[ { "completion_time": 0.046691179275512695, "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": -0.0006576020486083189, "book-upper shelf": 0.5945972823904251, "book-lower shelf": 0.37912346364961996 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.024920672220797094, "bimanual_gripper_vertical_difference": 0.0012348055400843716, "task_success": 0.0 }, { "completion_time": 0.08062005043029785, "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": 0.0005674375990557534, "book-upper shelf": 0.5935212470905349, "book-lower shelf": 0.378231957910222 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.08951525163947302, "bimanual_gripper_vertical_difference": 0.0024494208197770595, "task_success": 0.0 }, { "completion_time": 0.1117088794708252, "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": 0.0007380219397271626, "book-upper shelf": 0.593363315806849, "book-lower shelf": 0.37809518912618145 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.061878607309349846, "bimanual_gripper_vertical_difference": 0.0028853537929716864, "task_success": 0.0 }, { "completion_time": 0.14273762702941895, "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": 0.0006505387417129471, "book-upper shelf": 0.5934381687601084, "book-lower shelf": 0.3781556908677342 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0599892330578418, "bimanual_gripper_vertical_difference": 0.002950197479241523, "task_success": 0.0 }, { "completion_time": 0.17350363731384277, "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": 0.0005268709697482388, "book-upper shelf": 0.5935510080046145, "book-lower shelf": 0.37825225089010894 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.24017652669547043, "bimanual_gripper_vertical_difference": 0.0026358365579591146, "task_success": 0.0 }, { "completion_time": 0.20453858375549316, "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": 0.0005808829610109978, "book-upper shelf": 0.5934951712886881, "book-lower shelf": 0.37819979210486726 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.48804843607822135, "bimanual_gripper_vertical_difference": 0.0029368790382047947, "task_success": 0.0 }, { "completion_time": 0.2348184585571289, "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": 0.0006989515326791818, "book-upper shelf": 0.593388110468527, "book-lower shelf": 0.3781086575556916 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7270469135274558, "bimanual_gripper_vertical_difference": 0.002950998459603068, "task_success": 0.0 }, { "completion_time": 0.2655661106109619, "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": 0.0006042795767431386, "book-upper shelf": 0.5934672313678491, "book-lower shelf": 0.37817117919797405 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9328378945941491, "bimanual_gripper_vertical_difference": 0.0032903724389931333, "task_success": 0.0 }, { "completion_time": 0.29590749740600586, "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": 0.0005262332895653588, "book-upper shelf": 0.5935352457917369, "book-lower shelf": 0.378227101318232 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1031735284956217, "bimanual_gripper_vertical_difference": 0.004712318118500554, "task_success": 0.0 }, { "completion_time": 0.3258626461029053, "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": 0.0005471885453844916, "book-upper shelf": 0.5935295360338677, "book-lower shelf": 0.3782317830838877 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2493278249886814, "bimanual_gripper_vertical_difference": 0.007730504742942257, "task_success": 0.0 }, { "completion_time": 0.3558366298675537, "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": 0.0004260956568111762, "book-upper shelf": 0.5936153230777036, "book-lower shelf": 0.37828757736680424 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.347599041780532, "bimanual_gripper_vertical_difference": 0.01292139164033043, "task_success": 0.0 }, { "completion_time": 0.3856186866760254, "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": 0.0005017399467522887, "book-upper shelf": 0.5935502868075232, "book-lower shelf": 0.3782347596363764 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3241507055954091, "bimanual_gripper_vertical_difference": 0.019657305542658415, "task_success": 0.0 }, { "completion_time": 0.41544580459594727, "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": 0.0006576387411730833, "book-upper shelf": 0.5934052872478568, "book-lower shelf": 0.37810871151395076 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2317623887785036, "bimanual_gripper_vertical_difference": 0.026359211599905244, "task_success": 0.0 }, { "completion_time": 0.4461653232574463, "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": 0.000655369582706733, "book-upper shelf": 0.5934114318189108, "book-lower shelf": 0.3781168771098616 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1959100370232496, "bimanual_gripper_vertical_difference": 0.03130257908048855, "task_success": 0.0 }, { "completion_time": 0.47932934761047363, "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": 0.0005696874000693519, "book-upper shelf": 0.5934829113076552, "book-lower shelf": 0.3781732634195769 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1272124394577003, "bimanual_gripper_vertical_difference": 0.03503871516180892, "task_success": 0.0 }, { "completion_time": 0.5125210285186768, "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": 0.000540832695982596, "book-upper shelf": 0.5935014644692708, "book-lower shelf": 0.3781835929537097 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0625565111590562, "bimanual_gripper_vertical_difference": 0.038154284073882924, "task_success": 0.0 }, { "completion_time": 0.5456109046936035, "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": 0.0005064368611520376, "book-upper shelf": 0.5935384436565782, "book-lower shelf": 0.3782192320885576 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0595181749955143, "bimanual_gripper_vertical_difference": 0.041179327529794564, "task_success": 0.0 }, { "completion_time": 0.5790872573852539, "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": 0.000563283730251718, "book-upper shelf": 0.5934740342075443, "book-lower shelf": 0.3781551625227214 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.095221603297476, "bimanual_gripper_vertical_difference": 0.04438368037148383, "task_success": 0.0 }, { "completion_time": 0.6129570007324219, "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": 0.0006393359269576404, "book-upper shelf": 0.5934146325382277, "book-lower shelf": 0.37811145933265355 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1394353769440626, "bimanual_gripper_vertical_difference": 0.04781148282099568, "task_success": 0.0 }, { "completion_time": 0.6470293998718262, "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": 0.0007188927615990881, "book-upper shelf": 0.5933403300892907, "book-lower shelf": 0.3780466566996535 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.175968837879817, "bimanual_gripper_vertical_difference": 0.05132870182225056, "task_success": 0.0 }, { "completion_time": 0.6826553344726562, "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": 0.0006824478899478681, "book-upper shelf": 0.5933708329581678, "book-lower shelf": 0.37807079424333245 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1981139766125537, "bimanual_gripper_vertical_difference": 0.054871816174636115, "task_success": 0.0 }, { "completion_time": 0.7163896560668945, "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": 0.0005426481893560098, "book-upper shelf": 0.5934870041788916, "book-lower shelf": 0.37816208141635965 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2232781419336325, "bimanual_gripper_vertical_difference": 0.058325627786347006, "task_success": 0.0 }, { "completion_time": 0.7504220008850098, "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": 0.0005697075028376908, "book-upper shelf": 0.5934640746489142, "book-lower shelf": 0.3781437146769769 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.25495672286169, "bimanual_gripper_vertical_difference": 0.06159164469506675, "task_success": 0.0 }, { "completion_time": 0.7843413352966309, "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": 0.0006010423932942821, "book-upper shelf": 0.59344698858595, "book-lower shelf": 0.3781373033427317 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2878113943944514, "bimanual_gripper_vertical_difference": 0.0645952711595157, "task_success": 0.0 }, { "completion_time": 0.8177590370178223, "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": 0.0006473759429300729, "book-upper shelf": 0.5933954141072789, "book-lower shelf": 0.3780865328963656 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3208335717023478, "bimanual_gripper_vertical_difference": 0.06734608095226186, "task_success": 0.0 }, { "completion_time": 0.8513076305389404, "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": 0.0005612072356447895, "book-upper shelf": 0.5934727108382518, "book-lower shelf": 0.3781517335725763 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3109993183137034, "bimanual_gripper_vertical_difference": 0.06987682579433095, "task_success": 0.0 }, { "completion_time": 0.8849513530731201, "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": 0.0005296471480109588, "book-upper shelf": 0.5934929630682471, "book-lower shelf": 0.3781629682301667 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.272227772590432, "bimanual_gripper_vertical_difference": 0.07219491011709471, "task_success": 0.0 }, { "completion_time": 0.9184770584106445, "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": 0.0005286125105279371, "book-upper shelf": 0.5934981355478431, "book-lower shelf": 0.3781704122755519 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2403290775954332, "bimanual_gripper_vertical_difference": 0.07433862147225076, "task_success": 0.0 }, { "completion_time": 0.951775312423706, "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": 0.0004459563090544183, "book-upper shelf": 0.5935657250976487, "book-lower shelf": 0.3782226722266546 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2333317732038271, "bimanual_gripper_vertical_difference": 0.07638246375686449, "task_success": 0.0 }, { "completion_time": 0.9852988719940186, "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": 0.0005564527648695972, "book-upper shelf": 0.5934634775449109, "book-lower shelf": 0.37813414674532203 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2423019810823557, "bimanual_gripper_vertical_difference": 0.07837014962026027, "task_success": 0.0 }, { "completion_time": 1.0190865993499756, "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": 0.0007179572734082873, "book-upper shelf": 0.5933187963348066, "book-lower shelf": 0.3780122494501236 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.258522445595442, "bimanual_gripper_vertical_difference": 0.08030476313275445, "task_success": 0.0 }, { "completion_time": 1.0526387691497803, "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": 0.00071492883190305, "book-upper shelf": 0.5933235620869797, "book-lower shelf": 0.37801775701906515 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2783489495042069, "bimanual_gripper_vertical_difference": 0.08217203425852401, "task_success": 0.0 }, { "completion_time": 1.0860381126403809, "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": 0.0004954045080115543, "book-upper shelf": 0.5935072714878772, "book-lower shelf": 0.378163128623189 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3025496457396457, "bimanual_gripper_vertical_difference": 0.0839745592166364, "task_success": 0.0 }, { "completion_time": 1.1223235130310059, "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": 0.0005739754973541622, "book-upper shelf": 0.5934523567567168, "book-lower shelf": 0.3781281033787453 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3227605919309529, "bimanual_gripper_vertical_difference": 0.08572487129276135, "task_success": 0.0 }, { "completion_time": 1.1555144786834717, "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": 0.0005610560285208566, "book-upper shelf": 0.593445718776885, "book-lower shelf": 0.37810927225725 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3103389099454918, "bimanual_gripper_vertical_difference": 0.08738086308994707, "task_success": 0.0 }, { "completion_time": 1.1890068054199219, "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": 0.0005946917523760309, "book-upper shelf": 0.593421137339364, "book-lower shelf": 0.37809259551809754 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2749833590299726, "bimanual_gripper_vertical_difference": 0.08896052930691432, "task_success": 0.0 }, { "completion_time": 1.2227404117584229, "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": 0.0006015265241108292, "book-upper shelf": 0.5934080567229334, "book-lower shelf": 0.37807651621264254 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2654830797696732, "bimanual_gripper_vertical_difference": 0.09051219845611906, "task_success": 0.0 }, { "completion_time": 1.2561020851135254, "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": 0.000532322864887691, "book-upper shelf": 0.5934674431022472, "book-lower shelf": 0.3781246580272361 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2591590320501502, "bimanual_gripper_vertical_difference": 0.09208713889333223, "task_success": 0.0 }, { "completion_time": 1.2900581359863281, "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": 0.0005703191419742515, "book-upper shelf": 0.5934461076953845, "book-lower shelf": 0.37811591475538947 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.239719090956436, "bimanual_gripper_vertical_difference": 0.0937177773491854, "task_success": 0.0 }, { "completion_time": 1.324594259262085, "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": 0.0006559820690100748, "book-upper shelf": 0.5933507343124539, "book-lower shelf": 0.37802201109188344 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2302846420314915, "bimanual_gripper_vertical_difference": 0.09542357549323496, "task_success": 0.0 }, { "completion_time": 1.3610429763793945, "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": 0.000525400887083638, "book-upper shelf": 0.5934762581244813, "book-lower shelf": 0.3781339857978511 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.223832177191053, "bimanual_gripper_vertical_difference": 0.09721434248572086, "task_success": 0.0 }, { "completion_time": 1.3950581550598145, "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": 0.0005782161982256229, "book-upper shelf": 0.5934249924138143, "book-lower shelf": 0.3780879167325775 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.22477703063109, "bimanual_gripper_vertical_difference": 0.09911486571219444, "task_success": 0.0 }, { "completion_time": 1.4294242858886719, "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": 0.000446553262433258, "book-upper shelf": 0.5935309364866276, "book-lower shelf": 0.37816846287330447 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.22905868613902, "bimanual_gripper_vertical_difference": 0.1011296434025018, "task_success": 0.0 }, { "completion_time": 1.463916540145874, "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": 0.0005486035977938508, "book-upper shelf": 0.5934312697009613, "book-lower shelf": 0.37807848430146246 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.233610393914352, "bimanual_gripper_vertical_difference": 0.10322605731920592, "task_success": 0.0 }, { "completion_time": 1.4976494312286377, "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": 0.0005600846612044963, "book-upper shelf": 0.5934309956796429, "book-lower shelf": 0.3780855312171995 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2355031613342726, "bimanual_gripper_vertical_difference": 0.10535017308030804, "task_success": 0.0 }, { "completion_time": 1.5317401885986328, "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": 0.0005850912035080258, "book-upper shelf": 0.5934038091364836, "book-lower shelf": 0.3780591454413934 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2333523517588454, "bimanual_gripper_vertical_difference": 0.1074677707100196, "task_success": 0.0 }, { "completion_time": 1.5636284351348877, "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": 0.0005914589804359993, "book-upper shelf": 0.5933911701289296, "book-lower shelf": 0.3780434543182961 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2214277064324084, "bimanual_gripper_vertical_difference": 0.1095512308524956, "task_success": 0.0 }, { "completion_time": 1.5946924686431885, "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": 0.0005217845313714164, "book-upper shelf": 0.5934509472817694, "book-lower shelf": 0.37809190445339697 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.207593042473382, "bimanual_gripper_vertical_difference": 0.1115848887306886, "task_success": 0.0 }, { "completion_time": 1.6256961822509766, "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": 0.0005223561757256023, "book-upper shelf": 0.5934483253895175, "book-lower shelf": 0.3780881614087533 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1929323394409743, "bimanual_gripper_vertical_difference": 0.1135722577459471, "task_success": 0.0 }, { "completion_time": 1.6567630767822266, "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": 0.0005527973819422494, "book-upper shelf": 0.5934272062677745, "book-lower shelf": 0.37807483756601806 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.177958635941108, "bimanual_gripper_vertical_difference": 0.11554452654876801, "task_success": 0.0 }, { "completion_time": 1.687758445739746, "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": 0.0006686429412166017, "book-upper shelf": 0.5933172396960747, "book-lower shelf": 0.3779776828437055 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1623145333391933, "bimanual_gripper_vertical_difference": 0.1175155484186272, "task_success": 0.0 }, { "completion_time": 1.7185728549957275, "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": 0.0006484577446294049, "book-upper shelf": 0.593329262554208, "book-lower shelf": 0.37798340626330607 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.140973824283696, "bimanual_gripper_vertical_difference": 0.11946817931511683, "task_success": 0.0 }, { "completion_time": 1.749389410018921, "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": 0.0006307874637766497, "book-upper shelf": 0.5933453747910332, "book-lower shelf": 0.37799718737500815 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1202658654760798, "bimanual_gripper_vertical_difference": 0.12137829905391527, "task_success": 0.0 }, { "completion_time": 1.7801480293273926, "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": 0.0006389402277242606, "book-upper shelf": 0.5933328221688036, "book-lower shelf": 0.37798279401171053 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1000389289571781, "bimanual_gripper_vertical_difference": 0.12323940421694538, "task_success": 0.0 }, { "completion_time": 1.8114526271820068, "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": 0.0005459989195492065, "book-upper shelf": 0.5934079258460672, "book-lower shelf": 0.3780401463018567 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0813419077914745, "bimanual_gripper_vertical_difference": 0.12506647869166124, "task_success": 0.0 }, { "completion_time": 1.8424196243286133, "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": 0.0005566109792722873, "book-upper shelf": 0.593408319620316, "book-lower shelf": 0.37804767617643575 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.063842257298721, "bimanual_gripper_vertical_difference": 0.12685273660451338, "task_success": 0.0 }, { "completion_time": 1.8732118606567383, "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": 0.00044341222887755993, "book-upper shelf": 0.5935025877706726, "book-lower shelf": 0.3781219229742949 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0500980907465256, "bimanual_gripper_vertical_difference": 0.12859257621715903, "task_success": 0.0 }, { "completion_time": 1.9045541286468506, "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": 0.0006518046606811545, "book-upper shelf": 0.5933158481299134, "book-lower shelf": 0.37796452933868735 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.046135938049597, "bimanual_gripper_vertical_difference": 0.1302931770375752, "task_success": 0.0 }, { "completion_time": 1.9364142417907715, "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": 0.0006372319943229732, "book-upper shelf": 0.5933233575203902, "book-lower shelf": 0.37796682402802806 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0476238125650734, "bimanual_gripper_vertical_difference": 0.13196148295133803, "task_success": 0.0 }, { "completion_time": 1.9704854488372803, "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": 0.0005674550814802615, "book-upper shelf": 0.5933821677598398, "book-lower shelf": 0.37801368872209196 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0509103737212233, "bimanual_gripper_vertical_difference": 0.13363145497311557, "task_success": 0.0 }, { "completion_time": 2.007138252258301, "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": 0.0005368550911131198, "book-upper shelf": 0.5934020439764216, "book-lower shelf": 0.3780249577423291 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.055121379894609, "bimanual_gripper_vertical_difference": 0.13533751046261694, "task_success": 0.0 }, { "completion_time": 2.039665699005127, "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": 0.000543928221319212, "book-upper shelf": 0.5934013592805084, "book-lower shelf": 0.3780284899840376 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0612474795107054, "bimanual_gripper_vertical_difference": 0.13707441735184472, "task_success": 0.0 }, { "completion_time": 2.0707645416259766, "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": 0.0005671364184471894, "book-upper shelf": 0.5933782206837946, "book-lower shelf": 0.3780072852501283 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0678636412996039, "bimanual_gripper_vertical_difference": 0.13882927147918253, "task_success": 0.0 }, { "completion_time": 2.10166072845459, "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": 0.000636605783234323, "book-upper shelf": 0.593312509221746, "book-lower shelf": 0.37794938643675574 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0702889360601582, "bimanual_gripper_vertical_difference": 0.14058831148029577, "task_success": 0.0 }, { "completion_time": 2.1327202320098877, "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": 0.0005086989655748164, "book-upper shelf": 0.5934205767747915, "book-lower shelf": 0.3780357103984118 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0670178097146594, "bimanual_gripper_vertical_difference": 0.14234101958025452, "task_success": 0.0 }, { "completion_time": 2.1636595726013184, "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": 0.000426609582293902, "book-upper shelf": 0.5934955033187463, "book-lower shelf": 0.3780998610679127 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0607259341143591, "bimanual_gripper_vertical_difference": 0.14409179100940364, "task_success": 0.0 }, { "completion_time": 2.19731068611145, "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": 0.0005908442712849737, "book-upper shelf": 0.5933517484746733, "book-lower shelf": 0.3779811731691945 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0538690936013158, "bimanual_gripper_vertical_difference": 0.14585674909115895, "task_success": 0.0 }, { "completion_time": 2.2280967235565186, "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": 0.0005298937016428029, "book-upper shelf": 0.5934024780301952, "book-lower shelf": 0.37802110480346784 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0467822145662122, "bimanual_gripper_vertical_difference": 0.1476403085439757, "task_success": 0.0 }, { "completion_time": 2.2581350803375244, "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": -0.0006865291983113586, "book-upper shelf": 0.5944685756127868, "book-lower shelf": 0.3789027773451433 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0420612155029163, "bimanual_gripper_vertical_difference": 0.1494037861740924, "task_success": 0.0 }, { "completion_time": 2.288036346435547, "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": -0.0007633350006173156, "book-upper shelf": 0.5945059058559563, "book-lower shelf": 0.3789114360495355 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0390218928894568, "bimanual_gripper_vertical_difference": 0.15112033538597108, "task_success": 0.0 }, { "completion_time": 2.317560911178589, "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": -0.0006703559548353333, "book-upper shelf": 0.594440407061733, "book-lower shelf": 0.37886909262991847 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0358485665072281, "bimanual_gripper_vertical_difference": 0.15278025588879834, "task_success": 0.0 }, { "completion_time": 2.3473336696624756, "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": -0.0007534539019832254, "book-upper shelf": 0.5946951108487478, "book-lower shelf": 0.37921464249937076 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0337691494460488, "bimanual_gripper_vertical_difference": 0.1543965527047754, "task_success": 0.0 }, { "completion_time": 2.3776814937591553, "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": -0.00025603662291440177, "book-upper shelf": 0.5944832626397083, "book-lower shelf": 0.379205449480597 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0301209333461057, "bimanual_gripper_vertical_difference": 0.1559657295098382, "task_success": 0.0 }, { "completion_time": 2.4096524715423584, "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": 0.0005220774117443705, "book-upper shelf": 0.593848587038773, "book-lower shelf": 0.37871592248076086 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0208792912415596, "bimanual_gripper_vertical_difference": 0.15748388671975944, "task_success": 0.0 }, { "completion_time": 2.4412357807159424, "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": 0.0006508436817255214, "book-upper shelf": 0.5937509839431091, "book-lower shelf": 0.37864659974100073 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0145032814885413, "bimanual_gripper_vertical_difference": 0.15896503070965845, "task_success": 0.0 }, { "completion_time": 2.474039316177368, "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": 0.0006597055504456995, "book-upper shelf": 0.5937379266596037, "book-lower shelf": 0.37863188738311176 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.013421716820951, "bimanual_gripper_vertical_difference": 0.16037329399170644, "task_success": 0.0 }, { "completion_time": 2.5055296421051025, "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": 0.0006068938427002957, "book-upper shelf": 0.5937790731277022, "book-lower shelf": 0.3786620672159106 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0112520209859714, "bimanual_gripper_vertical_difference": 0.16169053597896804, "task_success": 0.0 }, { "completion_time": 2.536503553390503, "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": 0.0005793935719607957, "book-upper shelf": 0.5938058258916072, "book-lower shelf": 0.3786861362901384 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0066597169242972, "bimanual_gripper_vertical_difference": 0.1629195604053086, "task_success": 0.0 }, { "completion_time": 2.567445993423462, "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": 0.000570651965918656, "book-upper shelf": 0.5938092460913331, "book-lower shelf": 0.37868581554530323 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0084174174841642, "bimanual_gripper_vertical_difference": 0.16408313294476604, "task_success": 0.0 }, { "completion_time": 2.59881329536438, "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": 0.0005662208677695846, "book-upper shelf": 0.5938087429120806, "book-lower shelf": 0.3786821453623091 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0197156422859628, "bimanual_gripper_vertical_difference": 0.16520883532533998, "task_success": 0.0 }, { "completion_time": 2.6335718631744385, "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": 0.0005694432904804758, "book-upper shelf": 0.5937993013517137, "book-lower shelf": 0.3786694352931316 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0311542507454965, "bimanual_gripper_vertical_difference": 0.16630801837407952, "task_success": 0.0 }, { "completion_time": 2.665757894515991, "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": 0.0005675450567720342, "book-upper shelf": 0.5937916907628265, "book-lower shelf": 0.3786562665178334 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.038284458186977, "bimanual_gripper_vertical_difference": 0.1673773006341253, "task_success": 0.0 }, { "completion_time": 2.6981356143951416, "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": 0.0007220581845133189, "book-upper shelf": 0.5936613781291498, "book-lower shelf": 0.3785523979927074 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0406734030247438, "bimanual_gripper_vertical_difference": 0.1684162437089973, "task_success": 0.0 }, { "completion_time": 2.7300171852111816, "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": 0.0006591185531943378, "book-upper shelf": 0.5937138604418976, "book-lower shelf": 0.3785937659329293 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0415930397042694, "bimanual_gripper_vertical_difference": 0.1694302834652277, "task_success": 0.0 }, { "completion_time": 2.764955997467041, "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": 0.0006542841751784323, "book-upper shelf": 0.5937136285219432, "book-lower shelf": 0.3785902580966662 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0424446979465347, "bimanual_gripper_vertical_difference": 0.17043335405264898, "task_success": 0.0 }, { "completion_time": 2.800252676010132, "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": 0.0006086589449116886, "book-upper shelf": 0.5937607147955605, "book-lower shelf": 0.37863442675349873 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0405515298351686, "bimanual_gripper_vertical_difference": 0.17144309281918713, "task_success": 0.0 }, { "completion_time": 2.8355557918548584, "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": 0.0006475871411475431, "book-upper shelf": 0.593719709842769, "book-lower shelf": 0.3785954393998814 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.035701571799599, "bimanual_gripper_vertical_difference": 0.17246462529048745, "task_success": 0.0 }, { "completion_time": 2.867187261581421, "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": 0.0008215414155879897, "book-upper shelf": 0.5936840302841141, "book-lower shelf": 0.37865261715092563 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0299460103659779, "bimanual_gripper_vertical_difference": 0.17348606131232733, "task_success": 0.0 }, { "completion_time": 2.8991360664367676, "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": 0.0006708261071979305, "book-upper shelf": 0.5954691319335391, "book-lower shelf": 0.3813480614780872 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0244276146299567, "bimanual_gripper_vertical_difference": 0.17447732222052043, "task_success": 0.0 }, { "completion_time": 2.930893898010254, "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": 0.0006414378329951953, "book-upper shelf": 0.5973389251230383, "book-lower shelf": 0.38424234035171306 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0180594855664258, "bimanual_gripper_vertical_difference": 0.1754414754208927, "task_success": 0.0 }, { "completion_time": 2.9620890617370605, "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": 0.0009196035187342133, "book-upper shelf": 0.5991001595215065, "book-lower shelf": 0.38715160916898333 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.011110566814797, "bimanual_gripper_vertical_difference": 0.1763773269717401, "task_success": 0.0 }, { "completion_time": 2.9930107593536377, "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": 0.000815106370540386, "book-upper shelf": 0.6013167361973843, "book-lower shelf": 0.39050701012146377 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0034023050823462, "bimanual_gripper_vertical_difference": 0.1772907894427929, "task_success": 0.0 }, { "completion_time": 3.023972272872925, "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": 0.000764473137511601, "book-upper shelf": 0.6030172631988571, "book-lower shelf": 0.39308878526768337 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9947370942743489, "bimanual_gripper_vertical_difference": 0.17818374376427887, "task_success": 0.0 }, { "completion_time": 3.054863452911377, "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": 0.0008094827695691587, "book-upper shelf": 0.6039889780474906, "book-lower shelf": 0.3946059097168851 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.985092798365479, "bimanual_gripper_vertical_difference": 0.17905472760389962, "task_success": 0.0 }, { "completion_time": 3.08677339553833, "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": 0.000720726152425688, "book-upper shelf": 0.6050170340819709, "book-lower shelf": 0.39612250846672725 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9757357118682702, "bimanual_gripper_vertical_difference": 0.17990758739144588, "task_success": 0.0 }, { "completion_time": 3.1173760890960693, "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": 0.0007520809412711049, "book-upper shelf": 0.6059326899233703, "book-lower shelf": 0.3975390491110654 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9671465864794356, "bimanual_gripper_vertical_difference": 0.18074337817866507, "task_success": 0.0 }, { "completion_time": 3.147584915161133, "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": 0.0009514598362603266, "book-upper shelf": 0.6068721149339155, "book-lower shelf": 0.39909249413053544 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9593789220718932, "bimanual_gripper_vertical_difference": 0.1815535216986446, "task_success": 0.0 }, { "completion_time": 3.177527666091919, "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": 0.0010133517483302823, "book-upper shelf": 0.607947424894263, "book-lower shelf": 0.4007637771737382 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9518375977533614, "bimanual_gripper_vertical_difference": 0.18233810090064406, "task_success": 0.0 }, { "completion_time": 3.2076823711395264, "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": 0.0010701473057548316, "book-upper shelf": 0.6088538580537037, "book-lower shelf": 0.40217225550510616 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9438849286550969, "bimanual_gripper_vertical_difference": 0.18309858120668654, "task_success": 0.0 }, { "completion_time": 3.2405381202697754, "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": 0.0010546328069059863, "book-upper shelf": 0.60973812277872, "book-lower shelf": 0.40350023653767764 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9351187060642019, "bimanual_gripper_vertical_difference": 0.18383447188440133, "task_success": 0.0 }, { "completion_time": 3.2734456062316895, "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": 0.0009399832443678369, "book-upper shelf": 0.6107227295168792, "book-lower shelf": 0.40491685033825264 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9266070728732614, "bimanual_gripper_vertical_difference": 0.1845468075051219, "task_success": 0.0 }, { "completion_time": 3.3075597286224365, "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": 0.0008965213846118258, "book-upper shelf": 0.6117206470405182, "book-lower shelf": 0.4063940828336294 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9190583255939728, "bimanual_gripper_vertical_difference": 0.18523833218141297, "task_success": 0.0 }, { "completion_time": 3.341064929962158, "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": 0.0007903313273357471, "book-upper shelf": 0.6129263918176543, "book-lower shelf": 0.4081427067087456 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9127621687046324, "bimanual_gripper_vertical_difference": 0.18590937918388567, "task_success": 0.0 }, { "completion_time": 3.373915433883667, "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": 0.0006218901005368149, "book-upper shelf": 0.6139809211943107, "book-lower shelf": 0.40962340016361676 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9054761663680415, "bimanual_gripper_vertical_difference": 0.18656183654291425, "task_success": 0.0 }, { "completion_time": 3.407179832458496, "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": 0.00039566314183148155, "book-upper shelf": 0.6147356450958376, "book-lower shelf": 0.41061815139716856 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.897566253671555, "bimanual_gripper_vertical_difference": 0.18719793049195868, "task_success": 0.0 }, { "completion_time": 3.4408316612243652, "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": 0.0003423221309699631, "book-upper shelf": 0.6149330777849752, "book-lower shelf": 0.41088170472630825 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8896938360404247, "bimanual_gripper_vertical_difference": 0.1878213234975047, "task_success": 0.0 }, { "completion_time": 3.474363327026367, "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": 0.00035008381651024933, "book-upper shelf": 0.6150452903313529, "book-lower shelf": 0.41105427442797443 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.882650147356388, "bimanual_gripper_vertical_difference": 0.18844309446360993, "task_success": 0.0 }, { "completion_time": 3.507511854171753, "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": 0.0004236791559640851, "book-upper shelf": 0.6150587958793773, "book-lower shelf": 0.41111856170714267 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8759776177141845, "bimanual_gripper_vertical_difference": 0.18906563999788617, "task_success": 0.0 }, { "completion_time": 3.5409204959869385, "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": 0.00046929758742841887, "book-upper shelf": 0.6150122395584068, "book-lower shelf": 0.411076232583118 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8693614287106305, "bimanual_gripper_vertical_difference": 0.1896883498497984, "task_success": 0.0 }, { "completion_time": 3.5739383697509766, "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": 0.0005679907164447551, "book-upper shelf": 0.6147951348162013, "book-lower shelf": 0.41081050791456736 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8628857911626554, "bimanual_gripper_vertical_difference": 0.19031070431306474, "task_success": 0.0 }, { "completion_time": 3.6071815490722656, "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": 0.000672557988581568, "book-upper shelf": 0.6144799324345954, "book-lower shelf": 0.4104013853987615 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8569035732990847, "bimanual_gripper_vertical_difference": 0.19093382621481705, "task_success": 0.0 }, { "completion_time": 3.640713691711426, "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": 0.0005883453136205086, "book-upper shelf": 0.6145559998455371, "book-lower shelf": 0.4104647563273336 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8513857637984189, "bimanual_gripper_vertical_difference": 0.19155211850316842, "task_success": 0.0 }, { "completion_time": 3.6728904247283936, "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": 0.0006931607331549516, "book-upper shelf": 0.6144600928025464, "book-lower shelf": 0.41038404116248645 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8457638642497453, "bimanual_gripper_vertical_difference": 0.19216206050263124, "task_success": 0.0 }, { "completion_time": 3.7055671215057373, "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": 0.0006779555722888908, "book-upper shelf": 0.6144922323581374, "book-lower shelf": 0.41042303960788484 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8401118133612538, "bimanual_gripper_vertical_difference": 0.19276524364205336, "task_success": 0.0 }, { "completion_time": 3.739058256149292, "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": 0.00044464723187220834, "book-upper shelf": 0.6147063787072119, "book-lower shelf": 0.4106037105821759 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8347662799129945, "bimanual_gripper_vertical_difference": 0.1933584302963322, "task_success": 0.0 }, { "completion_time": 3.7722742557525635, "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": 0.0006905290566162625, "book-upper shelf": 0.6144723065574537, "book-lower shelf": 0.4104007494521279 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8297708289801862, "bimanual_gripper_vertical_difference": 0.19393545824066807, "task_success": 0.0 }, { "completion_time": 3.8058717250823975, "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": 0.0006622343511225592, "book-upper shelf": 0.6145355180653329, "book-lower shelf": 0.4104784146102813 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8250895912799118, "bimanual_gripper_vertical_difference": 0.19449849142482004, "task_success": 0.0 }, { "completion_time": 3.8392176628112793, "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": 0.0006239120576202462, "book-upper shelf": 0.6145848088824126, "book-lower shelf": 0.41052922111925627 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8203579450895334, "bimanual_gripper_vertical_difference": 0.19505285303820494, "task_success": 0.0 }, { "completion_time": 3.872194528579712, "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": 0.0005998651672488586, "book-upper shelf": 0.6145790210765723, "book-lower shelf": 0.41050613313329865 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8141404630163219, "bimanual_gripper_vertical_difference": 0.1955956632687572, "task_success": 0.0 }, { "completion_time": 3.9053351879119873, "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": 0.0006190559701749754, "book-upper shelf": 0.6145618299898805, "book-lower shelf": 0.4104919068434912 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8075440456859315, "bimanual_gripper_vertical_difference": 0.1961200847906035, "task_success": 0.0 }, { "completion_time": 3.9409077167510986, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006344662851459626, "book-upper shelf": 0.6145483536949885, "book-lower shelf": 0.4104809746410973 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8017027565222794, "bimanual_gripper_vertical_difference": 0.19661857432781532, "task_success": 0.0 }, { "completion_time": 3.974010944366455, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006269658683911716, "book-upper shelf": 0.6145655291793852, "book-lower shelf": 0.41050218950500134 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7958240541324668, "bimanual_gripper_vertical_difference": 0.1970885500331784, "task_success": 0.0 }, { "completion_time": 4.007172584533691, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006216170418334999, "book-upper shelf": 0.6145485116227479, "book-lower shelf": 0.4104735034578539 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7905635592555859, "bimanual_gripper_vertical_difference": 0.19753318102524986, "task_success": 0.0 }, { "completion_time": 4.040640830993652, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006381991187495162, "book-upper shelf": 0.6145310001927178, "book-lower shelf": 0.4104572327841847 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7849397812306278, "bimanual_gripper_vertical_difference": 0.19795773522904267, "task_success": 0.0 }, { "completion_time": 4.074281215667725, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006514691772105952, "book-upper shelf": 0.6145162037385883, "book-lower shelf": 0.41044304019504146 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7792135314692479, "bimanual_gripper_vertical_difference": 0.19836951664615826, "task_success": 0.0 }, { "completion_time": 4.106464862823486, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006217528227646651, "book-upper shelf": 0.6145598194142328, "book-lower shelf": 0.4104905143934555 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7738892572098279, "bimanual_gripper_vertical_difference": 0.19877377031679724, "task_success": 0.0 }, { "completion_time": 4.137222766876221, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005121948127915221, "book-upper shelf": 0.6146062886615815, "book-lower shelf": 0.4104943714462195 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7694505939378573, "bimanual_gripper_vertical_difference": 0.19917608808686363, "task_success": 0.0 }, { "completion_time": 4.16754937171936, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006352685884352116, "book-upper shelf": 0.6145161438791462, "book-lower shelf": 0.41043323171428736 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7655041334405377, "bimanual_gripper_vertical_difference": 0.19958377553829376, "task_success": 0.0 }, { "completion_time": 4.198255300521851, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005899202639831902, "book-upper shelf": 0.614561020733448, "book-lower shelf": 0.41047321840767065 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7621859766878121, "bimanual_gripper_vertical_difference": 0.20000001896631306, "task_success": 0.0 }, { "completion_time": 4.229405879974365, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006009861969773489, "book-upper shelf": 0.6145370808193203, "book-lower shelf": 0.4104440131682226 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7589270212713948, "bimanual_gripper_vertical_difference": 0.2004245601450784, "task_success": 0.0 }, { "completion_time": 4.259732246398926, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006383348369520814, "book-upper shelf": 0.6145024525624748, "book-lower shelf": 0.41041457184987185 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7552075465660598, "bimanual_gripper_vertical_difference": 0.20085516181344165, "task_success": 0.0 }, { "completion_time": 4.293795585632324, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006729236012719131, "book-upper shelf": 0.6144716269460939, "book-lower shelf": 0.4103891691311386 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7509045556501938, "bimanual_gripper_vertical_difference": 0.20128828457491432, "task_success": 0.0 }, { "completion_time": 4.326502323150635, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006933619828346504, "book-upper shelf": 0.6144532457459779, "book-lower shelf": 0.4103739098762383 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7461393351100988, "bimanual_gripper_vertical_difference": 0.20172029684296833, "task_success": 0.0 }, { "completion_time": 4.359962701797485, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00066271526692252, "book-upper shelf": 0.6145161173774628, "book-lower shelf": 0.41044965737688194 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7413262077356223, "bimanual_gripper_vertical_difference": 0.2021501801729264, "task_success": 0.0 }, { "completion_time": 4.392194747924805, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006544006130670965, "book-upper shelf": 0.6144967322510991, "book-lower shelf": 0.41041564555962706 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7366077744407038, "bimanual_gripper_vertical_difference": 0.20257776220721888, "task_success": 0.0 }, { "completion_time": 4.422854900360107, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006665214168211087, "book-upper shelf": 0.6144776672546822, "book-lower shelf": 0.41039437205862994 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7322408900885913, "bimanual_gripper_vertical_difference": 0.2030002661211239, "task_success": 0.0 }, { "completion_time": 4.45320463180542, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006771431778883619, "book-upper shelf": 0.6144592327963465, "book-lower shelf": 0.41037314302661354 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7280290033381459, "bimanual_gripper_vertical_difference": 0.20342090552352426, "task_success": 0.0 }, { "completion_time": 4.483360052108765, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006868425438886216, "book-upper shelf": 0.6144395030540865, "book-lower shelf": 0.4103494207562563 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.723751048730546, "bimanual_gripper_vertical_difference": 0.2038463898801229, "task_success": 0.0 }, { "completion_time": 4.513666868209839, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006781446003559788, "book-upper shelf": 0.6144649295986607, "book-lower shelf": 0.41038227374735237 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7200725054030271, "bimanual_gripper_vertical_difference": 0.20427970246229132, "task_success": 0.0 }, { "completion_time": 4.543599843978882, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006661932848137653, "book-upper shelf": 0.6144883517148647, "book-lower shelf": 0.41041017271418345 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7161817966803486, "bimanual_gripper_vertical_difference": 0.2047241968936916, "task_success": 0.0 }, { "completion_time": 4.576368570327759, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006242231931006259, "book-upper shelf": 0.6145432488416124, "book-lower shelf": 0.41046718748180394 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7114791413339536, "bimanual_gripper_vertical_difference": 0.2051880440712701, "task_success": 0.0 }, { "completion_time": 4.606651544570923, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048334146252038135, "book-upper shelf": 0.6146763966549498, "book-lower shelf": 0.41058202919644277 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7065316299320532, "bimanual_gripper_vertical_difference": 0.20567126040996023, "task_success": 0.0 }, { "completion_time": 4.63636326789856, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006934171103817333, "book-upper shelf": 0.6145183107386317, "book-lower shelf": 0.4104713584161091 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7020143649005622, "bimanual_gripper_vertical_difference": 0.20616346844557298, "task_success": 0.0 }, { "completion_time": 4.667166233062744, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007081673885528383, "book-upper shelf": 0.614505733318282, "book-lower shelf": 0.4104613768704826 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6983134819901644, "bimanual_gripper_vertical_difference": 0.20666503778701828, "task_success": 0.0 }, { "completion_time": 4.697437524795532, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006186971970605359, "book-upper shelf": 0.6145966120218926, "book-lower shelf": 0.41054376323902875 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6947395573937288, "bimanual_gripper_vertical_difference": 0.20717296738109248, "task_success": 0.0 }, { "completion_time": 4.727246999740601, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006270242632856471, "book-upper shelf": 0.6147442941196102, "book-lower shelf": 0.41076980639044736 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6904328172476055, "bimanual_gripper_vertical_difference": 0.2076807349207924, "task_success": 0.0 }, { "completion_time": 4.758253335952759, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005109648887144935, "book-upper shelf": 0.6150096911656989, "book-lower shelf": 0.41109737712405986 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6861444165926497, "bimanual_gripper_vertical_difference": 0.20818235313160233, "task_success": 0.0 }, { "completion_time": 4.788082599639893, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00043103382331599605, "book-upper shelf": 0.6153206028447152, "book-lower shelf": 0.4115145386042551 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6825428121632466, "bimanual_gripper_vertical_difference": 0.2086757778055642, "task_success": 0.0 }, { "completion_time": 4.818049907684326, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005445374552353055, "book-upper shelf": 0.6153455401457287, "book-lower shelf": 0.41161972722178486 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6787506080824611, "bimanual_gripper_vertical_difference": 0.20915762303930419, "task_success": 0.0 }, { "completion_time": 4.847244024276733, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005024367200587854, "book-upper shelf": 0.6154769723419743, "book-lower shelf": 0.411791011360316 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6750889557261707, "bimanual_gripper_vertical_difference": 0.20962961406632577, "task_success": 0.0 }, { "completion_time": 4.876598119735718, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00044659794028600874, "book-upper shelf": 0.6155895324586996, "book-lower shelf": 0.41192585281770505 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6710260170920727, "bimanual_gripper_vertical_difference": 0.2100955925604617, "task_success": 0.0 }, { "completion_time": 4.9055891036987305, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005366782303986017, "book-upper shelf": 0.6154614303177967, "book-lower shelf": 0.41178825626098686 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6666607923343265, "bimanual_gripper_vertical_difference": 0.21055696980027142, "task_success": 0.0 }, { "completion_time": 4.934737205505371, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005626705235151075, "book-upper shelf": 0.6153515836557768, "book-lower shelf": 0.4116396083930992 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6624609646856208, "bimanual_gripper_vertical_difference": 0.21101808723152438, "task_success": 0.0 }, { "completion_time": 4.9637157917022705, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007258109779259003, "book-upper shelf": 0.6151075794768199, "book-lower shelf": 0.4113724207294065 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6587753906763179, "bimanual_gripper_vertical_difference": 0.21147946047167662, "task_success": 0.0 }, { "completion_time": 4.992560148239136, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005519521818727613, "book-upper shelf": 0.6152927698259534, "book-lower shelf": 0.411545270952195 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6553816527846494, "bimanual_gripper_vertical_difference": 0.21193883788897733, "task_success": 0.0 }, { "completion_time": 5.0218422412872314, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007084558467900237, "book-upper shelf": 0.6151560607118203, "book-lower shelf": 0.41143452298405414 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.652032243060718, "bimanual_gripper_vertical_difference": 0.21239631388584052, "task_success": 0.0 }, { "completion_time": 5.05118465423584, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006937808561597869, "book-upper shelf": 0.6151817204832971, "book-lower shelf": 0.411464105591608 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6483699251653897, "bimanual_gripper_vertical_difference": 0.21285274188479203, "task_success": 0.0 }, { "completion_time": 5.080390453338623, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005219113575096745, "book-upper shelf": 0.6153851039305922, "book-lower shelf": 0.41166533735397814 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6446654042402583, "bimanual_gripper_vertical_difference": 0.2133073369346688, "task_success": 0.0 }, { "completion_time": 5.109401702880859, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006973065957432967, "book-upper shelf": 0.6152334100124569, "book-lower shelf": 0.4115434922575281 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.640837504554574, "bimanual_gripper_vertical_difference": 0.21375636683406649, "task_success": 0.0 }, { "completion_time": 5.1387341022491455, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005139484855589682, "book-upper shelf": 0.6154754147675783, "book-lower shelf": 0.41179556664216077 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6372396734511268, "bimanual_gripper_vertical_difference": 0.21420092976548952, "task_success": 0.0 }, { "completion_time": 5.172796964645386, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006872832729957201, "book-upper shelf": 0.6153713003426807, "book-lower shelf": 0.41174360775139235 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6337775179336235, "bimanual_gripper_vertical_difference": 0.21463930066331596, "task_success": 0.0 }, { "completion_time": 5.2044501304626465, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006359949795875508, "book-upper shelf": 0.6155018615687154, "book-lower shelf": 0.4119080551691295 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6304701222509261, "bimanual_gripper_vertical_difference": 0.21507329556190344, "task_success": 0.0 }, { "completion_time": 5.23689603805542, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006459832628764595, "book-upper shelf": 0.6156497849242066, "book-lower shelf": 0.4121350272980647 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6271830062251603, "bimanual_gripper_vertical_difference": 0.21550114961421069, "task_success": 0.0 }, { "completion_time": 5.267879247665405, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00046486826033154127, "book-upper shelf": 0.6159640081024362, "book-lower shelf": 0.4124961723986985 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6236076893886497, "bimanual_gripper_vertical_difference": 0.21592418341442446, "task_success": 0.0 }, { "completion_time": 5.300658226013184, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005875258751013579, "book-upper shelf": 0.6159589294503337, "book-lower shelf": 0.41256179958621103 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6203040799652231, "bimanual_gripper_vertical_difference": 0.21634189743729937, "task_success": 0.0 }, { "completion_time": 5.330232858657837, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004531082650419682, "book-upper shelf": 0.6161688156794815, "book-lower shelf": 0.4127949262916717 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6167056791054233, "bimanual_gripper_vertical_difference": 0.21675353319237317, "task_success": 0.0 }, { "completion_time": 5.36090350151062, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00045702689478444025, "book-upper shelf": 0.6161200556626173, "book-lower shelf": 0.4127244776787666 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6139576322966984, "bimanual_gripper_vertical_difference": 0.21715450090211105, "task_success": 0.0 }, { "completion_time": 5.391661882400513, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006999000469565253, "book-upper shelf": 0.6158802176093352, "book-lower shelf": 0.41251135355470553 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6133513168352792, "bimanual_gripper_vertical_difference": 0.2175399681600971, "task_success": 0.0 }, { "completion_time": 5.421829700469971, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007019933762810737, "book-upper shelf": 0.6158796631353645, "book-lower shelf": 0.4125117752171043 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6135457661516887, "bimanual_gripper_vertical_difference": 0.2179074459041606, "task_success": 0.0 }, { "completion_time": 5.452271461486816, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007018754047904974, "book-upper shelf": 0.615881076031366, "book-lower shelf": 0.4125138142505407 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6130128575650563, "bimanual_gripper_vertical_difference": 0.2182565545795097, "task_success": 0.0 }, { "completion_time": 5.482959032058716, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007017424342687928, "book-upper shelf": 0.6158825023751736, "book-lower shelf": 0.41251586440347815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6122694120698, "bimanual_gripper_vertical_difference": 0.21858368204769904, "task_success": 0.0 }, { "completion_time": 5.512846231460571, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007016090116044316, "book-upper shelf": 0.6158839292260241, "book-lower shelf": 0.41251791503829066 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6120599614108696, "bimanual_gripper_vertical_difference": 0.21887857246262238, "task_success": 0.0 }, { "completion_time": 5.54256272315979, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007014752330649632, "book-upper shelf": 0.61588535649826, "book-lower shelf": 0.41251996608455127 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6122172888788268, "bimanual_gripper_vertical_difference": 0.21913059173077307, "task_success": 0.0 }, { "completion_time": 5.572357892990112, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000701341099204611, "book-upper shelf": 0.615886784191364, "book-lower shelf": 0.4125220175418167 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6131447399262276, "bimanual_gripper_vertical_difference": 0.21932846182584753, "task_success": 0.0 }, { "completion_time": 5.6021058559417725, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007012066099437719, "book-upper shelf": 0.6158882123053826, "book-lower shelf": 0.41252406941010716 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6163964794758241, "bimanual_gripper_vertical_difference": 0.21945717980439305, "task_success": 0.0 }, { "completion_time": 5.6323394775390625, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000702196483136297, "book-upper shelf": 0.6158869956299677, "book-lower shelf": 0.4125228437736694 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6207213344828209, "bimanual_gripper_vertical_difference": 0.21949796907718125, "task_success": 0.0 }, { "completion_time": 5.665593862533569, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007020772404603415, "book-upper shelf": 0.6158883929627519, "book-lower shelf": 0.41252485878331346 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6263533990489633, "bimanual_gripper_vertical_difference": 0.21943034903077804, "task_success": 0.0 }, { "completion_time": 5.697615385055542, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007030827654450622, "book-upper shelf": 0.6158871450120671, "book-lower shelf": 0.41252359579767583 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.635753921432485, "bimanual_gripper_vertical_difference": 0.21927665542478927, "task_success": 0.0 }, { "completion_time": 5.730896711349487, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007040884575707507, "book-upper shelf": 0.6158858968838616, "book-lower shelf": 0.41252233264667504 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6432182850469926, "bimanual_gripper_vertical_difference": 0.2190753289352805, "task_success": 0.0 }, { "completion_time": 5.764451265335083, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007050945806083009, "book-upper shelf": 0.6158846483275158, "book-lower shelf": 0.412521069113581 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6427440379898769, "bimanual_gripper_vertical_difference": 0.21886612010385192, "task_success": 0.0 }, { "completion_time": 5.7998948097229, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007049593872627824, "book-upper shelf": 0.6158860771494213, "book-lower shelf": 0.4125231216158002 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6405097807204801, "bimanual_gripper_vertical_difference": 0.21866211824955864, "task_success": 0.0 }, { "completion_time": 5.8326990604400635, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007059651801952782, "book-upper shelf": 0.6158848288115959, "book-lower shelf": 0.41252185821379034 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6389898750709166, "bimanual_gripper_vertical_difference": 0.2184623118893892, "task_success": 0.0 }, { "completion_time": 5.866162300109863, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000706971063274664, "book-upper shelf": 0.6158835803298283, "book-lower shelf": 0.41252059465059315 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.636059525515543, "bimanual_gripper_vertical_difference": 0.21826459159679595, "task_success": 0.0 }, { "completion_time": 5.899382829666138, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007079772142127849, "book-upper shelf": 0.6158823315807633, "book-lower shelf": 0.4125193308481151 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6352557940244828, "bimanual_gripper_vertical_difference": 0.21806298636602262, "task_success": 0.0 }, { "completion_time": 5.932432174682617, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007089819336176806, "book-upper shelf": 0.6158810858113878, "book-lower shelf": 0.4125180706397031 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6383790448160938, "bimanual_gripper_vertical_difference": 0.21786133064167681, "task_success": 0.0 }, { "completion_time": 5.965311288833618, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007088487917417119, "book-upper shelf": 0.6158825110525918, "book-lower shelf": 0.41252011902308283 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6445196809737704, "bimanual_gripper_vertical_difference": 0.2176522445647514, "task_success": 0.0 }, { "completion_time": 5.9994072914123535, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000709854951675748, "book-upper shelf": 0.615881262140292, "book-lower shelf": 0.412518854984048 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6515006318093471, "bimanual_gripper_vertical_difference": 0.21743935325983196, "task_success": 0.0 }, { "completion_time": 6.033555746078491, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007108612221261579, "book-upper shelf": 0.6158800131004049, "book-lower shelf": 0.41251759082040107 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6593399794706754, "bimanual_gripper_vertical_difference": 0.21722768343335863, "task_success": 0.0 }, { "completion_time": 6.067153692245483, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007118677912704152, "book-upper shelf": 0.6158787637310142, "book-lower shelf": 0.412516326343006 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6664693064072189, "bimanual_gripper_vertical_difference": 0.21702506398517638, "task_success": 0.0 }, { "completion_time": 6.101434707641602, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007128581263270428, "book-upper shelf": 0.615877546040144, "book-lower shelf": 0.4125150994710546 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6724529641937741, "bimanual_gripper_vertical_difference": 0.2168401666115524, "task_success": 0.0 }, { "completion_time": 6.135461807250977, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007127400883270019, "book-upper shelf": 0.615878942309308, "book-lower shelf": 0.41251711361760895 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6746583038007157, "bimanual_gripper_vertical_difference": 0.21666827110491813, "task_success": 0.0 }, { "completion_time": 6.168961048126221, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005188933869239021, "book-upper shelf": 0.6160486931428816, "book-lower shelf": 0.4126548557360492 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6733891738094124, "bimanual_gripper_vertical_difference": 0.21650402751462927, "task_success": 0.0 }, { "completion_time": 6.202385187149048, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005342950248183875, "book-upper shelf": 0.616037169607138, "book-lower shelf": 0.412646842364781 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6714726869983837, "bimanual_gripper_vertical_difference": 0.21634695394669137, "task_success": 0.0 }, { "completion_time": 6.237027406692505, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000529543452589265, "book-upper shelf": 0.6160477997213055, "book-lower shelf": 0.4126598766608813 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6686960760177284, "bimanual_gripper_vertical_difference": 0.216201956772469, "task_success": 0.0 }, { "completion_time": 6.2718424797058105, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005144642061849503, "book-upper shelf": 0.6160615216356108, "book-lower shelf": 0.41267136431962614 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6667534305366628, "bimanual_gripper_vertical_difference": 0.2160707450912821, "task_success": 0.0 }, { "completion_time": 6.30695652961731, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00046867836901132165, "book-upper shelf": 0.6161045126852893, "book-lower shelf": 0.4127082259964677 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6671159397104607, "bimanual_gripper_vertical_difference": 0.21593543872195164, "task_success": 0.0 }, { "completion_time": 6.34483790397644, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004843027324561433, "book-upper shelf": 0.6160895491713304, "book-lower shelf": 0.4126952096521929 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6709194039695849, "bimanual_gripper_vertical_difference": 0.21577182608342643, "task_success": 0.0 }, { "completion_time": 6.379638195037842, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005035405109303781, "book-upper shelf": 0.6160786501487368, "book-lower shelf": 0.4126904170014266 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6764817450848216, "bimanual_gripper_vertical_difference": 0.21556957097682622, "task_success": 0.0 }, { "completion_time": 6.414332628250122, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005177820555560819, "book-upper shelf": 0.6160666930497655, "book-lower shelf": 0.4126810640793086 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6834918906593764, "bimanual_gripper_vertical_difference": 0.21534358381065802, "task_success": 0.0 }, { "completion_time": 6.4493818283081055, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005328493203429208, "book-upper shelf": 0.61605561414323, "book-lower shelf": 0.41267351496828064 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.692911658883209, "bimanual_gripper_vertical_difference": 0.21511536381010463, "task_success": 0.0 } ]