[ { "completion_time": 0.04693317413330078, "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": -0.0006576020486082079, "book-upper shelf": 0.594597282390425, "book-lower shelf": 0.37912346364961996 }, "success": 0.0, "bimanual_arm_velocity_difference": 5.010537317842734e-06, "bimanual_gripper_vertical_difference": 8.209748436627251e-10, "task_success": 0.0 }, { "completion_time": 0.07705926895141602, "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": 0.0005674375990556424, "book-upper shelf": 0.5935212470905351, "book-lower shelf": 0.3782319579102222 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.636568649140499e-06, "bimanual_gripper_vertical_difference": 1.4894496747075436e-09, "task_success": 0.0 }, { "completion_time": 0.10760045051574707, "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": 0.0007380219397270515, "book-upper shelf": 0.5933633158068492, "book-lower shelf": 0.3780951891261816 }, "success": 0.0, "bimanual_arm_velocity_difference": 8.889964711843168e-06, "bimanual_gripper_vertical_difference": 1.77164904968663e-09, "task_success": 0.0 }, { "completion_time": 0.13758492469787598, "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": 0.0006505387417128361, "book-upper shelf": 0.5934381687601085, "book-lower shelf": 0.3781556908677344 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.28009934737089326, "bimanual_gripper_vertical_difference": 0.0006091278781490406, "task_success": 0.0 }, { "completion_time": 0.1677563190460205, "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": 0.0005268709697480167, "book-upper shelf": 0.5935510080046148, "book-lower shelf": 0.3782522508901093 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6375956124680824, "bimanual_gripper_vertical_difference": 0.0011829989694953635, "task_success": 0.0 }, { "completion_time": 0.19942140579223633, "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": 0.0005808829610106647, "book-upper shelf": 0.5934951712886885, "book-lower shelf": 0.37819979210486765 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9258216265497033, "bimanual_gripper_vertical_difference": 0.003316397436108861, "task_success": 0.0 }, { "completion_time": 0.23099994659423828, "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": 0.0006989515326790707, "book-upper shelf": 0.5933881104685272, "book-lower shelf": 0.3781086575556918 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1652621039701738, "bimanual_gripper_vertical_difference": 0.009177138357206951, "task_success": 0.0 }, { "completion_time": 0.26282548904418945, "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": 0.0006042795767430276, "book-upper shelf": 0.5934672313678493, "book-lower shelf": 0.3781711791979742 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4100968633831084, "bimanual_gripper_vertical_difference": 0.01997114961851046, "task_success": 0.0 }, { "completion_time": 0.29340648651123047, "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": 0.0005262332895651367, "book-upper shelf": 0.5935352457917371, "book-lower shelf": 0.3782271013182323 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.581602850925316, "bimanual_gripper_vertical_difference": 0.03510000811184168, "task_success": 0.0 }, { "completion_time": 0.3237888813018799, "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": 0.0005471885453842695, "book-upper shelf": 0.5935295360338679, "book-lower shelf": 0.378231783083888 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7162088985966082, "bimanual_gripper_vertical_difference": 0.053065441763705326, "task_success": 0.0 }, { "completion_time": 0.3537726402282715, "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": 0.0004260956568109542, "book-upper shelf": 0.5936153230777038, "book-lower shelf": 0.37828757736680446 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7709904811872903, "bimanual_gripper_vertical_difference": 0.0708131367307342, "task_success": 0.0 }, { "completion_time": 0.38647007942199707, "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": 0.0005017399467520667, "book-upper shelf": 0.5935502868075234, "book-lower shelf": 0.37823475963637665 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7136382320194097, "bimanual_gripper_vertical_difference": 0.08578660725437877, "task_success": 0.0 }, { "completion_time": 0.41649508476257324, "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": 0.0006576387411728613, "book-upper shelf": 0.593405287247857, "book-lower shelf": 0.378108711513951 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.672030537552375, "bimanual_gripper_vertical_difference": 0.09672962836405093, "task_success": 0.0 }, { "completion_time": 0.4486401081085205, "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": 0.0006553695827065109, "book-upper shelf": 0.593411431818911, "book-lower shelf": 0.3781168771098618 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.677251238366422, "bimanual_gripper_vertical_difference": 0.10391424587699102, "task_success": 0.0 }, { "completion_time": 0.479280948638916, "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": 0.0005696874000692409, "book-upper shelf": 0.5934829113076553, "book-lower shelf": 0.3781732634195771 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6846300909596672, "bimanual_gripper_vertical_difference": 0.10809666329491782, "task_success": 0.0 }, { "completion_time": 0.5110392570495605, "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": 0.0005408326959822629, "book-upper shelf": 0.5935014644692711, "book-lower shelf": 0.37818359295371007 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6254439177455975, "bimanual_gripper_vertical_difference": 0.11168177182377975, "task_success": 0.0 }, { "completion_time": 0.5421798229217529, "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": 0.0005064368611519265, "book-upper shelf": 0.5935384436565784, "book-lower shelf": 0.37821923208855784 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5921549239253296, "bimanual_gripper_vertical_difference": 0.11655640949725407, "task_success": 0.0 }, { "completion_time": 0.573580265045166, "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": 0.0005632837302514959, "book-upper shelf": 0.5934740342075446, "book-lower shelf": 0.37815516252272174 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5861143401165405, "bimanual_gripper_vertical_difference": 0.12254520821084992, "task_success": 0.0 }, { "completion_time": 0.6043198108673096, "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": 0.0006393359269574184, "book-upper shelf": 0.593414632538228, "book-lower shelf": 0.37811145933265383 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5974548148563001, "bimanual_gripper_vertical_difference": 0.12889663259249057, "task_success": 0.0 }, { "completion_time": 0.6354753971099854, "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": 0.000718892761598755, "book-upper shelf": 0.593340330089291, "book-lower shelf": 0.3780466566996538 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5541463796763568, "bimanual_gripper_vertical_difference": 0.13494104097207835, "task_success": 0.0 }, { "completion_time": 0.6687090396881104, "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": 0.0006824478899477571, "book-upper shelf": 0.5933708329581681, "book-lower shelf": 0.37807079424333273 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5614911034629988, "bimanual_gripper_vertical_difference": 0.14053249756851402, "task_success": 0.0 }, { "completion_time": 0.699587345123291, "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": 0.0005426485307108431, "book-upper shelf": 0.5934870032750375, "book-lower shelf": 0.3781620802201118 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6008937742320866, "bimanual_gripper_vertical_difference": 0.14576300454047594, "task_success": 0.0 }, { "completion_time": 0.7309162616729736, "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": 0.0005697037799181626, "book-upper shelf": 0.5934640791610554, "book-lower shelf": 0.3781437193342481 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7000705565387044, "bimanual_gripper_vertical_difference": 0.1506762864410946, "task_success": 0.0 }, { "completion_time": 0.7637796401977539, "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": 0.0006010390450295056, "book-upper shelf": 0.5934469927364928, "book-lower shelf": 0.37813730767634435 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7733731465229934, "bimanual_gripper_vertical_difference": 0.1551680534119769, "task_success": 0.0 }, { "completion_time": 0.7958903312683105, "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": 0.0006473725668025843, "book-upper shelf": 0.5933954182807077, "book-lower shelf": 0.37808653724776764 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8063088513241001, "bimanual_gripper_vertical_difference": 0.1591747638401031, "task_success": 0.0 }, { "completion_time": 0.8303439617156982, "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": 0.0005612038680543607, "book-upper shelf": 0.59347271500694, "book-lower shelf": 0.3781517379222001 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7957661868824593, "bimanual_gripper_vertical_difference": 0.1626718817938016, "task_success": 0.0 }, { "completion_time": 0.8611605167388916, "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": 0.0005296437986032076, "book-upper shelf": 0.5934929672223112, "book-lower shelf": 0.3781629725687719 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8039121658077593, "bimanual_gripper_vertical_difference": 0.16586448998715528, "task_success": 0.0 }, { "completion_time": 0.8929290771484375, "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": 0.0005286091823829553, "book-upper shelf": 0.5934981396851102, "book-lower shelf": 0.37817041660161177 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8194008959408272, "bimanual_gripper_vertical_difference": 0.16898331684071505, "task_success": 0.0 }, { "completion_time": 0.9242918491363525, "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": 0.0004459530094741426, "book-upper shelf": 0.5935657292141212, "book-lower shelf": 0.37822267653881775 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.84810392571142, "bimanual_gripper_vertical_difference": 0.17206899970176562, "task_success": 0.0 }, { "completion_time": 0.9558858871459961, "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": 0.0005564494891837635, "book-upper shelf": 0.5934634816408704, "book-lower shelf": 0.37813415104074627 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8930883828160086, "bimanual_gripper_vertical_difference": 0.17507989135179658, "task_success": 0.0 }, { "completion_time": 0.987116813659668, "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": 0.00012987500357175552, "book-upper shelf": 0.5941060840272299, "book-lower shelf": 0.3788647576843492 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9208405649105764, "bimanual_gripper_vertical_difference": 0.1781840831548845, "task_success": 0.0 }, { "completion_time": 1.0175738334655762, "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": -0.0004915322470363526, "book-upper shelf": 0.5945076447861499, "book-lower shelf": 0.37909074539795207 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9202164634835028, "bimanual_gripper_vertical_difference": 0.18118230321629292, "task_success": 0.0 }, { "completion_time": 1.0474882125854492, "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": 0.0003286249559268928, "book-upper shelf": 0.5936433635932118, "book-lower shelf": 0.3782681364972774 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8951545497641127, "bimanual_gripper_vertical_difference": 0.18394012622019268, "task_success": 0.0 }, { "completion_time": 1.0781941413879395, "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": 0.00019978369532824836, "book-upper shelf": 0.5937290766035854, "book-lower shelf": 0.37831879212744957 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8841031075118195, "bimanual_gripper_vertical_difference": 0.18650530266176807, "task_success": 0.0 }, { "completion_time": 1.1087093353271484, "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": 0.0005946653192501206, "book-upper shelf": 0.5930954892405015, "book-lower shelf": 0.37758126394844393 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8682604042531117, "bimanual_gripper_vertical_difference": 0.1888812994983085, "task_success": 0.0 }, { "completion_time": 1.1407897472381592, "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": 0.0007540309650239108, "book-upper shelf": 0.5929480071092882, "book-lower shelf": 0.37745353392759495 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.843069488097778, "bimanual_gripper_vertical_difference": 0.19103945070124984, "task_success": 0.0 }, { "completion_time": 1.1725029945373535, "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": 0.0006774266012674612, "book-upper shelf": 0.5930071339725326, "book-lower shelf": 0.37749644801378807 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8110812309955495, "bimanual_gripper_vertical_difference": 0.19298576065484382, "task_success": 0.0 }, { "completion_time": 1.2034785747528076, "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": 0.0006899899981258617, "book-upper shelf": 0.5929930780909629, "book-lower shelf": 0.37748256228503163 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.794965609690691, "bimanual_gripper_vertical_difference": 0.1948164977381531, "task_success": 0.0 }, { "completion_time": 1.234570026397705, "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": 0.000565791841037111, "book-upper shelf": 0.5931174969299101, "book-lower shelf": 0.3775970046856353 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7821043471827374, "bimanual_gripper_vertical_difference": 0.19659647367930846, "task_success": 0.0 }, { "completion_time": 1.2661468982696533, "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": 0.0006818245934359091, "book-upper shelf": 0.5929969301033385, "book-lower shelf": 0.3774832873438657 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.765423655753711, "bimanual_gripper_vertical_difference": 0.19832628243814726, "task_success": 0.0 }, { "completion_time": 1.2988128662109375, "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": 0.00015077706639954336, "book-upper shelf": 0.5935052819902251, "book-lower shelf": 0.3779355480874524 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7475765454674517, "bimanual_gripper_vertical_difference": 0.1999753916262492, "task_success": 0.0 }, { "completion_time": 1.3293874263763428, "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": 0.00015742138711904996, "book-upper shelf": 0.593495264531539, "book-lower shelf": 0.37792414553049997 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7259570796145332, "bimanual_gripper_vertical_difference": 0.2015180920061115, "task_success": 0.0 }, { "completion_time": 1.3597123622894287, "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": 0.0001460773371185775, "book-upper shelf": 0.5935097778808491, "book-lower shelf": 0.3779395465102351 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7012983452104926, "bimanual_gripper_vertical_difference": 0.20294981426943573, "task_success": 0.0 }, { "completion_time": 1.392411231994629, "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": 0.0001456962207811996, "book-upper shelf": 0.5935140842712734, "book-lower shelf": 0.3779460608655893 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6783784617488176, "bimanual_gripper_vertical_difference": 0.2043003873484159, "task_success": 0.0 }, { "completion_time": 1.42242431640625, "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": 0.0001458327873624654, "book-upper shelf": 0.5935178728632992, "book-lower shelf": 0.37795209928750967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6556502384142002, "bimanual_gripper_vertical_difference": 0.2056542440384452, "task_success": 0.0 }, { "completion_time": 1.4524011611938477, "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": -0.0010781500210997885, "book-upper shelf": 0.5949072456206949, "book-lower shelf": 0.3793365319963732 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6380015474887173, "bimanual_gripper_vertical_difference": 0.20704990604903045, "task_success": 0.0 }, { "completion_time": 1.4834802150726318, "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": -0.0019002060295639778, "book-upper shelf": 0.5960044577099249, "book-lower shelf": 0.3805234102452936 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6198320393165673, "bimanual_gripper_vertical_difference": 0.20839963106571094, "task_success": 0.0 }, { "completion_time": 1.5148262977600098, "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": -0.001614305845114461, "book-upper shelf": 0.5962155785718666, "book-lower shelf": 0.38103879042939565 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6015988126088436, "bimanual_gripper_vertical_difference": 0.20969240586151647, "task_success": 0.0 }, { "completion_time": 1.5445806980133057, "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": -0.0007149334951080943, "book-upper shelf": 0.5959053058941953, "book-lower shelf": 0.3811345867088123 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5827218782784978, "bimanual_gripper_vertical_difference": 0.21090601359082137, "task_success": 0.0 }, { "completion_time": 1.5738592147827148, "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": -0.001181848345015335, "book-upper shelf": 0.5966223441437352, "book-lower shelf": 0.3819538308580054 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5623124822312269, "bimanual_gripper_vertical_difference": 0.2121114746268576, "task_success": 0.0 }, { "completion_time": 1.6032507419586182, "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": -0.000981985552703346, "book-upper shelf": 0.5964639282013559, "book-lower shelf": 0.38183523600209773 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5428015330854479, "bimanual_gripper_vertical_difference": 0.21327558449955128, "task_success": 0.0 }, { "completion_time": 1.6327807903289795, "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": -0.0003280935917961969, "book-upper shelf": 0.5958731404137758, "book-lower shelf": 0.38133415578644575 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5256025221826386, "bimanual_gripper_vertical_difference": 0.2143991882178097, "task_success": 0.0 }, { "completion_time": 1.663607120513916, "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": 0.000609915801393135, "book-upper shelf": 0.5948640162893265, "book-lower shelf": 0.38036306274828613 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.518655273075254, "bimanual_gripper_vertical_difference": 0.2154601069074976, "task_success": 0.0 }, { "completion_time": 1.6950111389160156, "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": 0.0006607972265336715, "book-upper shelf": 0.5947572682771762, "book-lower shelf": 0.38022904459505685 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5195995030538734, "bimanual_gripper_vertical_difference": 0.21643522720217437, "task_success": 0.0 }, { "completion_time": 1.7257330417633057, "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": 0.0005426473451832781, "book-upper shelf": 0.594861902019062, "book-lower shelf": 0.38031620758250756 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.517445872076238, "bimanual_gripper_vertical_difference": 0.2172631175347064, "task_success": 0.0 }, { "completion_time": 1.7568466663360596, "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": 0.0005198024704958781, "book-upper shelf": 0.5948796539606193, "book-lower shelf": 0.3803291837527032 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5107285614302541, "bimanual_gripper_vertical_difference": 0.21794099224783436, "task_success": 0.0 }, { "completion_time": 1.787248134613037, "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": 0.0005548341884551444, "book-upper shelf": 0.5948612673029485, "book-lower shelf": 0.38032310477333636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4959383748921273, "bimanual_gripper_vertical_difference": 0.21850143595652705, "task_success": 0.0 }, { "completion_time": 1.8178889751434326, "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": 0.0005314311067151634, "book-upper shelf": 0.5948641027127053, "book-lower shelf": 0.38031238809139023 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4809913415801048, "bimanual_gripper_vertical_difference": 0.21900828743958653, "task_success": 0.0 }, { "completion_time": 1.8494679927825928, "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": 0.0005133781921801139, "book-upper shelf": 0.5948779129589398, "book-lower shelf": 0.38032230148681256 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4704181173265993, "bimanual_gripper_vertical_difference": 0.21952517691279608, "task_success": 0.0 }, { "completion_time": 1.8800990581512451, "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": 0.000588078416225879, "book-upper shelf": 0.5948137822158511, "book-lower shelf": 0.38027035556431943 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4631960195011307, "bimanual_gripper_vertical_difference": 0.2200958281091641, "task_success": 0.0 }, { "completion_time": 1.9131524562835693, "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": 0.000516570679762518, "book-upper shelf": 0.5948610387472749, "book-lower shelf": 0.3802979742804782 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4594803172540922, "bimanual_gripper_vertical_difference": 0.22075230903124232, "task_success": 0.0 }, { "completion_time": 1.9437313079833984, "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": 0.000552286026677451, "book-upper shelf": 0.5948420151675305, "book-lower shelf": 0.3802913420700823 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4554708734865576, "bimanual_gripper_vertical_difference": 0.22149483859009686, "task_success": 0.0 }, { "completion_time": 1.9747729301452637, "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": 0.0005897864129711383, "book-upper shelf": 0.5947908145658866, "book-lower shelf": 0.38023553490176853 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4481028724348524, "bimanual_gripper_vertical_difference": 0.22229577722347618, "task_success": 0.0 }, { "completion_time": 2.0061750411987305, "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": 0.0005090642846422577, "book-upper shelf": 0.5948601245494808, "book-lower shelf": 0.3802916842071409 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4389859716653461, "bimanual_gripper_vertical_difference": 0.22313060216896302, "task_success": 0.0 }, { "completion_time": 2.0371475219726562, "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": 0.0005840162653379943, "book-upper shelf": 0.5947957223907355, "book-lower shelf": 0.3802394755613951 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4261575216270936, "bimanual_gripper_vertical_difference": 0.2239763257025214, "task_success": 0.0 }, { "completion_time": 2.0674049854278564, "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": 0.0011490092688850595, "book-upper shelf": 0.5953177391061063, "book-lower shelf": 0.38142043560780015 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4131978270684742, "bimanual_gripper_vertical_difference": 0.2247943470250102, "task_success": 0.0 }, { "completion_time": 2.098280906677246, "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": 0.0009331436415943584, "book-upper shelf": 0.5987286985065344, "book-lower shelf": 0.3865851647337936 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3994163100973092, "bimanual_gripper_vertical_difference": 0.2255862037256421, "task_success": 0.0 }, { "completion_time": 2.1296496391296387, "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": 0.0007263756689455114, "book-upper shelf": 0.6021540081921439, "book-lower shelf": 0.3917392779271642 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3856560334126786, "bimanual_gripper_vertical_difference": 0.22637052004478866, "task_success": 0.0 }, { "completion_time": 2.160245895385742, "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": 0.0009463564810545666, "book-upper shelf": 0.6047005793748793, "book-lower shelf": 0.39577939882719704 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.370886366414402, "bimanual_gripper_vertical_difference": 0.22714708689543006, "task_success": 0.0 }, { "completion_time": 2.1908888816833496, "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": 0.0007743556006261088, "book-upper shelf": 0.6071865313083342, "book-lower shelf": 0.3994612920028414 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3559306764820478, "bimanual_gripper_vertical_difference": 0.22791679114284608, "task_success": 0.0 }, { "completion_time": 2.221592903137207, "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": 0.000679239535679832, "book-upper shelf": 0.6091203389872712, "book-lower shelf": 0.4023364108159077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3398313116032872, "bimanual_gripper_vertical_difference": 0.22868342591727547, "task_success": 0.0 }, { "completion_time": 2.2521467208862305, "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": 0.0007423926419851679, "book-upper shelf": 0.6104294886357985, "book-lower shelf": 0.40435412752134586 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3231527625757513, "bimanual_gripper_vertical_difference": 0.2294385141719835, "task_success": 0.0 }, { "completion_time": 2.2825188636779785, "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": 0.0008444621395299334, "book-upper shelf": 0.6115549256332784, "book-lower shelf": 0.40611302741682676 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3063785583770726, "bimanual_gripper_vertical_difference": 0.23018201677984937, "task_success": 0.0 }, { "completion_time": 2.3146746158599854, "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": 0.0006873640603770603, "book-upper shelf": 0.6127673419591989, "book-lower shelf": 0.40784165603108563 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2898332293032437, "bimanual_gripper_vertical_difference": 0.23091286909981987, "task_success": 0.0 }, { "completion_time": 2.345917224884033, "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": 0.0006624439117081105, "book-upper shelf": 0.6135909195599463, "book-lower shelf": 0.40906300940279794 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.273837829939846, "bimanual_gripper_vertical_difference": 0.23163080250203671, "task_success": 0.0 }, { "completion_time": 2.3802525997161865, "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": 0.0006394923774319938, "book-upper shelf": 0.6137180904848196, "book-lower shelf": 0.4092399310924561 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2588297125980488, "bimanual_gripper_vertical_difference": 0.2323338268262585, "task_success": 0.0 }, { "completion_time": 2.4116694927215576, "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": 0.0005117096735488547, "book-upper shelf": 0.6138908342112105, "book-lower shelf": 0.40942210046403205 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2484741754910782, "bimanual_gripper_vertical_difference": 0.233032549607636, "task_success": 0.0 }, { "completion_time": 2.4426980018615723, "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": 0.0005578307259543891, "book-upper shelf": 0.6138574048212598, "book-lower shelf": 0.4093997139543949 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.244125596431855, "bimanual_gripper_vertical_difference": 0.233702677405074, "task_success": 0.0 }, { "completion_time": 2.4745326042175293, "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": 0.00046329396662059263, "book-upper shelf": 0.6139033783337232, "book-lower shelf": 0.40941179225149477 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2387248328926446, "bimanual_gripper_vertical_difference": 0.23430172228151558, "task_success": 0.0 }, { "completion_time": 2.5058090686798096, "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": 0.0004872680106302596, "book-upper shelf": 0.6138696914158698, "book-lower shelf": 0.4093756975712932 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2322804631585695, "bimanual_gripper_vertical_difference": 0.23480434212669749, "task_success": 0.0 }, { "completion_time": 2.539766550064087, "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": 0.0005495052203886575, "book-upper shelf": 0.6138248751305004, "book-lower shelf": 0.40934592921612944 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2283294939715268, "bimanual_gripper_vertical_difference": 0.23519591194276235, "task_success": 0.0 }, { "completion_time": 2.5713038444519043, "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": 0.000437716562318502, "book-upper shelf": 0.6139276046751876, "book-lower shelf": 0.4094327367157109 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.229806389183599, "bimanual_gripper_vertical_difference": 0.23546401785717463, "task_success": 0.0 }, { "completion_time": 2.6019508838653564, "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": 0.0005207860715711332, "book-upper shelf": 0.6138446103727382, "book-lower shelf": 0.4093582482077262 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.238148697622708, "bimanual_gripper_vertical_difference": 0.2355971631586106, "task_success": 0.0 }, { "completion_time": 2.63386869430542, "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": 0.0006660544250325362, "book-upper shelf": 0.6137521295006904, "book-lower shelf": 0.4093069551805438 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2515205829954315, "bimanual_gripper_vertical_difference": 0.23558662230076366, "task_success": 0.0 }, { "completion_time": 2.6650478839874268, "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": 0.00048561876091846035, "book-upper shelf": 0.6138623628469477, "book-lower shelf": 0.40936371611317324 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2689043593476779, "bimanual_gripper_vertical_difference": 0.23544791988708746, "task_success": 0.0 }, { "completion_time": 2.6956498622894287, "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": 0.0006449991385857334, "book-upper shelf": 0.6137338159333438, "book-lower shelf": 0.4092668264553728 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2830633510307337, "bimanual_gripper_vertical_difference": 0.23519815800424626, "task_success": 0.0 }, { "completion_time": 2.726837396621704, "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": 0.0006904127966900209, "book-upper shelf": 0.6136818466804378, "book-lower shelf": 0.40921621585384754 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2906533137813838, "bimanual_gripper_vertical_difference": 0.23488158238051823, "task_success": 0.0 }, { "completion_time": 2.757411479949951, "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": 0.0006777579572555537, "book-upper shelf": 0.6137102320904766, "book-lower shelf": 0.4092511691730543 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2934732436072844, "bimanual_gripper_vertical_difference": 0.23456281441647164, "task_success": 0.0 }, { "completion_time": 2.787592887878418, "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": 0.0005418062191165918, "book-upper shelf": 0.613836901330911, "book-lower shelf": 0.40935933176026273 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.28489255498738, "bimanual_gripper_vertical_difference": 0.23425275054440636, "task_success": 0.0 }, { "completion_time": 2.818457841873169, "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": 0.0005930895779895362, "book-upper shelf": 0.6138363514207592, "book-lower shelf": 0.4093893524253439 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.274299900097555, "bimanual_gripper_vertical_difference": 0.2339542671936419, "task_success": 0.0 }, { "completion_time": 2.8495004177093506, "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": 0.0004909116128521962, "book-upper shelf": 0.6138986785948717, "book-lower shelf": 0.4094213545913394 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2694546419127741, "bimanual_gripper_vertical_difference": 0.233703272089787, "task_success": 0.0 }, { "completion_time": 2.879694700241089, "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": 0.00045790265271583586, "book-upper shelf": 0.6139121437565428, "book-lower shelf": 0.40942169337279916 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2733629626297809, "bimanual_gripper_vertical_difference": 0.23349586028472216, "task_success": 0.0 }, { "completion_time": 2.9106287956237793, "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": 0.0006023646917290293, "book-upper shelf": 0.613787366603559, "book-lower shelf": 0.4093214806061061 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2846456093903857, "bimanual_gripper_vertical_difference": 0.23328035869964728, "task_success": 0.0 }, { "completion_time": 2.941082000732422, "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": 0.0006352991158802279, "book-upper shelf": 0.6137858861986635, "book-lower shelf": 0.4093390718429616 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2980895546201392, "bimanual_gripper_vertical_difference": 0.23302928783537305, "task_success": 0.0 }, { "completion_time": 2.9712579250335693, "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": 0.0005885254478619206, "book-upper shelf": 0.6138180962521564, "book-lower shelf": 0.4093592349446121 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3113753556386432, "bimanual_gripper_vertical_difference": 0.2327896242968326, "task_success": 0.0 }, { "completion_time": 3.001558780670166, "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": 0.0005298745721514786, "book-upper shelf": 0.6138653400267365, "book-lower shelf": 0.4093947984651014 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3263653787017624, "bimanual_gripper_vertical_difference": 0.23257600557897198, "task_success": 0.0 }, { "completion_time": 3.0317351818084717, "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": 0.00044450802991558014, "book-upper shelf": 0.6139313732588789, "book-lower shelf": 0.40944247171250636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3426026854485218, "bimanual_gripper_vertical_difference": 0.23236094069120428, "task_success": 0.0 }, { "completion_time": 3.062265157699585, "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": 0.0005722652393380656, "book-upper shelf": 0.6138115422180287, "book-lower shelf": 0.40933962667719137 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3596050757516078, "bimanual_gripper_vertical_difference": 0.2321477649493199, "task_success": 0.0 }, { "completion_time": 3.093125343322754, "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": 0.0006471385360871107, "book-upper shelf": 0.6137679150197916, "book-lower shelf": 0.40931924639673134 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3767134852058207, "bimanual_gripper_vertical_difference": 0.23194632142534155, "task_success": 0.0 }, { "completion_time": 3.123389720916748, "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": 0.0006087543058395095, "book-upper shelf": 0.6137973535787565, "book-lower shelf": 0.4093402996397857 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3924312144462627, "bimanual_gripper_vertical_difference": 0.2317618199636199, "task_success": 0.0 }, { "completion_time": 3.1570398807525635, "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": 0.0005619339347451291, "book-upper shelf": 0.6138372855575049, "book-lower shelf": 0.40937201430705844 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.408944532071923, "bimanual_gripper_vertical_difference": 0.23161222074509513, "task_success": 0.0 }, { "completion_time": 3.188086986541748, "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": 0.0004886830532303543, "book-upper shelf": 0.6138952360753186, "book-lower shelf": 0.40941485248665027 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4266341588495683, "bimanual_gripper_vertical_difference": 0.2315143264812101, "task_success": 0.0 }, { "completion_time": 3.2185657024383545, "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": 0.0005176799186612513, "book-upper shelf": 0.6138248172699686, "book-lower shelf": 0.4093266988159375 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4451901993724714, "bimanual_gripper_vertical_difference": 0.23144329666333394, "task_success": 0.0 }, { "completion_time": 3.2488439083099365, "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": 0.0005491618815576249, "book-upper shelf": 0.6138537219872032, "book-lower shelf": 0.40938897806020336 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4607732746416435, "bimanual_gripper_vertical_difference": 0.23134313817708713, "task_success": 0.0 }, { "completion_time": 3.2797963619232178, "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": 0.0005301612629858843, "book-upper shelf": 0.6138183678562202, "book-lower shelf": 0.4093245353295052 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4765403839265192, "bimanual_gripper_vertical_difference": 0.2311966668553589, "task_success": 0.0 }, { "completion_time": 3.3103747367858887, "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": 0.0007039153485833838, "book-upper shelf": 0.6136542089050395, "book-lower shelf": 0.40918289286230514 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4929971887705182, "bimanual_gripper_vertical_difference": 0.23105443754403868, "task_success": 0.0 }, { "completion_time": 3.3418142795562744, "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": 0.00048500448232446924, "book-upper shelf": 0.6139013163261468, "book-lower shelf": 0.40942175715932805 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5088430358328087, "bimanual_gripper_vertical_difference": 0.23094030493740933, "task_success": 0.0 }, { "completion_time": 3.376485586166382, "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": 0.0004925439888019412, "book-upper shelf": 0.6138550215069791, "book-lower shelf": 0.40935687279896266 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5245382364117017, "bimanual_gripper_vertical_difference": 0.2309264250750409, "task_success": 0.0 }, { "completion_time": 3.4079320430755615, "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": 0.0005536166011645971, "book-upper shelf": 0.6138065254334862, "book-lower shelf": 0.4093208860430034 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5378643096236773, "bimanual_gripper_vertical_difference": 0.23106155608687953, "task_success": 0.0 }, { "completion_time": 3.4390764236450195, "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": 0.0006343341686768644, "book-upper shelf": 0.6137346253111744, "book-lower shelf": 0.4092616238522458 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.550588853575587, "bimanual_gripper_vertical_difference": 0.2313738889098648, "task_success": 0.0 }, { "completion_time": 3.4694724082946777, "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": 0.0006973003140855472, "book-upper shelf": 0.6136572459818678, "book-lower shelf": 0.4091834670127991 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.563125188840149, "bimanual_gripper_vertical_difference": 0.23184370411247043, "task_success": 0.0 }, { "completion_time": 3.500230312347412, "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": 0.0004833729698935363, "book-upper shelf": 0.6139030839494178, "book-lower shelf": 0.4094234264093437 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.57515831650222, "bimanual_gripper_vertical_difference": 0.23238996645826382, "task_success": 0.0 }, { "completion_time": 3.5323472023010254, "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": 0.0005346834091159991, "book-upper shelf": 0.6138108016119691, "book-lower shelf": 0.40931590930652306 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5878210931065748, "bimanual_gripper_vertical_difference": 0.23290648544426032, "task_success": 0.0 }, { "completion_time": 3.563450813293457, "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": 0.0006998488015389492, "book-upper shelf": 0.613667154391108, "book-lower shelf": 0.40919986010712095 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5959563433218091, "bimanual_gripper_vertical_difference": 0.23335491135465636, "task_success": 0.0 }, { "completion_time": 3.5949440002441406, "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": 0.0006815752095452599, "book-upper shelf": 0.6136898141638182, "book-lower shelf": 0.40922284676111714 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6015923840802646, "bimanual_gripper_vertical_difference": 0.2337689484542216, "task_success": 0.0 }, { "completion_time": 3.6257991790771484, "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": 0.0005794012026081319, "book-upper shelf": 0.6138355963498927, "book-lower shelf": 0.4093799873705115 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6083299906079065, "bimanual_gripper_vertical_difference": 0.23419263556865821, "task_success": 0.0 }, { "completion_time": 3.6558899879455566, "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": 0.00045072487855435384, "book-upper shelf": 0.6139076766281851, "book-lower shelf": 0.4094106782689418 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6141644028327768, "bimanual_gripper_vertical_difference": 0.23463717543286397, "task_success": 0.0 }, { "completion_time": 3.6857352256774902, "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": 0.0006062045942726302, "book-upper shelf": 0.6137608783379368, "book-lower shelf": 0.40928406983610044 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6220364498616213, "bimanual_gripper_vertical_difference": 0.23512633382755185, "task_success": 0.0 }, { "completion_time": 3.715553045272827, "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": 0.0006747975975917031, "book-upper shelf": 0.6136871562813483, "book-lower shelf": 0.4092147827883791 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.633399679491707, "bimanual_gripper_vertical_difference": 0.2356967185129989, "task_success": 0.0 }, { "completion_time": 3.746720552444458, "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": 0.0006282356977064252, "book-upper shelf": 0.6137943917850628, "book-lower shelf": 0.4093475768184078 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6461877323362726, "bimanual_gripper_vertical_difference": 0.23637231950703994, "task_success": 0.0 }, { "completion_time": 3.779733896255493, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005170327487470372, "book-upper shelf": 0.6138806161975114, "book-lower shelf": 0.4094099807176854 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.65535040566052, "bimanual_gripper_vertical_difference": 0.23714952271405862, "task_success": 0.0 }, { "completion_time": 3.810128688812256, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004927474074988281, "book-upper shelf": 0.6138492868951909, "book-lower shelf": 0.40934839571407106 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6620555096070282, "bimanual_gripper_vertical_difference": 0.23802128275539097, "task_success": 0.0 }, { "completion_time": 3.8403444290161133, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005545719442101582, "book-upper shelf": 0.6137978464303252, "book-lower shelf": 0.4093084458296544 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6661780529248387, "bimanual_gripper_vertical_difference": 0.2389878914647482, "task_success": 0.0 }, { "completion_time": 3.8707077503204346, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006591638053724536, "book-upper shelf": 0.6137509164805477, "book-lower shelf": 0.4093009910659928 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6674626126133196, "bimanual_gripper_vertical_difference": 0.24005720571090805, "task_success": 0.0 }, { "completion_time": 3.9017014503479004, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000623241403102659, "book-upper shelf": 0.613778320908612, "book-lower shelf": 0.4093204747350542 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6708388305158348, "bimanual_gripper_vertical_difference": 0.24123166438196078, "task_success": 0.0 }, { "completion_time": 3.9316298961639404, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005856593323902981, "book-upper shelf": 0.6138124845360685, "book-lower shelf": 0.409349096373251 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.673724781187588, "bimanual_gripper_vertical_difference": 0.24248321873584472, "task_success": 0.0 }, { "completion_time": 3.9625611305236816, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005276311246370513, "book-upper shelf": 0.613859199911318, "book-lower shelf": 0.4093842423129859 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6765846685750547, "bimanual_gripper_vertical_difference": 0.24377191743363552, "task_success": 0.0 }, { "completion_time": 3.9930291175842285, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005112157188920108, "book-upper shelf": 0.6138502809976707, "book-lower shelf": 0.40936099503102763 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6801039656089751, "bimanual_gripper_vertical_difference": 0.24506227497294578, "task_success": 0.0 }, { "completion_time": 4.023226499557495, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006602622117887202, "book-upper shelf": 0.6137475369261944, "book-lower shelf": 0.4092965841539612 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6841899426788858, "bimanual_gripper_vertical_difference": 0.24634716893758676, "task_success": 0.0 }, { "completion_time": 4.055618524551392, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006238241426361757, "book-upper shelf": 0.6137744347819729, "book-lower shelf": 0.4093149979929248 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.688432757684943, "bimanual_gripper_vertical_difference": 0.24761816749752064, "task_success": 0.0 }, { "completion_time": 4.086092948913574, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005862148415117785, "book-upper shelf": 0.6138082245762324, "book-lower shelf": 0.40934304274916977 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6926491134505122, "bimanual_gripper_vertical_difference": 0.248858430393248, "task_success": 0.0 }, { "completion_time": 4.116468906402588, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005283513250432526, "book-upper shelf": 0.6138543512703596, "book-lower shelf": 0.409377405061219 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6887295286078996, "bimanual_gripper_vertical_difference": 0.25005759453191495, "task_success": 0.0 }, { "completion_time": 4.14740514755249, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005334176105401545, "book-upper shelf": 0.6137934527922991, "book-lower shelf": 0.409289131035852 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6784081939104372, "bimanual_gripper_vertical_difference": 0.25121448901699733, "task_success": 0.0 }, { "completion_time": 4.177518129348755, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000630679370644982, "book-upper shelf": 0.613759266420613, "book-lower shelf": 0.4092963764366987 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6710618047482537, "bimanual_gripper_vertical_difference": 0.25233988682500963, "task_success": 0.0 }, { "completion_time": 4.20823335647583, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006053936168485263, "book-upper shelf": 0.6137926196390099, "book-lower shelf": 0.40933117961002313 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6700920049152326, "bimanual_gripper_vertical_difference": 0.2534472751698376, "task_success": 0.0 }, { "completion_time": 4.238553762435913, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005130465391744998, "book-upper shelf": 0.6138342719947086, "book-lower shelf": 0.4093380898897558 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6747867519002158, "bimanual_gripper_vertical_difference": 0.2545431464889681, "task_success": 0.0 }, { "completion_time": 4.268983840942383, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006677666017222972, "book-upper shelf": 0.6137058873977553, "book-lower shelf": 0.4092386424576871 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6793507201037903, "bimanual_gripper_vertical_difference": 0.25562595293843365, "task_success": 0.0 }, { "completion_time": 4.300050973892212, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000647718163788169, "book-upper shelf": 0.613745297464347, "book-lower shelf": 0.4092856796423575 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6837782721276373, "bimanual_gripper_vertical_difference": 0.25668494112098555, "task_success": 0.0 }, { "completion_time": 4.330323934555054, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000556029394942148, "book-upper shelf": 0.6138404066286273, "book-lower shelf": 0.4093731428374264 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6881898335178973, "bimanual_gripper_vertical_difference": 0.2577157426103883, "task_success": 0.0 }, { "completion_time": 4.360964775085449, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006033322030979393, "book-upper shelf": 0.6138021389238336, "book-lower shelf": 0.40934421369049395 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6924955135624629, "bimanual_gripper_vertical_difference": 0.25872368675194424, "task_success": 0.0 }, { "completion_time": 4.395958662033081, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004945488539119802, "book-upper shelf": 0.6138677362534549, "book-lower shelf": 0.4093771449252813 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.689089340278972, "bimanual_gripper_vertical_difference": 0.25971571502744106, "task_success": 0.0 }, { "completion_time": 4.425708770751953, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004626979442304835, "book-upper shelf": 0.6138770215901648, "book-lower shelf": 0.40937191138402357 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6789907946954585, "bimanual_gripper_vertical_difference": 0.26069381127960894, "task_success": 0.0 }, { "completion_time": 4.455863952636719, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004892869121043697, "book-upper shelf": 0.6138399309729219, "book-lower shelf": 0.40933228407717587 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6730994904124743, "bimanual_gripper_vertical_difference": 0.2616602811323535, "task_success": 0.0 }, { "completion_time": 4.486238956451416, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007928471555467276, "book-upper shelf": 0.6135156408932513, "book-lower shelf": 0.40902859043493395 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.673871720792037, "bimanual_gripper_vertical_difference": 0.26261847460403054, "task_success": 0.0 }, { "completion_time": 4.517096996307373, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008580710248057288, "book-upper shelf": 0.6130952583877989, "book-lower shelf": 0.40843709616595303 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6704327492959081, "bimanual_gripper_vertical_difference": 0.26356596957044853, "task_success": 0.0 }, { "completion_time": 4.54839301109314, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005922840850535183, "book-upper shelf": 0.6131674262535655, "book-lower shelf": 0.4083851999119445 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6647359496364167, "bimanual_gripper_vertical_difference": 0.2645026178146689, "task_success": 0.0 }, { "completion_time": 4.578950881958008, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042413942968544394, "book-upper shelf": 0.6132973001825248, "book-lower shelf": 0.4084788298853781 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6620297729643791, "bimanual_gripper_vertical_difference": 0.26543449859280493, "task_success": 0.0 }, { "completion_time": 4.609622240066528, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003140511318445727, "book-upper shelf": 0.6134835812622582, "book-lower shelf": 0.40869214275487825 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.661927577380645, "bimanual_gripper_vertical_difference": 0.26636841191009164, "task_success": 0.0 }, { "completion_time": 4.63988733291626, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004031496206117202, "book-upper shelf": 0.6138450171221796, "book-lower shelf": 0.40928809494979 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6633203541675805, "bimanual_gripper_vertical_difference": 0.26731044478610294, "task_success": 0.0 }, { "completion_time": 4.670984268188477, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00015252726828607344, "book-upper shelf": 0.6145233515221452, "book-lower shelf": 0.4101543248714969 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6577106079350226, "bimanual_gripper_vertical_difference": 0.2682602374374143, "task_success": 0.0 }, { "completion_time": 4.702006816864014, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -8.349352228620432e-05, "book-upper shelf": 0.614993959943127, "book-lower shelf": 0.4107176195067173 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6489540282212933, "bimanual_gripper_vertical_difference": 0.26920965520943, "task_success": 0.0 }, { "completion_time": 4.732092618942261, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00041099634406660535, "book-upper shelf": 0.6138510891763183, "book-lower shelf": 0.4093019220866278 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6400122611120331, "bimanual_gripper_vertical_difference": 0.27015110822105276, "task_success": 0.0 }, { "completion_time": 4.762352466583252, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0007367281748105192, "book-upper shelf": 0.6154652789531331, "book-lower shelf": 0.4110318921929368 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6342638831728902, "bimanual_gripper_vertical_difference": 0.2710477679964264, "task_success": 0.0 }, { "completion_time": 4.794005870819092, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0002594452003352732, "book-upper shelf": 0.6162263070416795, "book-lower shelf": 0.412455580994255 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.625621452089935, "bimanual_gripper_vertical_difference": 0.2719082781827148, "task_success": 0.0 }, { "completion_time": 4.825201511383057, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00290631988791612, "book-upper shelf": 0.6137127488168435, "book-lower shelf": 0.41059355070129233 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.617084610328032, "bimanual_gripper_vertical_difference": 0.2727264366076337, "task_success": 0.0 }, { "completion_time": 4.857242584228516, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0038147821550339467, "book-upper shelf": 0.6130831870679759, "book-lower shelf": 0.4101976259377887 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6089937459513983, "bimanual_gripper_vertical_difference": 0.27351629383110454, "task_success": 0.0 }, { "completion_time": 4.889352321624756, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.004204543135581829, "book-upper shelf": 0.6129151187923659, "book-lower shelf": 0.410180422129404 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6010324240191987, "bimanual_gripper_vertical_difference": 0.274282476474878, "task_success": 0.0 }, { "completion_time": 4.920950174331665, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00424039338970672, "book-upper shelf": 0.6130195612665646, "book-lower shelf": 0.41035798128835055 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5924915953086158, "bimanual_gripper_vertical_difference": 0.2750288046223515, "task_success": 0.0 }, { "completion_time": 4.952539443969727, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.004376470420046519, "book-upper shelf": 0.6131138119301499, "book-lower shelf": 0.41058037924936597 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5830968564591514, "bimanual_gripper_vertical_difference": 0.27575668298724043, "task_success": 0.0 }, { "completion_time": 4.983650207519531, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.004638492917604653, "book-upper shelf": 0.6132494906476896, "book-lower shelf": 0.4109399861333858 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5738773501697476, "bimanual_gripper_vertical_difference": 0.2764635167431716, "task_success": 0.0 }, { "completion_time": 5.016305685043335, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.005151910453551234, "book-upper shelf": 0.6132244322424719, "book-lower shelf": 0.411210130210514 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5659602595448454, "bimanual_gripper_vertical_difference": 0.27714598237979216, "task_success": 0.0 }, { "completion_time": 5.047526121139526, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.005890285772508941, "book-upper shelf": 0.6128290252376319, "book-lower shelf": 0.4110627616159456 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.560514044270737, "bimanual_gripper_vertical_difference": 0.27779917784782326, "task_success": 0.0 }, { "completion_time": 5.079562187194824, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00692312700180131, "book-upper shelf": 0.6121410331800403, "book-lower shelf": 0.4106561176684598 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5566245765131437, "bimanual_gripper_vertical_difference": 0.27841554134437774, "task_success": 0.0 }, { "completion_time": 5.110353469848633, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.008294647861481708, "book-upper shelf": 0.61089922452286, "book-lower shelf": 0.40962796589614875 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.553353413821697, "bimanual_gripper_vertical_difference": 0.2789880778003105, "task_success": 0.0 }, { "completion_time": 5.1418046951293945, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.010472395950444024, "book-upper shelf": 0.6090576195895503, "book-lower shelf": 0.40819214096500106 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5498554385608179, "bimanual_gripper_vertical_difference": 0.2795126864124902, "task_success": 0.0 }, { "completion_time": 5.17303729057312, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.013369542189265338, "book-upper shelf": 0.6066031797734058, "book-lower shelf": 0.40628039251076453 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5459750052959844, "bimanual_gripper_vertical_difference": 0.2799889204683709, "task_success": 0.0 }, { "completion_time": 5.205463886260986, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.016295362666385427, "book-upper shelf": 0.6038783854703573, "book-lower shelf": 0.40398795075644134 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.541750227463892, "bimanual_gripper_vertical_difference": 0.2804238224301069, "task_success": 0.0 }, { "completion_time": 5.2374982833862305, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.016914499510435332, "book-upper shelf": 0.6033641208477993, "book-lower shelf": 0.4035967246927123 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5377519012839143, "bimanual_gripper_vertical_difference": 0.2808361247748693, "task_success": 0.0 }, { "completion_time": 5.268708944320679, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.015644641781509483, "book-upper shelf": 0.6031272006051295, "book-lower shelf": 0.40246631229069485 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5321779214474103, "bimanual_gripper_vertical_difference": 0.28122314685095073, "task_success": 0.0 }, { "completion_time": 5.299919843673706, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.012937567364414093, "book-upper shelf": 0.6031555601987106, "book-lower shelf": 0.40084940242454 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5258365299523615, "bimanual_gripper_vertical_difference": 0.2815980049078696, "task_success": 0.0 }, { "completion_time": 5.330691814422607, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.007968555533956478, "book-upper shelf": 0.6075524595107962, "book-lower shelf": 0.4044213332811286 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5194719412384012, "bimanual_gripper_vertical_difference": 0.28198086920442195, "task_success": 0.0 }, { "completion_time": 5.361740827560425, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0024901888696713392, "book-upper shelf": 0.6116649927896625, "book-lower shelf": 0.40727492618879474 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5150408067723287, "bimanual_gripper_vertical_difference": 0.28239331939763906, "task_success": 0.0 }, { "completion_time": 5.394511699676514, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006601824151817315, "book-upper shelf": 0.61285201218039, "book-lower shelf": 0.40795245342422454 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.511339566421488, "bimanual_gripper_vertical_difference": 0.28284406760159697, "task_success": 0.0 }, { "completion_time": 5.425264835357666, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007116461865459556, "book-upper shelf": 0.612806812645983, "book-lower shelf": 0.40791561428899675 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5054338154277587, "bimanual_gripper_vertical_difference": 0.2833224078221868, "task_success": 0.0 }, { "completion_time": 5.45560359954834, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007126788019784502, "book-upper shelf": 0.6128066831139823, "book-lower shelf": 0.40791604299913226 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4979428309297247, "bimanual_gripper_vertical_difference": 0.2838167027459109, "task_success": 0.0 }, { "completion_time": 5.4860546588897705, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007133764405777843, "book-upper shelf": 0.6128068530132043, "book-lower shelf": 0.40791671934229845 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4915023261702125, "bimanual_gripper_vertical_difference": 0.28431508283125595, "task_success": 0.0 }, { "completion_time": 5.517343044281006, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007140717826247256, "book-upper shelf": 0.6128070250458955, "book-lower shelf": 0.4079173975032539 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4870503998712739, "bimanual_gripper_vertical_difference": 0.2848061088378433, "task_success": 0.0 }, { "completion_time": 5.547634840011597, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007147670381776328, "book-upper shelf": 0.6128071972371253, "book-lower shelf": 0.40791807584911455 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4843639358593976, "bimanual_gripper_vertical_difference": 0.2852827500133811, "task_success": 0.0 }, { "completion_time": 5.57857084274292, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007140973484554003, "book-upper shelf": 0.6128034599544027, "book-lower shelf": 0.40791205714247686 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4822964599110944, "bimanual_gripper_vertical_difference": 0.28574634459873166, "task_success": 0.0 }, { "completion_time": 5.609584808349609, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007147938360103634, "book-upper shelf": 0.6128036306909879, "book-lower shelf": 0.4079127340540773 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4801930176490148, "bimanual_gripper_vertical_difference": 0.2862034525909229, "task_success": 0.0 }, { "completion_time": 5.642260551452637, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007154896741707883, "book-upper shelf": 0.6128038020891741, "book-lower shelf": 0.4079134115665537 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4772075292638478, "bimanual_gripper_vertical_difference": 0.2866617107391026, "task_success": 0.0 }, { "completion_time": 5.672938346862793, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007161854368846754, "book-upper shelf": 0.6128039736360321, "book-lower shelf": 0.40791408925578365 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.473333767698261, "bimanual_gripper_vertical_difference": 0.2871205422626672, "task_success": 0.0 }, { "completion_time": 5.704020023345947, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007168811279363307, "book-upper shelf": 0.6128041453281832, "book-lower shelf": 0.4079147671189746 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4686443874912043, "bimanual_gripper_vertical_difference": 0.28756891043128785, "task_success": 0.0 }, { "completion_time": 5.734415292739868, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007175767473226458, "book-upper shelf": 0.6128043171656328, "book-lower shelf": 0.4079154451561325 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.465340777022011, "bimanual_gripper_vertical_difference": 0.2880001968023602, "task_success": 0.0 }, { "completion_time": 5.764801979064941, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007170127720879105, "book-upper shelf": 0.6128009993148162, "book-lower shelf": 0.4079101203595249 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4660876654004138, "bimanual_gripper_vertical_difference": 0.2884156141650231, "task_success": 0.0 }, { "completion_time": 5.795458793640137, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007176036261531404, "book-upper shelf": 0.6128007503729697, "book-lower shelf": 0.40791010303036507 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4693815070892162, "bimanual_gripper_vertical_difference": 0.2888200903167262, "task_success": 0.0 }, { "completion_time": 5.825333833694458, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007182999250615607, "book-upper shelf": 0.6128009213307033, "book-lower shelf": 0.4079107801624318 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4735578779417189, "bimanual_gripper_vertical_difference": 0.28921994631048986, "task_success": 0.0 }, { "completion_time": 5.85539174079895, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000718996052382681, "book-upper shelf": 0.6128010925230378, "book-lower shelf": 0.40791145754231056 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4775800868395397, "bimanual_gripper_vertical_difference": 0.28961980975537643, "task_success": 0.0 }, { "completion_time": 5.885086297988892, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00071969210745082, "book-upper shelf": 0.6128012638612039, "book-lower shelf": 0.4079121350966037 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4814292073889375, "bimanual_gripper_vertical_difference": 0.29002034644439084, "task_success": 0.0 }, { "completion_time": 5.914669036865234, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007203880908974725, "book-upper shelf": 0.6128014353446402, "book-lower shelf": 0.40791281282484826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.485245921684857, "bimanual_gripper_vertical_difference": 0.2904222594100658, "task_success": 0.0 }, { "completion_time": 5.9441468715667725, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007210840026984355, "book-upper shelf": 0.6128016069733708, "book-lower shelf": 0.4079134907270655 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4834120440134477, "bimanual_gripper_vertical_difference": 0.2908265187915397, "task_success": 0.0 }, { "completion_time": 5.973755836486816, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007204131882067033, "book-upper shelf": 0.6127978699367563, "book-lower shelf": 0.4079074716947756 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4773534107856678, "bimanual_gripper_vertical_difference": 0.29123284928844956, "task_success": 0.0 }, { "completion_time": 6.004562854766846, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007211117925638444, "book-upper shelf": 0.6127980388054132, "book-lower shelf": 0.40790814708323 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4740989951750851, "bimanual_gripper_vertical_difference": 0.2916420313811911, "task_success": 0.0 }, { "completion_time": 6.035622596740723, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009143468857403247, "book-upper shelf": 0.6110640452118845, "book-lower shelf": 0.4054158927141842 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.469741139103547, "bimanual_gripper_vertical_difference": 0.2920573891817599, "task_success": 0.0 }, { "completion_time": 6.0668628215789795, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0011756988906684862, "book-upper shelf": 0.6086964767847924, "book-lower shelf": 0.4019986098971911 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.464321827216843, "bimanual_gripper_vertical_difference": 0.2924728425349608, "task_success": 0.0 }, { "completion_time": 6.097885608673096, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008042484715391485, "book-upper shelf": 0.6066021589894415, "book-lower shelf": 0.39859094325038447 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4585731671548996, "bimanual_gripper_vertical_difference": 0.29287569380671497, "task_success": 0.0 }, { "completion_time": 6.128793478012085, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.001812120291201924, "book-upper shelf": 0.6030004242374047, "book-lower shelf": 0.39371867984324693 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4548825772281928, "bimanual_gripper_vertical_difference": 0.29325919382276183, "task_success": 0.0 }, { "completion_time": 6.159174203872681, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.006299672751039043, "book-upper shelf": 0.5966435763057809, "book-lower shelf": 0.3867794456504668 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4517392925335448, "bimanual_gripper_vertical_difference": 0.2936266810679786, "task_success": 0.0 }, { "completion_time": 6.188802480697632, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.010586206050868907, "book-upper shelf": 0.5909820442416919, "book-lower shelf": 0.38076956596531575 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4484572464103838, "bimanual_gripper_vertical_difference": 0.2939786258611759, "task_success": 0.0 }, { "completion_time": 6.218604803085327, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.013211210406045448, "book-upper shelf": 0.5884851034290282, "book-lower shelf": 0.37859356320320925 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4450574485112315, "bimanual_gripper_vertical_difference": 0.29432532126073857, "task_success": 0.0 } ]