[ { "completion_time": 0.045660972595214844, "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": 0.594597282390425, "book-lower shelf": 0.37912346364961985 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.07528066635131836, "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": 0.0005674375990554203, "book-upper shelf": 0.5935212470905353, "book-lower shelf": 0.3782319579102224 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.018563459267291e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.10541057586669922, "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": 0.0007380219397272736, "book-upper shelf": 0.5933633158068491, "book-lower shelf": 0.3780951891261816 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.865484758570665e-07, "bimanual_gripper_vertical_difference": 9.739087314386552e-10, "task_success": 0.0 }, { "completion_time": 0.13553810119628906, "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": 0.0006505387417130581, "book-upper shelf": 0.5934381687601084, "book-lower shelf": 0.3781556908677344 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0476543531660826e-06, "bimanual_gripper_vertical_difference": 1.3151431610403108e-09, "task_success": 0.0 }, { "completion_time": 0.16815614700317383, "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": 0.5935510080046146, "book-lower shelf": 0.3782522508901092 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0001767503972824491, "bimanual_gripper_vertical_difference": 2.2006893640735827e-09, "task_success": 0.0 }, { "completion_time": 0.20120596885681152, "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": 0.0005808829610111088, "book-upper shelf": 0.5934951712886881, "book-lower shelf": 0.3781997921048674 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00019642507390926796, "bimanual_gripper_vertical_difference": 2.7687085587165447e-09, "task_success": 0.0 }, { "completion_time": 0.23386812210083008, "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": 0.0006989515326794038, "book-upper shelf": 0.5933881104685269, "book-lower shelf": 0.3781086575556917 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00018898803668993734, "bimanual_gripper_vertical_difference": 3.305395037043825e-09, "task_success": 0.0 }, { "completion_time": 0.2646007537841797, "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": 0.5934672313678492, "book-lower shelf": 0.3781711791979742 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00040343131833661184, "bimanual_gripper_vertical_difference": 4.199730702092452e-09, "task_success": 0.0 }, { "completion_time": 0.29442262649536133, "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": 0.3782271013182321 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007208841171722944, "bimanual_gripper_vertical_difference": 4.43590364440638e-09, "task_success": 0.0 }, { "completion_time": 0.3245663642883301, "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": 0.5935295360338678, "book-lower shelf": 0.37823178308388783 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0007462850011111848, "bimanual_gripper_vertical_difference": 4.825983190848149e-09, "task_success": 0.0 }, { "completion_time": 0.35465431213378906, "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": 0.00042609565681128725, "book-upper shelf": 0.5936153230777036, "book-lower shelf": 0.3782875773668043 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0006785070326285676, "bimanual_gripper_vertical_difference": 4.967613391344953e-09, "task_success": 0.0 }, { "completion_time": 0.3839883804321289, "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": 0.0005017399467525108, "book-upper shelf": 0.5935502868075231, "book-lower shelf": 0.3782347596363764 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.005545991131031516, "bimanual_gripper_vertical_difference": 1.5829374805024592e-05, "task_success": 0.0 }, { "completion_time": 0.41379714012145996, "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": 0.0006576387411729723, "book-upper shelf": 0.593405287247857, "book-lower shelf": 0.378108711513951 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.025545329981830282, "bimanual_gripper_vertical_difference": 0.000543077116834024, "task_success": 0.0 }, { "completion_time": 0.44327569007873535, "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": 0.5934114318189109, "book-lower shelf": 0.3781168771098618 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.06428674529419717, "bimanual_gripper_vertical_difference": 0.0022346036941631414, "task_success": 0.0 }, { "completion_time": 0.47280454635620117, "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": 0.000569687400069463, "book-upper shelf": 0.5934829113076552, "book-lower shelf": 0.3781732634195771 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.13843540328899534, "bimanual_gripper_vertical_difference": 0.005428800544734994, "task_success": 0.0 }, { "completion_time": 0.5025596618652344, "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": 0.5935014644692709, "book-lower shelf": 0.37818359295371 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1998719462689854, "bimanual_gripper_vertical_difference": 0.010032702863488563, "task_success": 0.0 }, { "completion_time": 0.5325994491577148, "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": 0.0005064368611521486, "book-upper shelf": 0.5935384436565783, "book-lower shelf": 0.37821923208855784 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2559414539837016, "bimanual_gripper_vertical_difference": 0.015727618948507487, "task_success": 0.0 }, { "completion_time": 0.563138484954834, "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": 0.000563283730251829, "book-upper shelf": 0.5934740342075445, "book-lower shelf": 0.3781551625227217 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.30574595094200724, "bimanual_gripper_vertical_difference": 0.022153881912162388, "task_success": 0.0 }, { "completion_time": 0.5934784412384033, "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": 0.0006393359269578625, "book-upper shelf": 0.5934146325382278, "book-lower shelf": 0.3781114593326537 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3211978456754786, "bimanual_gripper_vertical_difference": 0.02890432916535867, "task_success": 0.0 }, { "completion_time": 0.6243717670440674, "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": 0.0007188927615991991, "book-upper shelf": 0.5933403300892909, "book-lower shelf": 0.37804665669965376 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31257353253478753, "bimanual_gripper_vertical_difference": 0.035472572203215896, "task_success": 0.0 }, { "completion_time": 0.6577188968658447, "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": 0.0006824478899479791, "book-upper shelf": 0.5933708329581681, "book-lower shelf": 0.3780707942433328 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2979014083167729, "bimanual_gripper_vertical_difference": 0.04148381894541472, "task_success": 0.0 }, { "completion_time": 0.6884415149688721, "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": 0.0005426481893561208, "book-upper shelf": 0.5934870041788917, "book-lower shelf": 0.37816208141635993 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.284438161844693, "bimanual_gripper_vertical_difference": 0.046910640332702334, "task_success": 0.0 }, { "completion_time": 0.7191853523254395, "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": 0.0005697075028378018, "book-upper shelf": 0.5934640746489144, "book-lower shelf": 0.3781437146769772 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.27823795768386816, "bimanual_gripper_vertical_difference": 0.051863119030193944, "task_success": 0.0 }, { "completion_time": 0.749946117401123, "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": 0.0006010423932945042, "book-upper shelf": 0.5934469885859501, "book-lower shelf": 0.3781373033427319 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3138601768661243, "bimanual_gripper_vertical_difference": 0.056528486314023636, "task_success": 0.0 }, { "completion_time": 0.7803940773010254, "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": 0.000647375942930406, "book-upper shelf": 0.5933954141072789, "book-lower shelf": 0.37808653289636573 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3562282984911655, "bimanual_gripper_vertical_difference": 0.061051885276937064, "task_success": 0.0 }, { "completion_time": 0.8123047351837158, "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": 0.0005612072356450115, "book-upper shelf": 0.5934727108382519, "book-lower shelf": 0.3781517335725766 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.38567426349170797, "bimanual_gripper_vertical_difference": 0.06555223855846672, "task_success": 0.0 }, { "completion_time": 0.8430421352386475, "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": 0.0005296471480112919, "book-upper shelf": 0.5934929630682471, "book-lower shelf": 0.3781629682301668 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.42988096660137304, "bimanual_gripper_vertical_difference": 0.07003981962423735, "task_success": 0.0 }, { "completion_time": 0.8739099502563477, "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": 0.0005286125105282702, "book-upper shelf": 0.593498135547843, "book-lower shelf": 0.3781704122755521 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.49855369473105776, "bimanual_gripper_vertical_difference": 0.07447418485325508, "task_success": 0.0 }, { "completion_time": 0.9071805477142334, "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": 0.00044595630905475137, "book-upper shelf": 0.5935657250976487, "book-lower shelf": 0.3782226722266548 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5845058778324879, "bimanual_gripper_vertical_difference": 0.07876039122334208, "task_success": 0.0 }, { "completion_time": 0.9384081363677979, "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": 0.0005564527648700412, "book-upper shelf": 0.5934634775449108, "book-lower shelf": 0.3781341467453221 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.656573195363281, "bimanual_gripper_vertical_difference": 0.08289077243527232, "task_success": 0.0 }, { "completion_time": 0.9696671962738037, "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": 0.0007179572734086204, "book-upper shelf": 0.5933187963348066, "book-lower shelf": 0.3780122494501237 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7194425169810996, "bimanual_gripper_vertical_difference": 0.08688578290160628, "task_success": 0.0 }, { "completion_time": 0.9996132850646973, "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": 0.0007149288319033831, "book-upper shelf": 0.5933235620869796, "book-lower shelf": 0.3780177570190653 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7871465229350931, "bimanual_gripper_vertical_difference": 0.09079582638457565, "task_success": 0.0 }, { "completion_time": 1.0304343700408936, "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": 0.0004954045080119984, "book-upper shelf": 0.5935072714878771, "book-lower shelf": 0.37816312862318907 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8481557399501869, "bimanual_gripper_vertical_difference": 0.09466046230949872, "task_success": 0.0 }, { "completion_time": 1.063859462738037, "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": 0.0005739754973546063, "book-upper shelf": 0.5934523567567166, "book-lower shelf": 0.37812810337874536 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.890253799776243, "bimanual_gripper_vertical_difference": 0.09840344344526124, "task_success": 0.0 }, { "completion_time": 1.0978682041168213, "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": 0.0005610560285211896, "book-upper shelf": 0.593445718776885, "book-lower shelf": 0.3781092722572501 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9301766083618886, "bimanual_gripper_vertical_difference": 0.10195655023184906, "task_success": 0.0 }, { "completion_time": 1.1298980712890625, "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": 0.000594691752376475, "book-upper shelf": 0.5934211373393639, "book-lower shelf": 0.37809259551809765 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9642104819015537, "bimanual_gripper_vertical_difference": 0.10528232759195018, "task_success": 0.0 }, { "completion_time": 1.1607983112335205, "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": 0.0006015265241112733, "book-upper shelf": 0.5934080567229332, "book-lower shelf": 0.37807651621264265 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9934636237564927, "bimanual_gripper_vertical_difference": 0.10840213585627756, "task_success": 0.0 }, { "completion_time": 1.1917691230773926, "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": 0.0005323228648881351, "book-upper shelf": 0.5934674431022471, "book-lower shelf": 0.37812465802723616 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0270260903434607, "bimanual_gripper_vertical_difference": 0.11141173868986035, "task_success": 0.0 }, { "completion_time": 1.2226042747497559, "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": 0.0005703191419746956, "book-upper shelf": 0.5934461076953843, "book-lower shelf": 0.3781159147553894 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.057080159184852, "bimanual_gripper_vertical_difference": 0.11442345579650921, "task_success": 0.0 }, { "completion_time": 1.2531473636627197, "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": 0.0006559820690104079, "book-upper shelf": 0.5933507343124538, "book-lower shelf": 0.37802201109188344 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0646031520884383, "bimanual_gripper_vertical_difference": 0.11747915539804692, "task_success": 0.0 }, { "completion_time": 1.2861273288726807, "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": 0.00052540088708386, "book-upper shelf": 0.5934762581244812, "book-lower shelf": 0.3781339857978512 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.056018107464496, "bimanual_gripper_vertical_difference": 0.12057204878688002, "task_success": 0.0 }, { "completion_time": 1.3173134326934814, "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": 0.0005782161982259559, "book-upper shelf": 0.5934249924138142, "book-lower shelf": 0.3780879167325776 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0623286262451295, "bimanual_gripper_vertical_difference": 0.12368319968663066, "task_success": 0.0 }, { "completion_time": 1.3485429286956787, "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": 0.00044655326243359106, "book-upper shelf": 0.5935309364866275, "book-lower shelf": 0.37816846287330447 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.069036209010288, "bimanual_gripper_vertical_difference": 0.12676034102802536, "task_success": 0.0 }, { "completion_time": 1.3790452480316162, "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": 0.0005486035977940729, "book-upper shelf": 0.5934312697009612, "book-lower shelf": 0.37807848430146257 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.079287326284469, "bimanual_gripper_vertical_difference": 0.12978849938523696, "task_success": 0.0 }, { "completion_time": 1.4094297885894775, "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": 0.0005600846612048294, "book-upper shelf": 0.5934309956796427, "book-lower shelf": 0.37808553121719957 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.081012687812728, "bimanual_gripper_vertical_difference": 0.13275752099486793, "task_success": 0.0 }, { "completion_time": 1.4399046897888184, "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": 0.0005850912035082478, "book-upper shelf": 0.5934038091364835, "book-lower shelf": 0.37805914544139346 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0750135976601596, "bimanual_gripper_vertical_difference": 0.13569491109465281, "task_success": 0.0 }, { "completion_time": 1.4728977680206299, "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": 0.0005914589804363324, "book-upper shelf": 0.5933911701289295, "book-lower shelf": 0.3780434543182961 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0649532675582258, "bimanual_gripper_vertical_difference": 0.13862271570379905, "task_success": 0.0 }, { "completion_time": 1.506127119064331, "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": 0.0005217845313718605, "book-upper shelf": 0.5934509472817692, "book-lower shelf": 0.3780919044533968 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0496283288509416, "bimanual_gripper_vertical_difference": 0.14154302201623312, "task_success": 0.0 }, { "completion_time": 1.5402328968048096, "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": 0.0005223561757259354, "book-upper shelf": 0.5934483253895174, "book-lower shelf": 0.37808816140875323 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0338924025060126, "bimanual_gripper_vertical_difference": 0.1444574056880371, "task_success": 0.0 }, { "completion_time": 1.5740888118743896, "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": 0.0005527973819425824, "book-upper shelf": 0.5934272062677742, "book-lower shelf": 0.37807483756601806 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0188113692274765, "bimanual_gripper_vertical_difference": 0.1473495729853688, "task_success": 0.0 }, { "completion_time": 1.6078920364379883, "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": 0.0006686429412169348, "book-upper shelf": 0.5933172396960745, "book-lower shelf": 0.3779776828437054 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0025135742284963, "bimanual_gripper_vertical_difference": 0.15019757320437813, "task_success": 0.0 }, { "completion_time": 1.6411333084106445, "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": 0.0006484577446296269, "book-upper shelf": 0.5933292625542079, "book-lower shelf": 0.37798340626330607 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9863024195578952, "bimanual_gripper_vertical_difference": 0.15299173917181347, "task_success": 0.0 }, { "completion_time": 1.6744439601898193, "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": 0.0006307874637767608, "book-upper shelf": 0.5933453747910332, "book-lower shelf": 0.3779971873750082 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9702054747601728, "bimanual_gripper_vertical_difference": 0.15572587335592047, "task_success": 0.0 }, { "completion_time": 1.7079052925109863, "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": 0.0006389402277245937, "book-upper shelf": 0.5933328221688033, "book-lower shelf": 0.3779827940117104 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.953510002257129, "bimanual_gripper_vertical_difference": 0.15838581800362783, "task_success": 0.0 }, { "completion_time": 1.7415037155151367, "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": 0.0005459989195494286, "book-upper shelf": 0.5934079258460672, "book-lower shelf": 0.37804014630185667 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9389922517229091, "bimanual_gripper_vertical_difference": 0.1609562777259761, "task_success": 0.0 }, { "completion_time": 1.7754015922546387, "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": 0.0005566109792723983, "book-upper shelf": 0.593408319620316, "book-lower shelf": 0.37804767617643575 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9300461616040588, "bimanual_gripper_vertical_difference": 0.16343020831260385, "task_success": 0.0 }, { "completion_time": 1.808765172958374, "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": 0.000443412228877782, "book-upper shelf": 0.5935025877706724, "book-lower shelf": 0.37812192297429487 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9225017458200323, "bimanual_gripper_vertical_difference": 0.16578405331060225, "task_success": 0.0 }, { "completion_time": 1.8422927856445312, "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": 0.0006518046606813765, "book-upper shelf": 0.5933158481299133, "book-lower shelf": 0.37796452933868735 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9213547303782615, "bimanual_gripper_vertical_difference": 0.16801140218035335, "task_success": 0.0 }, { "completion_time": 1.8751347064971924, "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": 0.0006372319943231952, "book-upper shelf": 0.5933233575203901, "book-lower shelf": 0.3779668240280281 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9149579863369948, "bimanual_gripper_vertical_difference": 0.1701265725891878, "task_success": 0.0 }, { "completion_time": 1.9081902503967285, "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": 0.0005674550814805945, "book-upper shelf": 0.5933821677598395, "book-lower shelf": 0.37801368872209185 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9001516677479491, "bimanual_gripper_vertical_difference": 0.17217657944245038, "task_success": 0.0 }, { "completion_time": 1.9471402168273926, "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": 0.0005368550911133418, "book-upper shelf": 0.5934020439764215, "book-lower shelf": 0.378024957742329 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8857388651226857, "bimanual_gripper_vertical_difference": 0.17416926501022456, "task_success": 0.0 }, { "completion_time": 1.980116605758667, "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": 0.000543928221319212, "book-upper shelf": 0.5934013592805085, "book-lower shelf": 0.37802848998403776 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.877361999825295, "bimanual_gripper_vertical_difference": 0.1760866564585175, "task_success": 0.0 }, { "completion_time": 2.013685941696167, "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": 0.0005671364184473004, "book-upper shelf": 0.5933782206837946, "book-lower shelf": 0.37800728525012833 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8738588063193026, "bimanual_gripper_vertical_difference": 0.17791126486932635, "task_success": 0.0 }, { "completion_time": 2.0477635860443115, "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": 0.0006366057832344341, "book-upper shelf": 0.593312509221746, "book-lower shelf": 0.37794938643675585 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8708494287853249, "bimanual_gripper_vertical_difference": 0.1796533506161925, "task_success": 0.0 }, { "completion_time": 2.082148790359497, "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": 0.0005086989655749274, "book-upper shelf": 0.5934205767747915, "book-lower shelf": 0.3780357103984119 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8688802259908972, "bimanual_gripper_vertical_difference": 0.18132718035564108, "task_success": 0.0 }, { "completion_time": 2.115710735321045, "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": 0.000426609582293902, "book-upper shelf": 0.5934955033187465, "book-lower shelf": 0.3780998610679129 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8696450434061138, "bimanual_gripper_vertical_difference": 0.18295137557590813, "task_success": 0.0 }, { "completion_time": 2.1493284702301025, "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": 0.0005908442712853068, "book-upper shelf": 0.5933517484746731, "book-lower shelf": 0.3779811731691944 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8695983268098635, "bimanual_gripper_vertical_difference": 0.1845467429696986, "task_success": 0.0 }, { "completion_time": 2.182914972305298, "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": 0.0005298937016429139, "book-upper shelf": 0.5934024780301952, "book-lower shelf": 0.3780211048034679 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8680392689381528, "bimanual_gripper_vertical_difference": 0.18615076097605396, "task_success": 0.0 }, { "completion_time": 2.2163028717041016, "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": 0.0006632970496036616, "book-upper shelf": 0.5932868851180101, "book-lower shelf": 0.3779265501073451 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8672565004720947, "bimanual_gripper_vertical_difference": 0.1877935770240875, "task_success": 0.0 }, { "completion_time": 2.249661445617676, "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": 0.0007288873223647574, "book-upper shelf": 0.5932156627811416, "book-lower shelf": 0.37785747540788955 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8664382430157143, "bimanual_gripper_vertical_difference": 0.18948618741427456, "task_success": 0.0 }, { "completion_time": 2.2845451831817627, "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": 0.0004910715851914604, "book-upper shelf": 0.5934269375500181, "book-lower shelf": 0.37803421406434773 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8635818624237172, "bimanual_gripper_vertical_difference": 0.1912175903846996, "task_success": 0.0 }, { "completion_time": 2.3178675174713135, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005608429664550885, "book-upper shelf": 0.5933650558964946, "book-lower shelf": 0.37798251979282005 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8581215440099725, "bimanual_gripper_vertical_difference": 0.19296242985451112, "task_success": 0.0 }, { "completion_time": 2.35139536857605, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007487825299724582, "book-upper shelf": 0.5938899984326529, "book-lower shelf": 0.3789281947626159 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.849904434291486, "bimanual_gripper_vertical_difference": 0.19466141251396715, "task_success": 0.0 }, { "completion_time": 2.3850743770599365, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008461984021890245, "book-upper shelf": 0.5952721002534482, "book-lower shelf": 0.3811536335049574 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8418653973230493, "bimanual_gripper_vertical_difference": 0.19631252003379432, "task_success": 0.0 }, { "completion_time": 2.4193100929260254, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007133440957326487, "book-upper shelf": 0.59750514428366, "book-lower shelf": 0.3845467362184406 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8354780123298294, "bimanual_gripper_vertical_difference": 0.19791762246111125, "task_success": 0.0 }, { "completion_time": 2.452651262283325, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007420208096404757, "book-upper shelf": 0.5994470285078161, "book-lower shelf": 0.387575356189476 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8307761959555905, "bimanual_gripper_vertical_difference": 0.19947535497385147, "task_success": 0.0 }, { "completion_time": 2.4868521690368652, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008672730548037189, "book-upper shelf": 0.6011494686523402, "book-lower shelf": 0.39028230919108664 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8272036270166863, "bimanual_gripper_vertical_difference": 0.2009836753512706, "task_success": 0.0 }, { "completion_time": 2.52103328704834, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007452614260181623, "book-upper shelf": 0.6028313628462512, "book-lower shelf": 0.3927915027226897 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8248473718648939, "bimanual_gripper_vertical_difference": 0.20244789936779176, "task_success": 0.0 }, { "completion_time": 2.554107189178467, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006180546423029121, "book-upper shelf": 0.6042557787308633, "book-lower shelf": 0.39489481603235466 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8237339105177681, "bimanual_gripper_vertical_difference": 0.20386949803580226, "task_success": 0.0 }, { "completion_time": 2.5862553119659424, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00075874548397592, "book-upper shelf": 0.6055847802871768, "book-lower shelf": 0.39701269365081293 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8210356578818002, "bimanual_gripper_vertical_difference": 0.2052487005863417, "task_success": 0.0 }, { "completion_time": 2.6197025775909424, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007735423536806563, "book-upper shelf": 0.6072300242538137, "book-lower shelf": 0.3995268975653109 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8168541080251709, "bimanual_gripper_vertical_difference": 0.20658813218069746, "task_success": 0.0 }, { "completion_time": 2.651196002960205, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008045789247450585, "book-upper shelf": 0.6088111481334307, "book-lower shelf": 0.4019449434609254 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8119239384485817, "bimanual_gripper_vertical_difference": 0.2078881199694375, "task_success": 0.0 }, { "completion_time": 2.6826837062835693, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007889548120625367, "book-upper shelf": 0.6102483079932702, "book-lower shelf": 0.40410892937008586 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.806528339234818, "bimanual_gripper_vertical_difference": 0.20914504259394623, "task_success": 0.0 }, { "completion_time": 2.7136638164520264, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008025659398096519, "book-upper shelf": 0.611358965913352, "book-lower shelf": 0.4057924560541687 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8010710347152484, "bimanual_gripper_vertical_difference": 0.21035965544484111, "task_success": 0.0 }, { "completion_time": 2.745178699493408, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000757618902407553, "book-upper shelf": 0.6121923634150983, "book-lower shelf": 0.4070197634551397 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7967798207227746, "bimanual_gripper_vertical_difference": 0.2115380019626328, "task_success": 0.0 }, { "completion_time": 2.7763850688934326, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006717287579839359, "book-upper shelf": 0.6126976294225757, "book-lower shelf": 0.4077274659841237 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7932865350670671, "bimanual_gripper_vertical_difference": 0.2126924133779428, "task_success": 0.0 }, { "completion_time": 2.8073713779449463, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00046240224315252654, "book-upper shelf": 0.6132236556854586, "book-lower shelf": 0.40839132026530583 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.790586714062815, "bimanual_gripper_vertical_difference": 0.21383294011455792, "task_success": 0.0 }, { "completion_time": 2.838070869445801, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003375868915647118, "book-upper shelf": 0.6137066330865668, "book-lower shelf": 0.40904105509166805 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7873255457954748, "bimanual_gripper_vertical_difference": 0.21495876401784147, "task_success": 0.0 }, { "completion_time": 2.8689329624176025, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004939672947537055, "book-upper shelf": 0.6138349383209241, "book-lower shelf": 0.4093276124192934 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7829625947369437, "bimanual_gripper_vertical_difference": 0.21605656408977364, "task_success": 0.0 }, { "completion_time": 2.8993589878082275, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00028099119685232044, "book-upper shelf": 0.6146020097036407, "book-lower shelf": 0.41034925738693967 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7773277189988622, "bimanual_gripper_vertical_difference": 0.21713165674422413, "task_success": 0.0 }, { "completion_time": 2.929971694946289, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003548999233730088, "book-upper shelf": 0.6151383308859816, "book-lower shelf": 0.41119635842713964 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7713827300107547, "bimanual_gripper_vertical_difference": 0.21817740712609182, "task_success": 0.0 }, { "completion_time": 2.9600913524627686, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00035260063346487236, "book-upper shelf": 0.615789442061351, "book-lower shelf": 0.4121683924410831 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.765373554131999, "bimanual_gripper_vertical_difference": 0.21919417350202686, "task_success": 0.0 }, { "completion_time": 2.9896862506866455, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00033422167600560826, "book-upper shelf": 0.6160736875105615, "book-lower shelf": 0.41258197306537503 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7586915380140238, "bimanual_gripper_vertical_difference": 0.22017887559415572, "task_success": 0.0 }, { "completion_time": 3.021589994430542, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005962258790158659, "book-upper shelf": 0.6158066984836064, "book-lower shelf": 0.4123396778414718 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7520960351371024, "bimanual_gripper_vertical_difference": 0.22114560190762883, "task_success": 0.0 }, { "completion_time": 3.050808906555176, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007394119447147185, "book-upper shelf": 0.6155930659516804, "book-lower shelf": 0.4121061208606455 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7462664347406814, "bimanual_gripper_vertical_difference": 0.22210475821605521, "task_success": 0.0 }, { "completion_time": 3.079026460647583, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007721933967874683, "book-upper shelf": 0.6155648214019307, "book-lower shelf": 0.412083516506843 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7437275833620984, "bimanual_gripper_vertical_difference": 0.22307836000026968, "task_success": 0.0 }, { "completion_time": 3.1085879802703857, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007646470262226979, "book-upper shelf": 0.615572829656234, "book-lower shelf": 0.4120909700901753 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7414453040126114, "bimanual_gripper_vertical_difference": 0.22407151935079334, "task_success": 0.0 }, { "completion_time": 3.138856887817383, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007567529579124432, "book-upper shelf": 0.6155811530034059, "book-lower shelf": 0.41209868662488 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7376433592042033, "bimanual_gripper_vertical_difference": 0.22505483417872715, "task_success": 0.0 }, { "completion_time": 3.170487880706787, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007489102689495208, "book-upper shelf": 0.6155894303740701, "book-lower shelf": 0.41210636520326854 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7360021828873157, "bimanual_gripper_vertical_difference": 0.22602345188694614, "task_success": 0.0 }, { "completion_time": 3.2003867626190186, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000710748961253449, "book-upper shelf": 0.6156230449782049, "book-lower shelf": 0.41213377734066303 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7339847784623578, "bimanual_gripper_vertical_difference": 0.22697316999254688, "task_success": 0.0 }, { "completion_time": 3.2324631214141846, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000710371282344302, "book-upper shelf": 0.6156246800045713, "book-lower shelf": 0.4121359940111986 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7334043646776769, "bimanual_gripper_vertical_difference": 0.2278878928402148, "task_success": 0.0 }, { "completion_time": 3.2615256309509277, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007100762280185524, "book-upper shelf": 0.6156262415674559, "book-lower shelf": 0.41213815030379947 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7375894613011137, "bimanual_gripper_vertical_difference": 0.2287483740797174, "task_success": 0.0 }, { "completion_time": 3.2906534671783447, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007097813737043657, "book-upper shelf": 0.6156278030475232, "book-lower shelf": 0.41214030658682116 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7468963503937592, "bimanual_gripper_vertical_difference": 0.2295300739866703, "task_success": 0.0 }, { "completion_time": 3.3197264671325684, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007094861731334889, "book-upper shelf": 0.6156293649310489, "book-lower shelf": 0.41214246326027204 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.761035345392002, "bimanual_gripper_vertical_difference": 0.23020398652701524, "task_success": 0.0 }, { "completion_time": 3.3494369983673096, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007091906226111, "book-upper shelf": 0.6156309272212965, "book-lower shelf": 0.412144620326818 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7771782217858996, "bimanual_gripper_vertical_difference": 0.23074870951785345, "task_success": 0.0 }, { "completion_time": 3.379455327987671, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007088947220372788, "book-upper shelf": 0.6156324899183293, "book-lower shelf": 0.4121467777864923 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7914311641416458, "bimanual_gripper_vertical_difference": 0.23117234626305136, "task_success": 0.0 }, { "completion_time": 3.409423589706421, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007085984713357529, "book-upper shelf": 0.6156340530221895, "book-lower shelf": 0.41214893563931093 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.802938999003241, "bimanual_gripper_vertical_difference": 0.23149864125418076, "task_success": 0.0 }, { "completion_time": 3.4392805099487305, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007083018704311383, "book-upper shelf": 0.6156356165329187, "book-lower shelf": 0.4121510938852893 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8137336787741842, "bimanual_gripper_vertical_difference": 0.23174476928704946, "task_success": 0.0 }, { "completion_time": 3.469075918197632, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007080049192472737, "book-upper shelf": 0.6156371804505589, "book-lower shelf": 0.4121532525244434 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8245754340067406, "bimanual_gripper_vertical_difference": 0.23192196410768406, "task_success": 0.0 }, { "completion_time": 3.498293161392212, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007077076177085528, "book-upper shelf": 0.6156387447751519, "book-lower shelf": 0.4121554115567886 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8365509855511363, "bimanual_gripper_vertical_difference": 0.2320364782570805, "task_success": 0.0 }, { "completion_time": 3.530182123184204, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007074099657392585, "book-upper shelf": 0.6156403095067393, "book-lower shelf": 0.4121575709823404 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8464909835952251, "bimanual_gripper_vertical_difference": 0.23211322240763477, "task_success": 0.0 }, { "completion_time": 3.5636680126190186, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007071119632633405, "book-upper shelf": 0.6156418746453632, "book-lower shelf": 0.4121597308011148 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8458532481181354, "bimanual_gripper_vertical_difference": 0.23220367282127707, "task_success": 0.0 }, { "completion_time": 3.5971362590789795, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007068136102050815, "book-upper shelf": 0.6156434401910652, "book-lower shelf": 0.412161891013127 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8391757408872932, "bimanual_gripper_vertical_difference": 0.2323101093892435, "task_success": 0.0 }, { "completion_time": 3.628631114959717, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005353656772034698, "book-upper shelf": 0.6157927778655184, "book-lower shelf": 0.41228254230581773 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.83456719735494, "bimanual_gripper_vertical_difference": 0.23241089952098987, "task_success": 0.0 }, { "completion_time": 3.6592724323272705, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000515069473768337, "book-upper shelf": 0.6158149787370352, "book-lower shelf": 0.4123035806179147 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.829136422842639, "bimanual_gripper_vertical_difference": 0.23250199537480945, "task_success": 0.0 }, { "completion_time": 3.6894233226776123, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004696919735053262, "book-upper shelf": 0.6158558960836845, "book-lower shelf": 0.4123375960842567 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8228669400035334, "bimanual_gripper_vertical_difference": 0.23258389530899445, "task_success": 0.0 }, { "completion_time": 3.720285654067993, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048272313682129475, "book-upper shelf": 0.6158435705364127, "book-lower shelf": 0.4123269685224376 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8164958632993592, "bimanual_gripper_vertical_difference": 0.2326501519793379, "task_success": 0.0 }, { "completion_time": 3.750530481338501, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005044130988227646, "book-upper shelf": 0.6158278249582559, "book-lower shelf": 0.4123164037659001 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.811668242161176, "bimanual_gripper_vertical_difference": 0.23269476306233397, "task_success": 0.0 }, { "completion_time": 3.780939817428589, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005185565742205078, "book-upper shelf": 0.6158133544029251, "book-lower shelf": 0.41230323699560556 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8082472635332194, "bimanual_gripper_vertical_difference": 0.23271366806997507, "task_success": 0.0 }, { "completion_time": 3.810673236846924, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005329502393279784, "book-upper shelf": 0.615803696648188, "book-lower shelf": 0.4122974081194437 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8064628344422726, "bimanual_gripper_vertical_difference": 0.2327052862255843, "task_success": 0.0 }, { "completion_time": 3.8440427780151367, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005320435505650201, "book-upper shelf": 0.615803598205422, "book-lower shelf": 0.41229671960895126 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8072043333759829, "bimanual_gripper_vertical_difference": 0.23266994227793417, "task_success": 0.0 }, { "completion_time": 3.87443208694458, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005158358240058281, "book-upper shelf": 0.6158202068656431, "book-lower shelf": 0.4123118469395165 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8102973055623822, "bimanual_gripper_vertical_difference": 0.23260968250233913, "task_success": 0.0 }, { "completion_time": 3.905413866043091, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00047044870432078056, "book-upper shelf": 0.6158611367438498, "book-lower shelf": 0.4123458752152393 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8141352890637116, "bimanual_gripper_vertical_difference": 0.23253095763789577, "task_success": 0.0 }, { "completion_time": 3.9354560375213623, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048230177746677594, "book-upper shelf": 0.6158516654434122, "book-lower shelf": 0.4123388072094071 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8222153393312108, "bimanual_gripper_vertical_difference": 0.23245067354865173, "task_success": 0.0 }, { "completion_time": 3.9671616554260254, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005039143743903463, "book-upper shelf": 0.6158359992144411, "book-lower shelf": 0.412328314760497 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8327981465332368, "bimanual_gripper_vertical_difference": 0.23238156565980675, "task_success": 0.0 }, { "completion_time": 4.001187562942505, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005180512255283931, "book-upper shelf": 0.6158215414470998, "book-lower shelf": 0.41231516322758627 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8448307223010944, "bimanual_gripper_vertical_difference": 0.23233137570065024, "task_success": 0.0 }, { "completion_time": 4.031648874282837, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000532440279614077, "book-upper shelf": 0.6158119027661106, "book-lower shelf": 0.4123093600625564 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8462681097392192, "bimanual_gripper_vertical_difference": 0.23228606360148238, "task_success": 0.0 }, { "completion_time": 4.0618133544921875, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000531528514507773, "book-upper shelf": 0.6158118167343414, "book-lower shelf": 0.41230868707523205 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8398724823487652, "bimanual_gripper_vertical_difference": 0.2322381927657469, "task_success": 0.0 }, { "completion_time": 4.0920586585998535, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005153154740158428, "book-upper shelf": 0.6158284422122893, "book-lower shelf": 0.4123238362426974 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8342693072570349, "bimanual_gripper_vertical_difference": 0.23218962767332682, "task_success": 0.0 }, { "completion_time": 4.1221184730529785, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004699235926222123, "book-upper shelf": 0.6158693839717712, "book-lower shelf": 0.4123578792482428 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.829073707322191, "bimanual_gripper_vertical_difference": 0.23213928638634698, "task_success": 0.0 }, { "completion_time": 4.153370380401611, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048294945918714305, "book-upper shelf": 0.6158570655161577, "book-lower shelf": 0.41234725923484383 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8269544658535694, "bimanual_gripper_vertical_difference": 0.23207571435017943, "task_success": 0.0 }, { "completion_time": 4.186971187591553, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005046322007427051, "book-upper shelf": 0.6158413502733844, "book-lower shelf": 0.4123367354783152 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8295545117456804, "bimanual_gripper_vertical_difference": 0.23198485338195374, "task_success": 0.0 }, { "completion_time": 4.220576524734497, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005187677075686459, "book-upper shelf": 0.6158268933798204, "book-lower shelf": 0.4123235845286196 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8337170412775878, "bimanual_gripper_vertical_difference": 0.231858434640636, "task_success": 0.0 }, { "completion_time": 4.252650022506714, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005331532156656049, "book-upper shelf": 0.6158172654866163, "book-lower shelf": 0.41231779535153273 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8376254572121528, "bimanual_gripper_vertical_difference": 0.2316940244852895, "task_success": 0.0 }, { "completion_time": 4.283281326293945, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005322375681321434, "book-upper shelf": 0.6158171845209361, "book-lower shelf": 0.4123171276248427 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8404549875914328, "bimanual_gripper_vertical_difference": 0.23149356558326203, "task_success": 0.0 }, { "completion_time": 4.314022064208984, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005147818504225299, "book-upper shelf": 0.6158367300596411, "book-lower shelf": 0.41233589584693353 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8422213044224409, "bimanual_gripper_vertical_difference": 0.23126209482045035, "task_success": 0.0 }, { "completion_time": 4.344685077667236, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00046936734765823385, "book-upper shelf": 0.6158776987478087, "book-lower shelf": 0.41236996539079357 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8435203599971596, "bimanual_gripper_vertical_difference": 0.231006370762015, "task_success": 0.0 }, { "completion_time": 4.375449895858765, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048238951137291597, "book-upper shelf": 0.6158653879286016, "book-lower shelf": 0.412359354634354 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8446676291154304, "bimanual_gripper_vertical_difference": 0.23073565574186403, "task_success": 0.0 }, { "completion_time": 4.405996561050415, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005040680349277515, "book-upper shelf": 0.6158496927789066, "book-lower shelf": 0.4123488583599903 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8467151487267308, "bimanual_gripper_vertical_difference": 0.23045801560592097, "task_success": 0.0 }, { "completion_time": 4.4366490840911865, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005181988423197392, "book-upper shelf": 0.6158352474870675, "book-lower shelf": 0.4123357220257002 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8486902964344666, "bimanual_gripper_vertical_difference": 0.2301782257555068, "task_success": 0.0 }, { "completion_time": 4.469200611114502, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005325796365397428, "book-upper shelf": 0.6158256391952696, "book-lower shelf": 0.41232995928425725 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8515212559081528, "bimanual_gripper_vertical_difference": 0.22990566039292595, "task_success": 0.0 }, { "completion_time": 4.49963116645813, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005316587622682389, "book-upper shelf": 0.6158255711473748, "book-lower shelf": 0.41232930774752274 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8551495367032983, "bimanual_gripper_vertical_difference": 0.22965132187792087, "task_success": 0.0 }, { "completion_time": 4.529828786849976, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005154360734983543, "book-upper shelf": 0.6158422246137305, "book-lower shelf": 0.4123444927517323 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8580905812573099, "bimanual_gripper_vertical_difference": 0.22941808366770616, "task_success": 0.0 }, { "completion_time": 4.559582710266113, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00047003575368642636, "book-upper shelf": 0.615883186543539, "book-lower shelf": 0.41237856050609506 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8606289683574191, "bimanual_gripper_vertical_difference": 0.22920716285941245, "task_success": 0.0 }, { "completion_time": 4.589383363723755, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048305618662891625, "book-upper shelf": 0.6158708759698471, "book-lower shelf": 0.4123679491402185 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.859739640894288, "bimanual_gripper_vertical_difference": 0.2290050521477108, "task_success": 0.0 }, { "completion_time": 4.619167804718018, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00050473144796781, "book-upper shelf": 0.6158551922030805, "book-lower shelf": 0.41235746792820166 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8540279864501145, "bimanual_gripper_vertical_difference": 0.22880038336687197, "task_success": 0.0 }, { "completion_time": 4.648975610733032, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005188586966176079, "book-upper shelf": 0.6158407500874821, "book-lower shelf": 0.4123443342942383 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8483452215213684, "bimanual_gripper_vertical_difference": 0.2285979746988662, "task_success": 0.0 }, { "completion_time": 4.678816080093384, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005320105355638427, "book-upper shelf": 0.61583405423386, "book-lower shelf": 0.41234218742863654 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8426392313909762, "bimanual_gripper_vertical_difference": 0.2283970034658167, "task_success": 0.0 }, { "completion_time": 4.708715438842773, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005310523664738831, "book-upper shelf": 0.615834017883042, "book-lower shelf": 0.41234156097939456 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8382767147137675, "bimanual_gripper_vertical_difference": 0.22819696082385707, "task_success": 0.0 }, { "completion_time": 4.738621711730957, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005148204361713482, "book-upper shelf": 0.6158506919008887, "book-lower shelf": 0.41235677104868457 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8352593192731111, "bimanual_gripper_vertical_difference": 0.22799354944696115, "task_success": 0.0 }, { "completion_time": 4.768693447113037, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004694150776879402, "book-upper shelf": 0.6158916662417845, "book-lower shelf": 0.41239085415688165 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.834343300810604, "bimanual_gripper_vertical_difference": 0.22778023659653537, "task_success": 0.0 }, { "completion_time": 4.798449993133545, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048243189541741227, "book-upper shelf": 0.615879363568616, "book-lower shelf": 0.4123802524948546 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8346137322616208, "bimanual_gripper_vertical_difference": 0.22755512826364244, "task_success": 0.0 }, { "completion_time": 4.828397989273071, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005041028018115679, "book-upper shelf": 0.6158637004753308, "book-lower shelf": 0.41236979954772823 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8346242901027207, "bimanual_gripper_vertical_difference": 0.22731873016706958, "task_success": 0.0 }, { "completion_time": 4.858318328857422, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005182252021854739, "book-upper shelf": 0.615849270522214, "book-lower shelf": 0.4123566812780615 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.83376632584462, "bimanual_gripper_vertical_difference": 0.22707283607577605, "task_success": 0.0 }, { "completion_time": 4.8882269859313965, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005325974235491637, "book-upper shelf": 0.615839693754384, "book-lower shelf": 0.41235096046426417 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8323557381747535, "bimanual_gripper_vertical_difference": 0.226823148065146, "task_success": 0.0 }, { "completion_time": 4.9182517528533936, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000531667142934733, "book-upper shelf": 0.615839644702975, "book-lower shelf": 0.41235033171261876 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8306553461719728, "bimanual_gripper_vertical_difference": 0.22657447981392204, "task_success": 0.0 }, { "completion_time": 4.948590278625488, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005154345203263189, "book-upper shelf": 0.6158563270436426, "book-lower shelf": 0.41236555370244177 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8294424824618866, "bimanual_gripper_vertical_difference": 0.22633041769202314, "task_success": 0.0 }, { "completion_time": 4.9811625480651855, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004700254723345454, "book-upper shelf": 0.6158973097966067, "book-lower shelf": 0.4123996470048212 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8290870178953959, "bimanual_gripper_vertical_difference": 0.2260924514098761, "task_success": 0.0 }, { "completion_time": 5.011212348937988, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004830401592035294, "book-upper shelf": 0.6158850080465291, "book-lower shelf": 0.4123890455068014 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8312231430525465, "bimanual_gripper_vertical_difference": 0.22586238599807076, "task_success": 0.0 }, { "completion_time": 5.043276071548462, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005047076695499086, "book-upper shelf": 0.6158693569152369, "book-lower shelf": 0.41237860840515267 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8360342433129592, "bimanual_gripper_vertical_difference": 0.22564287061001131, "task_success": 0.0 }, { "completion_time": 5.079391717910767, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005188263658296721, "book-upper shelf": 0.6158549307044382, "book-lower shelf": 0.41236549359508473 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8413482373023423, "bimanual_gripper_vertical_difference": 0.22543511196682048, "task_success": 0.0 }, { "completion_time": 5.113128185272217, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005319836682663448, "book-upper shelf": 0.6158482459185626, "book-lower shelf": 0.41236336640090826 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8459031278400405, "bimanual_gripper_vertical_difference": 0.22523887530904121, "task_success": 0.0 }, { "completion_time": 5.146937608718872, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005309928346810544, "book-upper shelf": 0.6158482570660497, "book-lower shelf": 0.4123627914152934 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8484432670785259, "bimanual_gripper_vertical_difference": 0.22505279019598615, "task_success": 0.0 }, { "completion_time": 5.180294990539551, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005147536471499237, "book-upper shelf": 0.6158649580548815, "book-lower shelf": 0.4123780372238334 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8494705427638548, "bimanual_gripper_vertical_difference": 0.22487729040072546, "task_success": 0.0 }, { "completion_time": 5.213453054428101, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00046933945279215017, "book-upper shelf": 0.6159059535138791, "book-lower shelf": 0.41241214625483746 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8504458276206597, "bimanual_gripper_vertical_difference": 0.22471705798720293, "task_success": 0.0 }, { "completion_time": 5.246704578399658, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00048235036701260725, "book-upper shelf": 0.6158936601338768, "book-lower shelf": 0.4124015550679667 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8546971298008942, "bimanual_gripper_vertical_difference": 0.22458222174856862, "task_success": 0.0 }, { "completion_time": 5.280163049697876, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005040133770038979, "book-upper shelf": 0.6158780302622362, "book-lower shelf": 0.412391147017381 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8591137896601725, "bimanual_gripper_vertical_difference": 0.22447075084484697, "task_success": 0.0 }, { "completion_time": 5.3134660720825195, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005181270744224475, "book-upper shelf": 0.6158636167772671, "book-lower shelf": 0.41237804832322655 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8617518204911256, "bimanual_gripper_vertical_difference": 0.2243821954527596, "task_success": 0.0 }, { "completion_time": 5.346656322479248, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005324904420802579, "book-upper shelf": 0.6158540726500857, "book-lower shelf": 0.4123723709330932 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.864363028061916, "bimanual_gripper_vertical_difference": 0.22431698108539838, "task_success": 0.0 }, { "completion_time": 5.380205869674683, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005315504533713877, "book-upper shelf": 0.6158540436179082, "book-lower shelf": 0.41237176631332717 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8672294745885492, "bimanual_gripper_vertical_difference": 0.2242738540328888, "task_success": 0.0 }, { "completion_time": 5.41365909576416, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005153076039668969, "book-upper shelf": 0.6158707557317014, "book-lower shelf": 0.4123870264523499 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8712958596079117, "bimanual_gripper_vertical_difference": 0.2242517874651059, "task_success": 0.0 }, { "completion_time": 5.44696569442749, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004698895320123242, "book-upper shelf": 0.6159117599697197, "book-lower shelf": 0.4124211461118231 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8756304445700411, "bimanual_gripper_vertical_difference": 0.22425031187919445, "task_success": 0.0 }, { "completion_time": 5.480054616928101, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004828981562345902, "book-upper shelf": 0.6158994679934817, "book-lower shelf": 0.41241055571218027 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8746216253313521, "bimanual_gripper_vertical_difference": 0.22426405592881965, "task_success": 0.0 }, { "completion_time": 5.513019323348999, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005045576370810156, "book-upper shelf": 0.6158838506733684, "book-lower shelf": 0.41240016430616216 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8696521396988004, "bimanual_gripper_vertical_difference": 0.2242761948939754, "task_success": 0.0 }, { "completion_time": 5.546407699584961, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005186674819808168, "book-upper shelf": 0.6158694415051423, "book-lower shelf": 0.4123870698414952 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8647210095495548, "bimanual_gripper_vertical_difference": 0.2242850172962153, "task_success": 0.0 }, { "completion_time": 5.57948112487793, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005330268671259741, "book-upper shelf": 0.6158599098577413, "book-lower shelf": 0.4123814087004674 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8598376293612927, "bimanual_gripper_vertical_difference": 0.22429169825110826, "task_success": 0.0 }, { "completion_time": 5.612468242645264, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005308712833460572, "book-upper shelf": 0.6158627651857387, "book-lower shelf": 0.41238438585473997 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8551114450678324, "bimanual_gripper_vertical_difference": 0.22429396288775633, "task_success": 0.0 }, { "completion_time": 5.645822763442993, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005145615451387364, "book-upper shelf": 0.6158795465535452, "book-lower shelf": 0.412399709368236 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8511613913970075, "bimanual_gripper_vertical_difference": 0.22428824676923678, "task_success": 0.0 }, { "completion_time": 5.6790900230407715, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004691373073446581, "book-upper shelf": 0.6159205645489936, "book-lower shelf": 0.4124338457165057 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8482718477551136, "bimanual_gripper_vertical_difference": 0.22427138493623747, "task_success": 0.0 }, { "completion_time": 5.71270489692688, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004821419867583332, "book-upper shelf": 0.6159082814251233, "book-lower shelf": 0.41242326624545167 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8478142175039223, "bimanual_gripper_vertical_difference": 0.22424108968489734, "task_success": 0.0 }, { "completion_time": 5.748999118804932, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005037968187536768, "book-upper shelf": 0.6158926859480635, "book-lower shelf": 0.41241290467058506 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8504288542098343, "bimanual_gripper_vertical_difference": 0.22419626730991962, "task_success": 0.0 }, { "completion_time": 5.782296419143677, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005179015131778764, "book-upper shelf": 0.6158782900695051, "book-lower shelf": 0.41239982707343575 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8536505462615231, "bimanual_gripper_vertical_difference": 0.22413742634242628, "task_success": 0.0 }, { "completion_time": 5.815690517425537, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005322557391393978, "book-upper shelf": 0.6158687797111089, "book-lower shelf": 0.41239419461562604 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8571612652216098, "bimanual_gripper_vertical_difference": 0.22406661741118364, "task_success": 0.0 }, { "completion_time": 5.8501296043396, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005313057357982931, "book-upper shelf": 0.6158687717297454, "book-lower shelf": 0.4123936154847472 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8603853940380404, "bimanual_gripper_vertical_difference": 0.22398599967749896, "task_success": 0.0 }, { "completion_time": 5.883429527282715, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005150523597768908, "book-upper shelf": 0.6158855145254554, "book-lower shelf": 0.4124089149472379 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8625810066219651, "bimanual_gripper_vertical_difference": 0.22389825958496243, "task_success": 0.0 }, { "completion_time": 5.916273355484009, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004696249625933957, "book-upper shelf": 0.6159265409179777, "book-lower shelf": 0.4124430617808565 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8659590717082611, "bimanual_gripper_vertical_difference": 0.22380761976050553, "task_success": 0.0 }, { "completion_time": 5.949471473693848, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004826272038870316, "book-upper shelf": 0.6159142596732528, "book-lower shelf": 0.41243248371890306 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8687079344303539, "bimanual_gripper_vertical_difference": 0.22371873869306583, "task_success": 0.0 }, { "completion_time": 5.982633590698242, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005042783692482677, "book-upper shelf": 0.6158986773521541, "book-lower shelf": 0.41242213960720203 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8715390381809885, "bimanual_gripper_vertical_difference": 0.22363477719337657, "task_success": 0.0 }, { "completion_time": 6.0155112743377686, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005183790593478177, "book-upper shelf": 0.6158842863734646, "book-lower shelf": 0.41240906702038543 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.878140915588064, "bimanual_gripper_vertical_difference": 0.22355630536780058, "task_success": 0.0 }, { "completion_time": 6.051297187805176, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005327291611167961, "book-upper shelf": 0.6158747890762248, "book-lower shelf": 0.412403451593409 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8869873016406039, "bimanual_gripper_vertical_difference": 0.22348532813622787, "task_success": 0.0 }, { "completion_time": 6.0845112800598145, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005317746782732558, "book-upper shelf": 0.6158747882232873, "book-lower shelf": 0.41240288044638657 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8955704122407412, "bimanual_gripper_vertical_difference": 0.22342549049473612, "task_success": 0.0 }, { "completion_time": 6.117273330688477, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000515516551388373, "book-upper shelf": 0.6158915435368969, "book-lower shelf": 0.41241819566684146 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8990871473074455, "bimanual_gripper_vertical_difference": 0.2233778067014942, "task_success": 0.0 }, { "completion_time": 6.150222063064575, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004700850468393192, "book-upper shelf": 0.6159325792120668, "book-lower shelf": 0.41245235374197753 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9009049749420448, "bimanual_gripper_vertical_difference": 0.22334800530137014, "task_success": 0.0 }, { "completion_time": 6.183721542358398, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000481872751155632, "book-upper shelf": 0.6159231703560245, "book-lower shelf": 0.4124453401468635 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9039162492236689, "bimanual_gripper_vertical_difference": 0.22334128340910622, "task_success": 0.0 }, { "completion_time": 6.217015504837036, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005034525736948847, "book-upper shelf": 0.6159076649364845, "book-lower shelf": 0.41243506826959225 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9073156021698204, "bimanual_gripper_vertical_difference": 0.22335764482505818, "task_success": 0.0 }, { "completion_time": 6.250018119812012, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005175461687305649, "book-upper shelf": 0.6158932893158784, "book-lower shelf": 0.4124220144781579 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9114558051525993, "bimanual_gripper_vertical_difference": 0.22339570644590856, "task_success": 0.0 }, { "completion_time": 6.282848596572876, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005318909246365688, "book-upper shelf": 0.6158838138865467, "book-lower shelf": 0.4124164284850417 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9166555228441785, "bimanual_gripper_vertical_difference": 0.22345714465058314, "task_success": 0.0 }, { "completion_time": 6.315954685211182, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005309305960989885, "book-upper shelf": 0.6158838279926659, "book-lower shelf": 0.41241587620511355 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9197551687316019, "bimanual_gripper_vertical_difference": 0.22354167310227582, "task_success": 0.0 }, { "completion_time": 6.348141670227051, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005146663882226177, "book-upper shelf": 0.6159006023827147, "book-lower shelf": 0.4124312161674629 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9163348157217289, "bimanual_gripper_vertical_difference": 0.22362975640877486, "task_success": 0.0 }, { "completion_time": 6.379270315170288, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004692293604259268, "book-upper shelf": 0.6159416516033518, "book-lower shelf": 0.4124653909960932 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9118278473272978, "bimanual_gripper_vertical_difference": 0.22371298652170435, "task_success": 0.0 } ]