466197374, "bimanual_gripper_vertical_difference": 0.15955403730870457, "task_success": 0.0 }, { "completion_time": 5.138517379760742, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4250326595948931, "book-upper shelf": 0.3388455291665728, "book-lower shelf": 0.3385795829032802 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0100133372967475, "bimanual_gripper_vertical_difference": 0.15928635163764154, "task_success": 0.0 }, { "completion_time": 5.167828798294067, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4194811278949985, "book-upper shelf": 0.328916955776685, "book-lower shelf": 0.3244570130863661 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0091166361607875, "bimanual_gripper_vertical_difference": 0.15900200080165408, "task_success": 0.0 }, { "completion_time": 5.197596311569214, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.41099701721327697, "book-upper shelf": 0.32484133035738144, "book-lower shelf": 0.313735364848105 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0060811584886042, "bimanual_gripper_vertical_difference": 0.1586855305198604, "task_success": 0.0 }, { "completion_time": 5.227168560028076, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4023172128598912, "book-upper shelf": 0.3212769469798929, "book-lower shelf": 0.3030717675153023 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0029707363820506, "bimanual_gripper_vertical_difference": 0.15833918783880896, "task_success": 0.0 }, { "completion_time": 5.259319067001343, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.39470095071513167, "book-upper shelf": 0.31737897272306254, "book-lower shelf": 0.29259597339403753 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9999433068899282, "bimanual_gripper_vertical_difference": 0.157970034971473, "task_success": 0.0 }, { "completion_time": 5.288327217102051, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3890857810089373, "book-upper shelf": 0.3129526149171992, "book-lower shelf": 0.28294370497995047 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9968563962920632, "bimanual_gripper_vertical_difference": 0.1575905791865086, "task_success": 0.0 }, { "completion_time": 5.317764759063721, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.386241859063818, "book-upper shelf": 0.3074653930692391, "book-lower shelf": 0.2743214894624021 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9937944073116709, "bimanual_gripper_vertical_difference": 0.15721505964471097, "task_success": 0.0 }, { "completion_time": 5.3467512130737305, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3857874132225837, "book-upper shelf": 0.3010229211977438, "book-lower shelf": 0.2666614311783322 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9905493094839293, "bimanual_gripper_vertical_difference": 0.15685478729201074, "task_success": 0.0 }, { "completion_time": 5.37548565864563, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38661620936831664, "book-upper shelf": 0.294487567945513, "book-lower shelf": 0.2600472805609283 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9866311569819648, "bimanual_gripper_vertical_difference": 0.15651551108085027, "task_success": 0.0 }, { "completion_time": 5.404397010803223, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3875508805816229, "book-upper shelf": 0.28840355371688176, "book-lower shelf": 0.25404438408892327 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9824511162940345, "bimanual_gripper_vertical_difference": 0.15619682406108432, "task_success": 0.0 }, { "completion_time": 5.433133840560913, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38808951279899084, "book-upper shelf": 0.2831811113868531, "book-lower shelf": 0.24863372774367076 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9784334673913104, "bimanual_gripper_vertical_difference": 0.15589366393698473, "task_success": 0.0 }, { "completion_time": 5.461841583251953, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3885638251734721, "book-upper shelf": 0.27879615739871816, "book-lower shelf": 0.24410665954451508 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9744152033640838, "bimanual_gripper_vertical_difference": 0.15560101955595904, "task_success": 0.0 }, { "completion_time": 5.490504026412964, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3894706485368121, "book-upper shelf": 0.2746570528041493, "book-lower shelf": 0.2402994500055946 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9704860644027954, "bimanual_gripper_vertical_difference": 0.15531700874612578, "task_success": 0.0 }, { "completion_time": 5.520676136016846, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3902139574084956, "book-upper shelf": 0.2708999295751069, "book-lower shelf": 0.23677023316865184 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9660013911089045, "bimanual_gripper_vertical_difference": 0.1550371465341305, "task_success": 0.0 }, { "completion_time": 5.549164533615112, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.38810501458352376, "book-upper shelf": 0.2701708376174444, "book-lower shelf": 0.23372441908818067 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.96070928853217, "bimanual_gripper_vertical_difference": 0.15474992969332474, "task_success": 0.0 }, { "completion_time": 5.578481435775757, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3832549084406772, "book-upper shelf": 0.2726926694054974, "book-lower shelf": 0.23153332322194492 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9558810672260123, "bimanual_gripper_vertical_difference": 0.1544526177732535, "task_success": 0.0 }, { "completion_time": 5.607524156570435, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37907211898205306, "book-upper shelf": 0.27492043969813545, "book-lower shelf": 0.2297124753129555 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9509131663308636, "bimanual_gripper_vertical_difference": 0.1541496706007299, "task_success": 0.0 }, { "completion_time": 5.636581659317017, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37641564062916555, "book-upper shelf": 0.27629205004611057, "book-lower shelf": 0.2285075213366776 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9459047182068319, "bimanual_gripper_vertical_difference": 0.153844769916665, "task_success": 0.0 }, { "completion_time": 5.666318416595459, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3747805078829266, "book-upper shelf": 0.27714321555106547, "book-lower shelf": 0.22777517686464413 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.940893241875479, "bimanual_gripper_vertical_difference": 0.15354018565413402, "task_success": 0.0 }, { "completion_time": 5.695343255996704, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37377166356741276, "book-upper shelf": 0.2776768728076035, "book-lower shelf": 0.2273341364158171 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9359034819555289, "bimanual_gripper_vertical_difference": 0.15323719215348672, "task_success": 0.0 }, { "completion_time": 5.724470853805542, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37316442453626875, "book-upper shelf": 0.27799613390860206, "book-lower shelf": 0.2270664649296606 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9309477361905854, "bimanual_gripper_vertical_difference": 0.15293649845284504, "task_success": 0.0 }, { "completion_time": 5.753693103790283, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37279339281371027, "book-upper shelf": 0.27819375491461246, "book-lower shelf": 0.22690610333277844 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9260227212273837, "bimanual_gripper_vertical_difference": 0.1526384985219362, "task_success": 0.0 }, { "completion_time": 5.783038139343262, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3725649609413221, "book-upper shelf": 0.2783167312256749, "book-lower shelf": 0.22680900789215253 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.921152087394355, "bimanual_gripper_vertical_difference": 0.15234337495772007, "task_success": 0.0 }, { "completion_time": 5.812155723571777, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37242809605225646, "book-upper shelf": 0.2783896531727749, "book-lower shelf": 0.22674991303211586 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.91633584616017, "bimanual_gripper_vertical_difference": 0.15205120750529916, "task_success": 0.0 }, { "completion_time": 5.841350793838501, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37045810786804034, "book-upper shelf": 0.27922966701903346, "book-lower shelf": 0.2256408879855593 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9117589119211558, "bimanual_gripper_vertical_difference": 0.15175932974642367, "task_success": 0.0 }, { "completion_time": 5.8709633350372314, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3679370026015282, "book-upper shelf": 0.2781587159952121, "book-lower shelf": 0.2215295835455115 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9087126007756507, "bimanual_gripper_vertical_difference": 0.15146729387793842, "task_success": 0.0 }, { "completion_time": 5.898555278778076, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3677788909640639, "book-upper shelf": 0.2741867788285333, "book-lower shelf": 0.21634142624661926 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.906216513960508, "bimanual_gripper_vertical_difference": 0.15118907821173933, "task_success": 0.0 }, { "completion_time": 5.92560076713562, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3721620547256629, "book-upper shelf": 0.268380646193294, "book-lower shelf": 0.214037107218743 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9033115663660053, "bimanual_gripper_vertical_difference": 0.1509554213547744, "task_success": 0.0 }, { "completion_time": 5.952977895736694, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.37677253096688224, "book-upper shelf": 0.2620556721578042, "book-lower shelf": 0.21148833619192425 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9006185479052704, "bimanual_gripper_vertical_difference": 0.15076782966230423, "task_success": 0.0 }, { "completion_time": 5.9808502197265625, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3805819332914361, "book-upper shelf": 0.2563212187223731, "book-lower shelf": 0.20887950682831363 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.898739751606407, "bimanual_gripper_vertical_difference": 0.15061865032351815, "task_success": 0.0 }, { "completion_time": 6.0080482959747314, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.38379412821116576, "book-upper shelf": 0.25056117530484223, "book-lower shelf": 0.20565220436505308 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8985878935054522, "bimanual_gripper_vertical_difference": 0.15050291512911199, "task_success": 0.0 }, { "completion_time": 6.035250186920166, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3867896640679013, "book-upper shelf": 0.24422642149730456, "book-lower shelf": 0.20157783404100274 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9017451723046274, "bimanual_gripper_vertical_difference": 0.15042093085425967, "task_success": 0.0 }, { "completion_time": 6.062509059906006, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": false }, "target_distance": { "book lift distance": 0.3894841730768893, "book-upper shelf": 0.23761305975493668, "book-lower shelf": 0.1969110340833612 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9092224259082051, "bimanual_gripper_vertical_difference": 0.15037528181065848, "task_success": 0.0 } ]